import { Vector3 } from '../../../build/three.module.js'; 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 };