import {
Vector3
} from 'three';
const _v1 = new Vector3();
const _v2 = new Vector3();
const _v3 = new Vector3();
const EPS = 1e-10;
class Capsule {
constructor( start = new Vector3( 0, 0, 0 ), end = new Vector3( 0, 1, 0 ), radius = 1 ) {
this.start = start;
this.end = end;
this.radius = radius;
}
clone() {
return new Capsule( this.start.clone(), this.end.clone(), this.radius );
}
set( start, end, radius ) {
this.start.copy( start );
this.end.copy( end );
this.radius = radius;
}
copy( capsule ) {
this.start.copy( capsule.start );
this.end.copy( capsule.end );
this.radius = capsule.radius;
}
getCenter( target ) {
return target.copy( this.end ).add( this.start ).multiplyScalar( 0.5 );
}
translate( v ) {
this.start.add( v );
this.end.add( v );
}
checkAABBAxis( p1x, p1y, p2x, p2y, minx, maxx, miny, maxy, radius ) {
return (
( minx - p1x < radius || minx - p2x < radius ) &&
( p1x - maxx < radius || p2x - maxx < radius ) &&
( miny - p1y < radius || miny - p2y < radius ) &&
( p1y - maxy < radius || p2y - maxy < radius )
);
}
intersectsBox( box ) {
return (
this.checkAABBAxis(
this.start.x, this.start.y, this.end.x, this.end.y,
box.min.x, box.max.x, box.min.y, box.max.y,
this.radius ) &&
this.checkAABBAxis(
this.start.x, this.start.z, this.end.x, this.end.z,
box.min.x, box.max.x, box.min.z, box.max.z,
this.radius ) &&
this.checkAABBAxis(
this.start.y, this.start.z, this.end.y, this.end.z,
box.min.y, box.max.y, box.min.z, box.max.z,
this.radius )
);
}
lineLineMinimumPoints( line1, line2 ) {
const r = _v1.copy( line1.end ).sub( line1.start );
const s = _v2.copy( line2.end ).sub( line2.start );
const w = _v3.copy( line2.start ).sub( line1.start );
const a = r.dot( s ),
b = r.dot( r ),
c = s.dot( s ),
d = s.dot( w ),
e = r.dot( w );
let t1, t2;
const divisor = b * c - a * a;
if ( Math.abs( divisor ) < EPS ) {
const d1 = - d / c;
const d2 = ( a - d ) / c;
if ( Math.abs( d1 - 0.5 ) < Math.abs( d2 - 0.5 ) ) {
t1 = 0;
t2 = d1;
} else {
t1 = 1;
t2 = d2;
}
} else {
t1 = ( d * a + e * c ) / divisor;
t2 = ( t1 * a - d ) / c;
}
t2 = Math.max( 0, Math.min( 1, t2 ) );
t1 = Math.max( 0, Math.min( 1, t1 ) );
const point1 = r.multiplyScalar( t1 ).add( line1.start );
const point2 = s.multiplyScalar( t2 ).add( line2.start );
return [ point1, point2 ];
}
}
export { Capsule };
