@flighthq/collision 0.1.0

package/dist/shapeCollision.js

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+import { createVector2, normalizeVector2 } from '@flighthq/geometry';
+import { clearCollisionManifold } from './manifold';
+// The 2D narrow-phase pair tests. Each writes an `out` CollisionManifold and returns whether the
+// pair overlaps. On overlap the manifold normal is the unit minimum-translation axis oriented to
+// push shape **A** (the first argument) out of **B**, with `depth` the penetration along it; on a
+// miss the manifold is cleared. Touching (zero penetration) counts as **not** overlapping.
+//
+// AABB/OBB/convex-polygon pairs route through a single separating-axis (SAT) core over materialized
+// vertex lists; circle pairs are special-cased with closest-point / radial math (SAT does not model
+// a circle's infinite axis set). The hot path allocates nothing: box vertices are written into
+// module-level scratch buffers and the manifold is written last, after all inputs are read.
+//
+// Polygons are assumed convex; `points` is a flat `[x0,y0,...]` list. Winding does not matter — the
+// core orients the manifold by comparing shape centroids.
+const EPS = 1e-9;
+// Axis-aligned box vs axis-aligned box. Direct min-overlap test (no SAT needed): the only candidate
+// separating axes are X and Y, and the manifold uses whichever has the smaller penetration.
+export function testAabbAabbCollision(a, b, out) {
+    const aMinX = a.minX;
+    const aMinY = a.minY;
+    const aMaxX = a.maxX;
+    const aMaxY = a.maxY;
+    const bMinX = b.minX;
+    const bMinY = b.minY;
+    const bMaxX = b.maxX;
+    const bMaxY = b.maxY;
+    // Penetration = the smaller of the two ways to separate along each axis (handles containment,
+    // where the intersection length would understate the distance needed to push the boxes apart).
+    const penLeftX = aMaxX - bMinX;
+    const penRightX = bMaxX - aMinX;
+    const overlapX = penLeftX < penRightX ? penLeftX : penRightX;
+    const penDownY = aMaxY - bMinY;
+    const penUpY = bMaxY - aMinY;
+    const overlapY = penDownY < penUpY ? penDownY : penUpY;
+    if (overlapX <= 0 || overlapY <= 0) {
+        clearCollisionManifold(out);
+        return false;
+    }
+    if (overlapX < overlapY) {
+        out.normalX = penLeftX < penRightX ? -1 : 1;
+        out.normalY = 0;
+        out.depth = overlapX;
+    }
+    else {
+        out.normalX = 0;
+        out.normalY = penDownY < penUpY ? -1 : 1;
+        out.depth = overlapY;
+    }
+    out.overlapping = true;
+    return true;
+}
+// Axis-aligned box vs oriented box (SAT over both boxes' four corners).
+export function testAabbObbCollision(a, b, out) {
+    writeAabbVertices(a, scratchA);
+    writeObbVertices(b, scratchB);
+    return satConvexOverlap(scratchA, 4, scratchB, 4, out);
+}
+// Axis-aligned box vs convex polygon (SAT).
+export function testAabbPolygonCollision(a, b, out) {
+    writeAabbVertices(a, scratchA);
+    const bPoints = b.points;
+    return satConvexOverlap(scratchA, 4, bPoints, bPoints.length >> 1, out);
+}
+// Circle vs axis-aligned box. Closest-point when the center is outside the box; nearest-face
+// push-out when the center is inside it.
+export function testCircleAabbCollision(a, b, out) {
+    return circleAabbOverlap(a.x, a.y, a.radius, b.minX, b.minY, b.maxX, b.maxY, out);
+}
+// Circle vs circle. Radial: overlapping when the centers are closer than the radius sum; the normal
+// points from B's center to A's center. Concentric centers fall back to a +X normal at full depth.
+export function testCircleCircleCollision(a, b, out) {
+    const ax = a.x;
+    const ay = a.y;
+    const bx = b.x;
+    const by = b.y;
+    const radiusSum = a.radius + b.radius;
+    const dx = ax - bx;
+    const dy = ay - by;
+    const distSquared = dx * dx + dy * dy;
+    if (distSquared >= radiusSum * radiusSum) {
+        clearCollisionManifold(out);
+        return false;
+    }
+    const dist = Math.sqrt(distSquared);
+    if (dist > EPS) {
+        const inv = 1 / dist;
+        out.normalX = dx * inv;
+        out.normalY = dy * inv;
+        out.depth = radiusSum - dist;
+    }
+    else {
+        out.normalX = 1;
+        out.normalY = 0;
+        out.depth = radiusSum;
+    }
+    out.overlapping = true;
+    return true;
+}
+// Circle vs oriented box. The circle center is transformed into the box's local frame, tested as
+// circle-vs-AABB there, then the resulting normal is rotated back into world space.
