QuickHull.js

/**
 * @author Mugen87 / https://github.com/Mugen87
 *
 * Ported from: https://github.com/maurizzzio/quickhull3d/ by Mauricio Poppe (https://github.com/maurizzzio)
 *
 */

( function() {

	var Visible = 0;
	var Deleted = 1;

	function QuickHull() {

		this.tolerance = - 1;

		this.faces = []; // the generated faces of the convex hull
		this.newFaces = []; // this array holds the faces that are generated within a single iteration

		// the vertex lists work as follows:
		//
		// let 'a' and 'b' be 'Face' instances
		// let 'v' be points wrapped as instance of 'Vertex'
		//
		//     [v, v, ..., v, v, v, ...]
		//      ^             ^
		//      |             |
		//  a.outside     b.outside
		//
		this.assigned = new VertexList();
		this.unassigned = new VertexList();

		this.vertices = []; 	// vertices of the hull (internal representation of given geometry data)

	}

	Object.assign( QuickHull.prototype, {

		setFromPoints: function ( points ) {

			if ( Array.isArray( points ) !== true ) {

				console.error( 'THREE.QuickHull: Points parameter is not an array.' );

			}

			if ( points.length < 4 ) {

				console.error( 'THREE.QuickHull: The algorithm needs at least four points.' );

			}

			this.makeEmpty();

			for ( var i = 0, l = points.length; i < l; i ++ ) {

				this.vertices.push( new VertexNode( points[ i ] ) );

			}

			this.compute();

			return this;

		},

		setFromObject: function ( object ) {

			var points = [];

			object.updateMatrixWorld( true );

			object.traverse( function ( node ) {

				var i, l, point;

				var geometry = node.geometry;

				if ( geometry !== undefined ) {

					if ( geometry.isGeometry ) {

						var vertices = geometry.vertices;

						for ( i = 0, l = vertices.length; i < l; i ++ ) {

							point = vertices[ i ].clone();
							point.applyMatrix4( node.matrixWorld );

							points.push( point );

						}

					} else if ( geometry.isBufferGeometry ) {

						var attribute = geometry.attributes.position;

						if ( attribute !== undefined ) {

							for ( i = 0, l = attribute.count; i < l; i ++ ) {

								point = new THREE.Vector3();

								point.fromBufferAttribute( attribute, i ).applyMatrix4( node.matrixWorld );

								points.push( point );

							}

						}

					}

				}

			} );

			return this.setFromPoints( points );

		},

		makeEmpty: function () {

			this.faces = [];
			this.vertices = [];

			return this;

		},

		// Adds a vertex to the 'assigned' list of vertices and assigns it to the given face

		addVertexToFace: function ( vertex, face ) {

			vertex.face = face;

			if ( face.outside === null ) {

				this.assigned.append( vertex );

			} else {

				this.assigned.insertBefore( face.outside, vertex );

			}

			face.outside = vertex;

			return this;

		},

		// Removes a vertex from the 'assigned' list of vertices and from the given face

		removeVertexFromFace: function ( vertex, face ) {

			if ( vertex === face.outside ) {

				// fix face.outside link

				if ( vertex.next !== null && vertex.next.face === face ) {

					// face has at least 2 outside vertices, move the 'outside' reference

					face.outside = vertex.next;

				} else {

					// vertex was the only outside vertex that face had

					face.outside = null;

				}

			}

			this.assigned.remove( vertex );

			return this;

		},

		// Removes all the visible vertices that a given face is able to see which are stored in the 'assigned' vertext list

		removeAllVerticesFromFace: function ( face ) {

			if ( face.outside !== null ) {

				// reference to the first and last vertex of this face

				var start = face.outside;
				var end = face.outside;

				while ( end.next !== null && end.next.face === face ) {

					end = end.next;

				}

				this.assigned.removeSubList( start, end );

				// fix references

				start.prev = end.next = null;
				face.outside = null;

				return start;

			}

		},

		// Removes all the visible vertices that 'face' is able to see

		deleteFaceVertices: function ( face, absorbingFace ) {

			var faceVertices = this.removeAllVerticesFromFace( face );

			if ( faceVertices !== undefined ) {

				if ( absorbingFace === undefined ) {

					// mark the vertices to be reassigned to some other face

					this.unassigned.appendChain( faceVertices );


				} else {

					// if there's an absorbing face try to assign as many vertices as possible to it

					var vertex = faceVertices;

					do {

						// we need to buffer the subsequent vertex at this point because the 'vertex.next' reference
						// will be changed by upcoming method calls

						var nextVertex = vertex.next;

						var distance = absorbingFace.distanceToPoint( vertex.point );

