(function (global, factory) {
  if (typeof define === "function" && define.amd) {
    define(["exports", "three"], factory);
  } else if (typeof exports !== "undefined") {
    factory(exports, require("three"));
  } else {
    var mod = {
      exports: {}
    };
    factory(mod.exports, global.three);
    global.OBB = mod.exports;
  }
})(typeof globalThis !== "undefined" ? globalThis : typeof self !== "undefined" ? self : this, function (_exports, _three) {
  "use strict";

  Object.defineProperty(_exports, "__esModule", {
    value: true
  });
  _exports.OBB = void 0;

  function _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError("Cannot call a class as a function"); } }

  function _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if ("value" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }

  function _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); Object.defineProperty(Constructor, "prototype", { writable: false }); return Constructor; }

  // module scope helper variables
  var a = {
    c: null,
    // center
    u: [new _three.Vector3(), new _three.Vector3(), new _three.Vector3()],
    // basis vectors
    e: [] // half width

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

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

  var OBB = /*#__PURE__*/function () {
    function OBB() {
      var center = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : new _three.Vector3();
      var halfSize = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : new _three.Vector3();
      var rotation = arguments.length > 2 && arguments[2] !== undefined ? arguments[2] : new _three.Matrix3();

      _classCallCheck(this, OBB);

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

    _createClass(OBB, [{
      key: "set",
      value: function set(center, halfSize, rotation) {
        this.center = center;
        this.halfSize = halfSize;
        this.rotation = rotation;
        return this;
      }
    }, {
      key: "copy",
      value: function copy(obb) {
        this.center.copy(obb.center);
        this.halfSize.copy(obb.halfSize);
        this.rotation.copy(obb.rotation);
        return this;
      }
    }, {
      key: "clone",
      value: function clone() {
        return new this.constructor().copy(this);
      }
    }, {
      key: "getSize",
      value: function 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)
      */

    }, {
      key: "clampPoint",
      value: function clampPoint(point, result) {
        var halfSize = this.halfSize;
        v1.subVectors(point, this.center);
        this.rotation.extractBasis(xAxis, yAxis, zAxis); // start at the center position of the OBB

        result.copy(this.center); // project the target onto the OBB axes and walk towards that point

        var x = _three.MathUtils.clamp(v1.dot(xAxis), -halfSize.x, halfSize.x);

        result.add(xAxis.multiplyScalar(x));

        var y = _three.MathUtils.clamp(v1.dot(yAxis), -halfSize.y, halfSize.y);

        result.add(yAxis.multiplyScalar(y));

        var z = _three.MathUtils.clamp(v1.dot(zAxis), -halfSize.z, halfSize.z);

        result.add(zAxis.multiplyScalar(z));
        return result;
      }
    }, {
      key: "containsPoint",
      value: function containsPoint(point) {
        v1.subVectors(point, this.center);
        this.rotation.extractBasis(xAxis, yAxis, zAxis); // project v1 onto each axis and check if these points lie inside the OBB

        return Math.abs(v1.dot(xAxis)) <= this.halfSize.x && Math.abs(v1.dot(yAxis)) <= this.halfSize.y && Math.abs(v1.dot(zAxis)) <= this.halfSize.z;
      }
    }, {
      key: "intersectsBox3",
      value: function intersectsBox3(box3) {
        return this.intersectsOBB(obb.fromBox3(box3));
      }
    }, {
      key: "intersectsSphere",
      value: function intersectsSphere(sphere) {
        // find the point on the OBB closest to the sphere center
        this.clampPoint(sphere.center, closestPoint); // if that point is inside the sphere, the OBB and sphere intersect