+export function testCircleObbCollision(a, b, out) {
+    const cx = a.x;
+    const cy = a.y;
+    const radius = a.radius;
+    const halfW = b.halfW;
+    const halfH = b.halfH;
+    const cos = Math.cos(b.rotation);
+    const sin = Math.sin(b.rotation);
+    const dx = cx - b.x;
+    const dy = cy - b.y;
+    const localX = dx * cos + dy * sin;
+    const localY = -dx * sin + dy * cos;
+    if (!circleAabbOverlap(localX, localY, radius, -halfW, -halfH, halfW, halfH, out)) {
+        return false;
+    }
+    const localNormalX = out.normalX;
+    const localNormalY = out.normalY;
+    out.normalX = localNormalX * cos - localNormalY * sin;
+    out.normalY = localNormalX * sin + localNormalY * cos;
+    return true;
+}
+// Circle vs convex polygon (SAT: polygon edge normals plus the axis from the circle center to its
+// nearest polygon vertex, the axis SAT would otherwise miss at a corner).
+export function testCirclePolygonCollision(a, b, out) {
+    const points = b.points;
+    return satCircleConvexOverlap(a.x, a.y, a.radius, points, points.length >> 1, out);
+}
+// Oriented box vs oriented box (SAT over both boxes' four corners).
+export function testObbObbCollision(a, b, out) {
+    writeObbVertices(a, scratchA);
+    writeObbVertices(b, scratchB);
+    return satConvexOverlap(scratchA, 4, scratchB, 4, out);
+}
+// Oriented box vs convex polygon (SAT).
+export function testObbPolygonCollision(a, b, out) {
+    writeObbVertices(a, scratchA);
+    const bPoints = b.points;
+    return satConvexOverlap(scratchA, 4, bPoints, bPoints.length >> 1, out);
+}
+// Convex polygon vs convex polygon (SAT — the general convex core).
+export function testPolygonPolygonCollision(a, b, out) {
+    const aPoints = a.points;
+    const bPoints = b.points;
+    return satConvexOverlap(aPoints, aPoints.length >> 1, bPoints, bPoints.length >> 1, out);
+}
+// Circle (`cx`,`cy`,`radius`) vs axis-aligned box given as min/max. Writes the manifold pushing the
+// circle out of the box. Shared by the circle-AABB and circle-OBB (local-frame) entry points.
+function circleAabbOverlap(cx, cy, radius, minX, minY, maxX, maxY, out) {
+    const closestX = cx < minX ? minX : cx > maxX ? maxX : cx;
+    const closestY = cy < minY ? minY : cy > maxY ? maxY : cy;
+    const dx = cx - closestX;
+    const dy = cy - closestY;
+    const distSquared = dx * dx + dy * dy;
+    if (distSquared > EPS * EPS) {
+        // Center outside the box: separate along the closest-point direction.
+        const dist = Math.sqrt(distSquared);
+        if (dist >= radius) {
+            clearCollisionManifold(out);
+            return false;
+        }
+        const inv = 1 / dist;
+        out.normalX = dx * inv;
+        out.normalY = dy * inv;
+        out.depth = radius - dist;
+        out.overlapping = true;
+        return true;
+    }
+    // Center inside the box: push out through the nearest face.
+    const left = cx - minX;
+    const right = maxX - cx;
+    const bottom = cy - minY;
+    const top = maxY - cy;
+    let min = left;
+    let normalX = -1;
+    let normalY = 0;
+    if (right < min) {
+        min = right;
+        normalX = 1;
+        normalY = 0;
+    }
+    if (bottom < min) {
+        min = bottom;
+        normalX = 0;
+        normalY = -1;
+    }
+    if (top < min) {
+        min = top;
+        normalX = 0;
+        normalY = 1;
+    }
+    out.normalX = normalX;
+    out.normalY = normalY;
+    out.depth = min + radius;
+    out.overlapping = true;
+    return true;
+}
+// SAT for a circle vs a convex polygon. Tests every polygon edge normal plus the center-to-nearest-
+// vertex axis, tracking the least-penetration axis. Orients the normal from the polygon toward the
+// circle so it pushes the circle out.