						// check if 'vertex' is able to see 'absorbingFace'

						if ( distance > this.tolerance ) {

							this.addVertexToFace( vertex, absorbingFace );

						} else {

							this.unassigned.append( vertex );

						}

						// now assign next vertex

						vertex = nextVertex;

					} while ( vertex !== null );

				}

			}

			return this;

		},

		// Reassigns as many vertices as possible from the unassigned list to the new faces

		resolveUnassignedPoints: function ( newFaces ) {

			if ( this.unassigned.isEmpty() === false ) {

				var vertex = this.unassigned.first();

				do {

					// buffer 'next' reference, see .deleteFaceVertices()

					var nextVertex = vertex.next;

					var maxDistance = this.tolerance;

					var maxFace = null;

					for ( var i = 0; i < newFaces.length; i ++ ) {

						var face = newFaces[ i ];

						if ( face.mark === Visible ) {

							var distance = face.distanceToPoint( vertex.point );

							if ( distance > maxDistance ) {

								maxDistance = distance;
								maxFace = face;

							}

							if ( maxDistance > 1000 * this.tolerance ) break;

						}

					}

					// 'maxFace' can be null e.g. if there are identical vertices

					if ( maxFace !== null ) {

						this.addVertexToFace( vertex, maxFace );

					}

					vertex = nextVertex;

				} while ( vertex !== null );

			}

			return this;

		},

		// Computes the extremes of a simplex which will be the initial hull

		computeExtremes: function () {

			var min = new THREE.Vector3();
			var max = new THREE.Vector3();

			var minVertices = [];
			var maxVertices = [];

			var i, l, j;

			// initially assume that the first vertex is the min/max

			for ( i = 0; i < 3; i ++ ) {

				minVertices[ i ] = maxVertices[ i ] = this.vertices[ 0 ];

			}

			min.copy( this.vertices[ 0 ].point );
			max.copy( this.vertices[ 0 ].point );

			// compute the min/max vertex on all six directions

			for ( i = 0, l = this.vertices.length; i < l ; i ++ ) {

				var vertex = this.vertices[ i ];
				var point = vertex.point;

				// update the min coordinates

				for ( j = 0; j < 3; j ++ ) {

					if ( point.getComponent( j ) < min.getComponent( j ) ) {

						min.setComponent( j, point.getComponent( j ) );
						minVertices[ j ] = vertex;

					}

				}

				// update the max coordinates

				for ( j = 0; j < 3; j ++ ) {

					if ( point.getComponent( j ) > max.getComponent( j ) ) {

						max.setComponent( j, point.getComponent( j ) );
						maxVertices[ j ] = vertex;

					}

				}

			}

			// use min/max vectors to compute an optimal epsilon

			this.tolerance = 3 * Number.EPSILON * (
				Math.max( Math.abs( min.x ), Math.abs( max.x ) ) +
				Math.max( Math.abs( min.y ), Math.abs( max.y ) ) +
				Math.max( Math.abs( min.z ), Math.abs( max.z ) )
			);

			return { min: minVertices, max: maxVertices };

		},

		// Computes the initial simplex assigning to its faces all the points
		// that are candidates to form part of the hull

		computeInitialHull: function () {

			var line3, plane, closestPoint;

			return function computeInitialHull () {

				if ( line3 === undefined ) {

					line3 = new THREE.Line3();
					plane = new THREE.Plane();
					closestPoint = new THREE.Vector3();

				}

				var vertex, vertices = this.vertices;
				var extremes = this.computeExtremes();
				var min = extremes.min;
				var max = extremes.max;

				var v0, v1, v2, v3;
				var i, l, j;

				// 1. Find the two vertices 'v0' and 'v1' with the greatest 1d separation
				// (max.x - min.x)
				// (max.y - min.y)
				// (max.z - min.z)

				var distance, maxDistance = 0;
				var index = 0;

				for ( i = 0; i < 3; i ++ ) {

					distance = max[ i ].point.getComponent( i ) - min[ i ].point.getComponent( i );

					if ( distance > maxDistance ) {

						maxDistance = distance;
						index = i;

					}

				}

				v0 = min[ index ];
				v1 = max[ index ];

				// 2. The next vertex 'v2' is the one farthest to the line formed by 'v0' and 'v1'

				maxDistance = 0;
				line3.set( v0.point, v1.point );

				for ( i = 0, l = this.vertices.length; i < l; i ++ ) {

					vertex = vertices[ i ];

					if ( vertex !== v0 && vertex !== v1 ) {

						line3.closestPointToPoint( vertex.point, true, closestPoint );

						distance = closestPoint.distanceToSquared( vertex.point );

						if ( distance > maxDistance ) {

							maxDistance = distance;
							v2 = vertex;

