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Apr 2, 2021
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OBB: Use ES6 syntax. #21563

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146 changes: 73 additions & 73 deletions examples/jsm/math/OBB.js
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Original file line number Diff line number Diff line change
Expand Up @@ -9,85 +9,85 @@ import {

// module scope helper variables

var a = {
const a = {
c: null, // center
u: [ new Vector3(), new Vector3(), new Vector3() ], // basis vectors
e: [] // half width
};

var b = {
const b = {
c: null, // center
u: [ new Vector3(), new Vector3(), new Vector3() ], // basis vectors
e: [] // half width
};

var R = [[], [], []];
var AbsR = [[], [], []];
var t = [];

var xAxis = new Vector3();
var yAxis = new Vector3();
var zAxis = new Vector3();
var v1 = new Vector3();
var size = new Vector3();
var closestPoint = new Vector3();
var rotationMatrix = new Matrix3();
var aabb = new Box3();
var matrix = new Matrix4();
var inverse = new Matrix4();
var localRay = new Ray();
const R = [[], [], []];
const AbsR = [[], [], []];
const t = [];

const xAxis = new Vector3();
const yAxis = new Vector3();
const zAxis = new Vector3();
const v1 = new Vector3();
const size = new Vector3();
const closestPoint = new Vector3();
const rotationMatrix = new Matrix3();
const aabb = new Box3();
const matrix = new Matrix4();
const inverse = new Matrix4();
const localRay = new Ray();

// OBB

function OBB( center = new Vector3(), halfSize = new Vector3(), rotation = new Matrix3() ) {
class OBB {

this.center = center;
this.halfSize = halfSize;
this.rotation = rotation;
constructor( center = new Vector3(), halfSize = new Vector3(), rotation = new Matrix3() ) {

}
this.center = center;
this.halfSize = halfSize;
this.rotation = rotation;

Object.assign( OBB.prototype, {
}

set: function ( center, halfSize, rotation ) {
set( center, halfSize, rotation ) {

this.center = center;
this.halfSize = halfSize;
this.rotation = rotation;

return this;

},
}

copy: function ( obb ) {
copy( obb ) {

this.center.copy( obb.center );
this.halfSize.copy( obb.halfSize );
this.rotation.copy( obb.rotation );

return this;

},
}

clone: function () {
clone() {

return new this.constructor().copy( this );

},
}

getSize: function ( result ) {
getSize( result ) {

return result.copy( this.halfSize ).multiplyScalar( 2 );

},
}

/**
* Reference: Closest Point on OBB to Point in Real-Time Collision Detection
* by Christer Ericson (chapter 5.1.4)
*/
clampPoint: function ( point, result ) {
clampPoint( point, result ) {

var halfSize = this.halfSize;
const halfSize = this.halfSize;

v1.subVectors( point, this.center );
this.rotation.extractBasis( xAxis, yAxis, zAxis );
Expand All @@ -98,20 +98,20 @@ Object.assign( OBB.prototype, {

// project the target onto the OBB axes and walk towards that point

var x = MathUtils.clamp( v1.dot( xAxis ), - halfSize.x, halfSize.x );
const x = MathUtils.clamp( v1.dot( xAxis ), - halfSize.x, halfSize.x );
result.add( xAxis.multiplyScalar( x ) );

var y = MathUtils.clamp( v1.dot( yAxis ), - halfSize.y, halfSize.y );
const y = MathUtils.clamp( v1.dot( yAxis ), - halfSize.y, halfSize.y );
result.add( yAxis.multiplyScalar( y ) );

var z = MathUtils.clamp( v1.dot( zAxis ), - halfSize.z, halfSize.z );
const z = MathUtils.clamp( v1.dot( zAxis ), - halfSize.z, halfSize.z );
result.add( zAxis.multiplyScalar( z ) );

return result;

},
}

containsPoint: function ( point ) {
containsPoint( point ) {

v1.subVectors( point, this.center );
this.rotation.extractBasis( xAxis, yAxis, zAxis );
Expand All @@ -122,15 +122,15 @@ Object.assign( OBB.prototype, {
Math.abs( v1.dot( yAxis ) ) <= this.halfSize.y &&
Math.abs( v1.dot( zAxis ) ) <= this.halfSize.z;

},
}

intersectsBox3: function ( box3 ) {
intersectsBox3( box3 ) {

return this.intersectsOBB( obb.fromBox3( box3 ) );

},
}

intersectsSphere: function ( sphere ) {
intersectsSphere( sphere ) {

// find the point on the OBB closest to the sphere center

Expand All @@ -140,14 +140,14 @@ Object.assign( OBB.prototype, {

return closestPoint.distanceToSquared( sphere.center ) <= ( sphere.radius * sphere.radius );