        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)
      *
      */

    }, {
      key: "intersectsOBB",
      value: function intersectsOBB(obb) {
        var epsilon = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : Number.EPSILON;
        // prepare data structures (the code uses the same nomenclature like the reference)
        a.c = this.center;
        a.e[0] = this.halfSize.x;
        a.e[1] = this.halfSize.y;
        a.e[2] = this.halfSize.z;
        this.rotation.extractBasis(a.u[0], a.u[1], a.u[2]);
        b.c = obb.center;
        b.e[0] = obb.halfSize.x;
        b.e[1] = obb.halfSize.y;
        b.e[2] = obb.halfSize.z;
        obb.rotation.extractBasis(b.u[0], b.u[1], b.u[2]); // compute rotation matrix expressing b in a's coordinate frame

        for (var i = 0; i < 3; i++) {
          for (var j = 0; j < 3; j++) {
            R[i][j] = a.u[i].dot(b.u[j]);
          }
        } // compute translation vector


        v1.subVectors(b.c, a.c); // bring translation into a's coordinate frame

        t[0] = v1.dot(a.u[0]);
        t[1] = v1.dot(a.u[1]);
        t[2] = v1.dot(a.u[2]); // compute common subexpressions. Add in an epsilon term to
        // counteract arithmetic errors when two edges are parallel and
        // their cross product is (near) null

        for (var _i = 0; _i < 3; _i++) {
          for (var _j = 0; _j < 3; _j++) {
            AbsR[_i][_j] = Math.abs(R[_i][_j]) + epsilon;
          }
        }

        var ra, rb; // test axes L = A0, L = A1, L = A2

        for (var _i2 = 0; _i2 < 3; _i2++) {
          ra = a.e[_i2];
          rb = b.e[0] * AbsR[_i2][0] + b.e[1] * AbsR[_i2][1] + b.e[2] * AbsR[_i2][2];
          if (Math.abs(t[_i2]) > ra + rb) return false;
        } // test axes L = B0, L = B1, L = B2


        for (var _i3 = 0; _i3 < 3; _i3++) {
          ra = a.e[0] * AbsR[0][_i3] + a.e[1] * AbsR[1][_i3] + a.e[2] * AbsR[2][_i3];
          rb = b.e[_i3];
          if (Math.abs(t[0] * R[0][_i3] + t[1] * R[1][_i3] + t[2] * R[2][_i3]) > ra + rb) return false;
        } // test axis L = A0 x B0


        ra = a.e[1] * AbsR[2][0] + a.e[2] * AbsR[1][0];
        rb = b.e[1] * AbsR[0][2] + b.e[2] * AbsR[0][1];
        if (Math.abs(t[2] * R[1][0] - t[1] * R[2][0]) > ra + rb) return false; // test axis L = A0 x B1

        ra = a.e[1] * AbsR[2][1] + a.e[2] * AbsR[1][1];
        rb = b.e[0] * AbsR[0][2] + b.e[2] * AbsR[0][0];
        if (Math.abs(t[2] * R[1][1] - t[1] * R[2][1]) > ra + rb) return false; // test axis L = A0 x B2

        ra = a.e[1] * AbsR[2][2] + a.e[2] * AbsR[1][2];
        rb = b.e[0] * AbsR[0][1] + b.e[1] * AbsR[0][0];
        if (Math.abs(t[2] * R[1][2] - t[1] * R[2][2]) > ra + rb) return false; // test axis L = A1 x B0

        ra = a.e[0] * AbsR[2][0] + a.e[2] * AbsR[0][0];
        rb = b.e[1] * AbsR[1][2] + b.e[2] * AbsR[1][1];
        if (Math.abs(t[0] * R[2][0] - t[2] * R[0][0]) > ra + rb) return false; // test axis L = A1 x B1

        ra = a.e[0] * AbsR[2][1] + a.e[2] * AbsR[0][1];
        rb = b.e[0] * AbsR[1][2] + b.e[2] * AbsR[1][0];
        if (Math.abs(t[0] * R[2][1] - t[2] * R[0][1]) > ra + rb) return false; // test axis L = A1 x B2

        ra = a.e[0] * AbsR[2][2] + a.e[2] * AbsR[0][2];
        rb = b.e[0] * AbsR[1][1] + b.e[1] * AbsR[1][0];
        if (Math.abs(t[0] * R[2][2] - t[2] * R[0][2]) > ra + rb) return false; // test axis L = A2 x B0

        ra = a.e[0] * AbsR[1][0] + a.e[1] * AbsR[0][0];
        rb = b.e[1] * AbsR[2][2] + b.e[2] * AbsR[2][1];
        if (Math.abs(t[1] * R[0][0] - t[0] * R[1][0]) > ra + rb) return false; // test axis L = A2 x B1