+function satCircleConvexOverlap(cx, cy, radius, px, pn, out) {
+    let minOverlap = Infinity;
+    let normalX = 0;
+    let normalY = 0;
+    for (let i = 0; i < pn; i++) {
+        const j = (i + 1) % pn;
+        const x0 = px[i << 1];
+        const y0 = px[(i << 1) + 1];
+        const x1 = px[j << 1];
+        const y1 = px[(j << 1) + 1];
+        scratchAxis.x = y1 - y0;
+        scratchAxis.y = -(x1 - x0);
+        const len = normalizeVector2(scratchAxis, scratchAxis);
+        if (len < EPS)
+            continue;
+        const axisX = scratchAxis.x;
+        const axisY = scratchAxis.y;
+        const overlap = circlePolygonAxisOverlap(axisX, axisY, cx, cy, radius, px, pn);
+        if (overlap <= 0) {
+            clearCollisionManifold(out);
+            return false;
+        }
+        if (overlap < minOverlap) {
+            minOverlap = overlap;
+            normalX = axisX;
+            normalY = axisY;
+        }
+    }
+    // Center-to-nearest-vertex axis (the corner case a pure edge-normal test misses).
+    let nearestX = 0;
+    let nearestY = 0;
+    let nearestDistSquared = Infinity;
+    for (let i = 0; i < pn; i++) {
+        const vx = px[i << 1];
+        const vy = px[(i << 1) + 1];
+        const ddx = cx - vx;
+        const ddy = cy - vy;
+        const d2 = ddx * ddx + ddy * ddy;
+        if (d2 < nearestDistSquared) {
+            nearestDistSquared = d2;
+            nearestX = vx;
+            nearestY = vy;
+        }
+    }
+    scratchAxis.x = cx - nearestX;
+    scratchAxis.y = cy - nearestY;
+    const vertexAxisLen = normalizeVector2(scratchAxis, scratchAxis);
+    if (vertexAxisLen > EPS) {
+        const axisX = scratchAxis.x;
+        const axisY = scratchAxis.y;
+        const overlap = circlePolygonAxisOverlap(axisX, axisY, cx, cy, radius, px, pn);
+        if (overlap <= 0) {
+            clearCollisionManifold(out);
+            return false;
+        }
+        if (overlap < minOverlap) {
+            minOverlap = overlap;
+            normalX = axisX;
+            normalY = axisY;
+        }
+    }
+    if (minOverlap === Infinity) {
+        clearCollisionManifold(out);
+        return false;
+    }
+    let centroidX = 0;
+    let centroidY = 0;
+    for (let i = 0; i < pn; i++) {
+        centroidX += px[i << 1];
+        centroidY += px[(i << 1) + 1];
+    }
+    centroidX /= pn;
+    centroidY /= pn;
+    if (normalX * (cx - centroidX) + normalY * (cy - centroidY) < 0) {
+        normalX = -normalX;
+        normalY = -normalY;
+    }
+    out.normalX = normalX;
+    out.normalY = normalY;
+    out.depth = minOverlap;
+    out.overlapping = true;
+    return true;
+}
+// Penetration of a circle and a polygon along one unit axis, or a non-positive value if they are
+// separated (or merely touching) on it.
+function circlePolygonAxisOverlap(axisX, axisY, cx, cy, radius, px, pn) {
+    let minP = Infinity;
+    let maxP = -Infinity;
+    for (let i = 0; i < pn; i++) {
+        const d = px[i << 1] * axisX + px[(i << 1) + 1] * axisY;
+        if (d < minP)
+            minP = d;
+        if (d > maxP)
+            maxP = d;
+    }
+    const c = cx * axisX + cy * axisY;
+    const cMin = c - radius;
+    const cMax = c + radius;
+    // Separation penetration (min of the two push directions), not the intersection length.
+    const penLow = maxP - cMin;
+    const penHigh = cMax - minP;
+    return penLow < penHigh ? penLow : penHigh;
+}
+// SAT for two convex polygons given as flat vertex lists. Tests each polygon's edge normals,
+// tracking the least-penetration separating axis, and orients the normal to push A out of B.