						}

					}

				}

				// 3. The next vertex 'v3' is the one farthest to the plane 'v0', 'v1', 'v2'

				maxDistance = 0;
				plane.setFromCoplanarPoints( v0.point, v1.point, v2.point );

				for ( i = 0, l = this.vertices.length; i < l; i ++ ) {

					vertex = vertices[ i ];

					if ( vertex !== v0 && vertex !== v1 && vertex !== v2 ) {

						distance = Math.abs( plane.distanceToPoint( vertex.point ) );

						if ( distance > maxDistance ) {

							maxDistance = distance;
							v3 = vertex;

						}

					}

				}

				var faces = [];

				if ( plane.distanceToPoint( v3.point ) < 0 ) {

					// the face is not able to see the point so 'plane.normal' is pointing outside the tetrahedron

					faces.push(
						Face.create( v0, v1, v2 ),
						Face.create( v3, v1, v0 ),
						Face.create( v3, v2, v1 ),
						Face.create( v3, v0, v2 )
					);

					// set the twin edge

					for ( i = 0; i < 3; i ++ ) {

						j = ( i + 1 ) % 3;

						// join face[ i ] i > 0, with the first face

						faces[ i + 1 ].getEdge( 2 ).setTwin( faces[ 0 ].getEdge( j ) );

						// join face[ i ] with face[ i + 1 ], 1 <= i <= 3

						faces[ i + 1 ].getEdge( 1 ).setTwin( faces[ j + 1 ].getEdge( 0 ) );

					}

				} else {

					// the face is able to see the point so 'plane.normal' is pointing inside the tetrahedron

					faces.push(
						Face.create( v0, v2, v1 ),
						Face.create( v3, v0, v1 ),
						Face.create( v3, v1, v2 ),
						Face.create( v3, v2, v0 )
					);

					// set the twin edge

					for ( i = 0; i < 3; i ++ ) {

						j = ( i + 1 ) % 3;

						// join face[ i ] i > 0, with the first face

						faces[ i + 1 ].getEdge( 2 ).setTwin( faces[ 0 ].getEdge( ( 3 - i ) % 3 ) );

						// join face[ i ] with face[ i + 1 ]

						faces[ i + 1 ].getEdge( 0 ).setTwin( faces[ j + 1 ].getEdge( 1 ) );

					}

				}

				// the initial hull is the tetrahedron

				for ( i = 0; i < 4; i ++ ) {

					this.faces.push( faces[ i ] );

				}

				// initial assignment of vertices to the faces of the tetrahedron

				for ( i = 0, l = vertices.length; i < l; i ++ ) {

					vertex = vertices[i];

					if ( vertex !== v0 && vertex !== v1 && vertex !== v2 && vertex !== v3 ) {

						maxDistance = this.tolerance;
						var maxFace = null;

						for ( j = 0; j < 4; j ++ ) {

							distance = this.faces[ j ].distanceToPoint( vertex.point );

							if ( distance > maxDistance ) {

								maxDistance = distance;
								maxFace = this.faces[ j ];

							}

						}

						if ( maxFace !== null ) {

	          	this.addVertexToFace( vertex, maxFace );

	        	}

					}

				}

				return this;

			};

		}(),

		// Removes inactive faces

		reindexFaces: function () {

			var activeFaces = [];

			for ( var i = 0; i < this.faces.length; i ++ ) {

				var face = this.faces[ i ];

				if ( face.mark === Visible ) {

					activeFaces.push( face );

				}

			}

			this.faces = activeFaces;

			return this;

		},

		// Finds the next vertex to create faces with the current hull

		nextVertexToAdd: function () {

			// if the 'assigned' list of vertices is empty, no vertices are left. return with 'undefined'

			if ( this.assigned.isEmpty() === false ) {

				var eyeVertex, maxDistance = 0;

				// grap the first available face and start with the first visible vertex of that face

				var eyeFace = this.assigned.first().face;
				var vertex = eyeFace.outside;

				// now calculate the farthest vertex that face can see

				do {

					var distance = eyeFace.distanceToPoint( vertex.point );

					if ( distance > maxDistance ) {

						maxDistance = distance;
						eyeVertex = vertex;

					}

					vertex = vertex.next;

				} while ( vertex !== null && vertex.face === eyeFace );

				return eyeVertex;

			}

		},

		// Computes a chain of half edges in CCW order called the 'horizon'.
		// For an edge to be part of the horizon it must join a face that can see
		// 'eyePoint' and a face that cannot see 'eyePoint'.