        ra = a.e[0] * AbsR[1][1] + a.e[1] * AbsR[0][1];
        rb = b.e[0] * AbsR[2][2] + b.e[2] * AbsR[2][0];
        if (Math.abs(t[1] * R[0][1] - t[0] * R[1][1]) > ra + rb) return false; // test axis L = A2 x B2

        ra = a.e[0] * AbsR[1][2] + a.e[1] * AbsR[0][2];
        rb = b.e[0] * AbsR[2][1] + b.e[1] * AbsR[2][0];
        if (Math.abs(t[1] * R[0][2] - t[0] * R[1][2]) > ra + rb) return false; // since no separating axis is found, the OBBs must be intersecting

        return true;
      }
      /**
      * Reference: Testing Box Against Plane in Real-Time Collision Detection
      * by Christer Ericson (chapter 5.2.3)
      */

    }, {
      key: "intersectsPlane",
      value: function intersectsPlane(plane) {
        this.rotation.extractBasis(xAxis, yAxis, zAxis); // compute the projection interval radius of this OBB onto L(t) = this->center + t * p.normal;

        var r = this.halfSize.x * Math.abs(plane.normal.dot(xAxis)) + this.halfSize.y * Math.abs(plane.normal.dot(yAxis)) + this.halfSize.z * Math.abs(plane.normal.dot(zAxis)); // compute distance of the OBB's center from the plane

        var d = plane.normal.dot(this.center) - plane.constant; // Intersection occurs when distance d falls within [-r,+r] interval

        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.
      */

    }, {
      key: "intersectRay",
      value: function intersectRay(ray, result) {
        // the idea is to perform the intersection test in the local space
        // of the OBB.
        this.getSize(size);
        aabb.setFromCenterAndSize(v1.set(0, 0, 0), size); // create a 4x4 transformation matrix

        matrix.setFromMatrix3(this.rotation);
        matrix.setPosition(this.center); // transform ray to the local space of the OBB

        inverse.copy(matrix).invert();
        localRay.copy(ray).applyMatrix4(inverse); // perform ray <-> AABB intersection test

        if (localRay.intersectBox(aabb, result)) {
          // transform the intersection point back to world space
          return result.applyMatrix4(matrix);
        } else {
          return null;
        }
      }
      /**
      * Performs a ray/OBB intersection test. Returns either true or false if
      * there is a intersection or not.
      */

    }, {
      key: "intersectsRay",
      value: function intersectsRay(ray) {
        return this.intersectRay(ray, v1) !== null;
      }
    }, {
      key: "fromBox3",
      value: function fromBox3(box3) {
        box3.getCenter(this.center);
        box3.getSize(this.halfSize).multiplyScalar(0.5);
        this.rotation.identity();
        return this;
      }
    }, {
      key: "equals",
      value: function equals(obb) {
        return obb.center.equals(this.center) && obb.halfSize.equals(this.halfSize) && obb.rotation.equals(this.rotation);
      }
    }, {
      key: "applyMatrix4",
      value: function applyMatrix4(matrix) {
        var 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();
        var det = matrix.determinant();
        if (det < 0) sx = -sx;
        rotationMatrix.setFromMatrix4(matrix);
        var invSX = 1 / sx;
        var invSY = 1 / sy;
        var invSZ = 1 / sz;
        rotationMatrix.elements[0] *= invSX;
        rotationMatrix.elements[1] *= invSX;
        rotationMatrix.elements[2] *= invSX;
        rotationMatrix.elements[3] *= invSY;
        rotationMatrix.elements[4] *= invSY;
        rotationMatrix.elements[5] *= invSY;
        rotationMatrix.elements[6] *= invSZ;
        rotationMatrix.elements[7] *= invSZ;
        rotationMatrix.elements[8] *= invSZ;
        this.rotation.multiply(rotationMatrix);
        this.halfSize.x *= sx;
        this.halfSize.y *= sy;
        this.halfSize.z *= sz;
        v1.setFromMatrixPosition(matrix);
        this.center.add(v1);
        return this;
      }
    }]);

    return OBB;
  }();

  _exports.OBB = OBB;
  var obb = new OBB();
});