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