		computeHorizon: function ( eyePoint, crossEdge, face, horizon ) {

			// moves face's vertices to the 'unassigned' vertex list

			this.deleteFaceVertices( face );

			face.mark = Deleted;

			var edge;

			if ( crossEdge === null ) {

				edge = crossEdge = face.getEdge( 0 );

			} else {

				// start from the next edge since 'crossEdge' was already analyzed
				// (actually 'crossEdge.twin' was the edge who called this method recursively)

				edge = crossEdge.next;

			}

			do {

				var twinEdge = edge.twin;
				var oppositeFace = twinEdge.face;

				if ( oppositeFace.mark === Visible ) {

					if ( oppositeFace.distanceToPoint( eyePoint ) > this.tolerance ) {

						// the opposite face can see the vertex, so proceed with next edge

						this.computeHorizon( eyePoint, twinEdge, oppositeFace, horizon );

					} else {

						// the opposite face can't see the vertex, so this edge is part of the horizon

						horizon.push( edge );

					}

				}

				edge = edge.next;

			} while ( edge !== crossEdge );

			return this;

		},

		// Creates a face with the vertices 'eyeVertex.point', 'horizonEdge.tail' and 'horizonEdge.head' in CCW order

		addAdjoiningFace: function ( eyeVertex, horizonEdge ) {

			// all the half edges are created in ccw order thus the face is always pointing outside the hull

			var face = Face.create( eyeVertex, horizonEdge.tail(), horizonEdge.head() );

			this.faces.push( face );

			// join face.getEdge( - 1 ) with the horizon's opposite edge face.getEdge( - 1 ) = face.getEdge( 2 )

			face.getEdge( - 1 ).setTwin( horizonEdge.twin );

			return face.getEdge( 0 ); // the half edge whose vertex is the eyeVertex


		},

		//  Adds 'horizon.length' faces to the hull, each face will be linked with the
		//  horizon opposite face and the face on the left/right

		addNewFaces: function ( eyeVertex, horizon ) {

			this.newFaces = [];

			var firstSideEdge = null;
			var previousSideEdge = null;

			for ( var i = 0; i < horizon.length; i ++ ) {

				var horizonEdge = horizon[ i ];

				// returns the right side edge

				var sideEdge = this.addAdjoiningFace( eyeVertex, horizonEdge );

				if ( firstSideEdge === null ) {

					firstSideEdge = sideEdge;

				} else {

					// joins face.getEdge( 1 ) with previousFace.getEdge( 0 )

					sideEdge.next.setTwin( previousSideEdge );

				}

				this.newFaces.push( sideEdge.face );
				previousSideEdge = sideEdge;

			}

			// perform final join of new faces

			firstSideEdge.next.setTwin( previousSideEdge );

			return this;

		},

		// Adds a vertex to the hull

		addVertexToHull: function ( eyeVertex ) {

			var horizon = [];
			var i, face;

			this.unassigned.clear();

			// remove 'eyeVertex' from 'eyeVertex.face' so that it can't be added to the 'unassigned' vertex list

			this.removeVertexFromFace( eyeVertex, eyeVertex.face );

			this.computeHorizon( eyeVertex.point, null, eyeVertex.face, horizon );

			this.addNewFaces( eyeVertex, horizon );

			// reassign 'unassigned' vertices to the new faces

			this.resolveUnassignedPoints( this.newFaces );

			return	this;

		},

		cleanup: function () {

			this.assigned.clear();
			this.unassigned.clear();
			this.newFaces = [];

			return this;

		},

		compute: function () {

			var vertex;

			this.computeInitialHull();

			// add all available vertices gradually to the hull

			while ( ( vertex = this.nextVertexToAdd() ) !== undefined ) {

				this.addVertexToHull( vertex );

			}

			this.reindexFaces();

			this.cleanup();

			return this;

		}

	} );

	//

	function Face() {

		this.normal = new THREE.Vector3();
		this.midpoint = new THREE.Vector3();
		this.area = 0;

		this.constant = 0; // signed distance from face to the origin
		this.outside = null; // reference to a vertex in a vertex list this face can see
		this.mark = Visible;
		this.edge = null;

	}

	Object.assign( Face, {

		create: function( a, b, c ) {

			var face = new Face();

			var e0 = new HalfEdge( a, face );
			var e1 = new HalfEdge( b, face );
			var e2 = new HalfEdge( c, face );

			// join edges

			e0.next = e2.prev = e1;
			e1.next = e0.prev = e2;
			e2.next = e1.prev = e0;

			// main half edge reference

			face.edge = e0;

			return face.compute();