},
}

/**
* Reference: OBB-OBB Intersection in Real-Time Collision Detection
* by Christer Ericson (chapter 4.4.1)
*
*/
intersectsOBB: function ( obb, epsilon = Number.EPSILON ) {
intersectsOBB( obb, epsilon = Number.EPSILON ) {

// prepare data structures (the code uses the same nomenclature like the reference)

Expand All @@ -165,9 +165,9 @@ Object.assign( OBB.prototype, {

// compute rotation matrix expressing b in a's coordinate frame

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

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

R[ i ][ j ] = a.u[ i ].dot( b.u[ j ] );

Expand All @@ -189,21 +189,21 @@ Object.assign( OBB.prototype, {
// counteract arithmetic errors when two edges are parallel and
// their cross product is (near) null

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

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

AbsR[ i ][ j ] = Math.abs( R[ i ][ j ] ) + epsilon;

}

}

var ra, rb;
let ra, rb;

// test axes L = A0, L = A1, L = A2

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

ra = a.e[ i ];
rb = b.e[ 0 ] * AbsR[ i ][ 0 ] + b.e[ 1 ] * AbsR[ i ][ 1 ] + b.e[ 2 ] * AbsR[ i ][ 2 ];
Expand All @@ -214,7 +214,7 @@ Object.assign( OBB.prototype, {

// test axes L = B0, L = B1, L = B2

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

ra = a.e[ 0 ] * AbsR[ 0 ][ i ] + a.e[ 1 ] * AbsR[ 1 ][ i ] + a.e[ 2 ] * AbsR[ 2 ][ i ];
rb = b.e[ i ];
Expand Down Expand Up @@ -280,13 +280,13 @@ Object.assign( OBB.prototype, {

return true;

},
}

/**
* Reference: Testing Box Against Plane in Real-Time Collision Detection
* by Christer Ericson (chapter 5.2.3)
*/
intersectsPlane: function ( plane ) {
intersectsPlane( plane ) {

this.rotation.extractBasis( xAxis, yAxis, zAxis );

Expand All @@ -304,13 +304,13 @@ Object.assign( OBB.prototype, {

return Math.abs( d ) <= r;

},
}

/**
* Performs a ray/OBB intersection test and stores the intersection point
* to the given 3D vector. If no intersection is detected, *null* is returned.
*/
intersectRay: function ( ray, result ) {
intersectRay( ray, result ) {

// the idea is to perform the intersection test in the local space
// of the OBB.
Expand Down Expand Up @@ -342,19 +342,19 @@ Object.assign( OBB.prototype, {

}

},
}

/**
* Performs a ray/OBB intersection test. Returns either true or false if
* there is a intersection or not.
*/
intersectsRay: function ( ray ) {
intersectsRay( ray ) {

return this.intersectRay( ray, v1 ) !== null;

},
}

fromBox3: function ( box3 ) {
fromBox3( box3 ) {

box3.getCenter( this.center );

Expand All @@ -364,32 +364,32 @@ Object.assign( OBB.prototype, {

return this;

},
}

equals: function ( obb ) {
equals( obb ) {

return obb.center.equals( this.center ) &&
obb.halfSize.equals( this.halfSize ) &&
obb.rotation.equals( this.rotation );

},
}

applyMatrix4: function ( matrix ) {
applyMatrix4( matrix ) {

var e = matrix.elements;
const e = matrix.elements;

var sx = v1.set( e[ 0 ], e[ 1 ], e[ 2 ] ).length();
var sy = v1.set( e[ 4 ], e[ 5 ], e[ 6 ] ).length();
var sz = v1.set( e[ 8 ], e[ 9 ], e[ 10 ] ).length();
const sx = v1.set( e[ 0 ], e[ 1 ], e[ 2 ] ).length();
const sy = v1.set( e[ 4 ], e[ 5 ], e[ 6 ] ).length();
const sz = v1.set( e[ 8 ], e[ 9 ], e[ 10 ] ).length();

var det = matrix.determinant();
const det = matrix.determinant();
if ( det < 0 ) sx = - sx;

rotationMatrix.setFromMatrix4( matrix );

var invSX = 1 / sx;
var invSY = 1 / sy;
var invSZ = 1 / sz;
const invSX = 1 / sx;
const invSY = 1 / sy;
const invSZ = 1 / sz;

rotationMatrix.elements[ 0 ] *= invSX;
rotationMatrix.elements[ 1 ] *= invSX;
Expand All @@ -416,8 +416,8 @@ Object.assign( OBB.prototype, {

}

} );
}

var obb = new OBB();
const obb = new OBB();

export { OBB };