		}

	} );

	Object.assign( Face.prototype, {

		getEdge: function ( i ) {

			var edge = this.edge;

			while ( i > 0 ) {

				edge = edge.next;
				i --;

			}

			while ( i < 0 ) {

				edge = edge.prev;
				i ++;

			}

			return edge;

		},

		compute: function () {

			var triangle;

			return function compute () {

				if ( triangle === undefined ) triangle = new THREE.Triangle();

				var a = this.edge.tail();
				var b = this.edge.head();
				var c = this.edge.next.head();

				triangle.set( a.point, b.point, c.point );

				triangle.normal( this.normal );
				triangle.midpoint( this.midpoint );
				this.area = triangle.area();

				this.constant = this.normal.dot( this.midpoint );

				return this;

			};

		}(),

		distanceToPoint: function ( point ) {

			return this.normal.dot( point ) - this.constant;

		}

	} );

	// Entity for a Doubly-Connected Edge List (DCEL).

	function HalfEdge( vertex, face ) {

		this.vertex = vertex;
		this.prev = null;
		this.next = null;
		this.twin = null;
		this.face = face;

	}

	Object.assign( HalfEdge.prototype, {

		head: function () {

			return this.vertex;

		},

		tail: function () {

			return this.prev ? this.prev.vertex : null;

		},

		length: function () {

			var head = this.head();
			var tail = this.tail();

			if ( tail !== null ) {

				return tail.point.distanceTo( head.point );

			}

			return - 1;

		},

		lengthSquared: function () {

			var head = this.head();
			var tail = this.tail();

			if ( tail !== null ) {

				return tail.point.distanceToSquared( head.point );

			}

			return - 1;

		},

		setTwin: function ( edge ) {

			this.twin = edge;
			edge.twin = this;

			return this;

		}

	} );

	// A vertex as a double linked list node.

	function VertexNode( point ) {

		this.point = point;
		this.prev = null;
		this.next = null;
		this.face = null; // the face that is able to see this vertex

	}

	// A double linked list that contains vertex nodes.

	function VertexList() {

		this.head = null;
		this.tail = null;

	}

	Object.assign( VertexList.prototype, {

		first: function () {

			return this.head;

		},

		last: function () {

			return this.tail;

		},

		clear: function () {

			this.head = this.tail = null;

			return this;

		},

		// Inserts a vertex before the target vertex

		insertBefore: function ( target, vertex ) {

			vertex.prev = target.prev;
			vertex.next = target;

			if ( vertex.prev === null ) {

				this.head = vertex;

			} else {

				vertex.prev.next = vertex;

			}

			target.prev = vertex;

			return this;

		},

		// Inserts a vertex after the target vertex

		insertAfter: function ( target, vertex ) {

			vertex.prev = target;
			vertex.next = target.next;

			if ( vertex.next === null ) {

				this.tail = vertex;

			} else {

				vertex.next.prev = vertex;

			}

			target.next = vertex;

			return this;

		},

		// Appends a vertex to the end of the linked list

		append: function ( vertex ) {

			if ( this.head === null ) {

				this.head = vertex;

			} else {

				this.tail.next = vertex;

			}

			vertex.prev = this.tail;
			vertex.next = null; // the tail has no subsequent vertex

			this.tail = vertex;

			return this;

		},

		// Appends a chain of vertices where 'vertex' is the head.

		appendChain: function ( vertex ) {

			if ( this.head === null ) {

				this.head = vertex;

			} else {

				this.tail.next = vertex;

			}

			vertex.prev = this.tail;

			// ensure that the 'tail' reference points to the last vertex of the chain

			while ( vertex.next !== null ) {

				vertex = vertex.next;

			}

			this.tail = vertex;

			return this;

		},

		// Removes a vertex from the linked list

		remove: function ( vertex ) {

			if ( vertex.prev === null ) {

				this.head = vertex.next;

			} else {

				vertex.prev.next = vertex.next;

			}

			if ( vertex.next === null ) {

				this.tail = vertex.prev;

			} else {

				vertex.next.prev = vertex.prev;

			}

			return this;

		},

		// Removes a list of vertices whose 'head' is 'a' and whose 'tail' is b

		removeSubList: function ( a, b ) {

			if ( a.prev === null ) {

				this.head = b.next;

			} else {

				a.prev.next = b.next;

			}

			if ( b.next === null ) {

				this.tail = a.prev;

			} else {

				b.next.prev = a.prev;

			}

			return this;

		},

		isEmpty: function() {

			return this.head === null;

		}

	} );

	// export

	THREE.QuickHull = QuickHull;


} ) ();