+function satConvexOverlap(ax, an, bx, bn, out) {
+    minOverlapAxis.overlap = Infinity;
+    minOverlapAxis.x = 0;
+    minOverlapAxis.y = 0;
+    if (!accumulatePolygonAxes(ax, an, ax, an, bx, bn, out))
+        return false;
+    if (!accumulatePolygonAxes(bx, bn, ax, an, bx, bn, out))
+        return false;
+    if (minOverlapAxis.overlap === Infinity) {
+        clearCollisionManifold(out);
+        return false;
+    }
+    let aCentroidX = 0;
+    let aCentroidY = 0;
+    for (let i = 0; i < an; i++) {
+        aCentroidX += ax[i << 1];
+        aCentroidY += ax[(i << 1) + 1];
+    }
+    aCentroidX /= an;
+    aCentroidY /= an;
+    let bCentroidX = 0;
+    let bCentroidY = 0;
+    for (let i = 0; i < bn; i++) {
+        bCentroidX += bx[i << 1];
+        bCentroidY += bx[(i << 1) + 1];
+    }
+    bCentroidX /= bn;
+    bCentroidY /= bn;
+    let normalX = minOverlapAxis.x;
+    let normalY = minOverlapAxis.y;
+    if (normalX * (aCentroidX - bCentroidX) + normalY * (aCentroidY - bCentroidY) < 0) {
+        normalX = -normalX;
+        normalY = -normalY;
+    }
+    out.normalX = normalX;
+    out.normalY = normalY;
+    out.depth = minOverlapAxis.overlap;
+    out.overlapping = true;
+    return true;
+}
+// Tests every edge normal of the source polygon (`sx`,`sn`) as a separating axis for the pair
+// (`ax`/`bx`), updating the tracked least-penetration axis. Returns false (and clears `out`) as soon
+// as a separating axis with no positive overlap is found.
+function accumulatePolygonAxes(sx, sn, ax, an, bx, bn, out) {
+    for (let i = 0; i < sn; i++) {
+        const j = (i + 1) % sn;
+        const x0 = sx[i << 1];
+        const y0 = sx[(i << 1) + 1];
+        const x1 = sx[j << 1];
+        const y1 = sx[(j << 1) + 1];
+        scratchAxis.x = y1 - y0;
+        scratchAxis.y = -(x1 - x0);
+        const len = normalizeVector2(scratchAxis, scratchAxis);
+        if (len < EPS)
+            continue;
+        const axisX = scratchAxis.x;
+        const axisY = scratchAxis.y;
+        const overlap = polygonAxisOverlap(axisX, axisY, ax, an, bx, bn);
+        if (overlap <= 0) {
+            clearCollisionManifold(out);
+            return false;
+        }
+        if (overlap < minOverlapAxis.overlap) {
+            minOverlapAxis.overlap = overlap;
+            minOverlapAxis.x = axisX;
+            minOverlapAxis.y = axisY;
+        }
+    }
+    return true;
+}
+// Penetration of two polygons' projections onto one unit axis, or a non-positive value if they are
+// separated (or merely touching) on it.
+function polygonAxisOverlap(axisX, axisY, ax, an, bx, bn) {
+    let minA = Infinity;
+    let maxA = -Infinity;
+    for (let i = 0; i < an; i++) {
+        const d = ax[i << 1] * axisX + ax[(i << 1) + 1] * axisY;
+        if (d < minA)
+            minA = d;
+        if (d > maxA)
+            maxA = d;
+    }
+    let minB = Infinity;
+    let maxB = -Infinity;
+    for (let i = 0; i < bn; i++) {
+        const d = bx[i << 1] * axisX + bx[(i << 1) + 1] * axisY;
+        if (d < minB)
+            minB = d;
+        if (d > maxB)
+            maxB = d;
+    }
+    // Separation penetration (min of the two push directions), not the intersection length.
+    const penLow = maxA - minB;
+    const penHigh = maxB - minA;
+    return penLow < penHigh ? penLow : penHigh;
+}
+// Writes the four corners of an axis-aligned box into `out` as a flat `[x0,y0,...]` list.
+function writeAabbVertices(aabb, out) {
+    const minX = aabb.minX;
+    const minY = aabb.minY;
+    const maxX = aabb.maxX;
+    const maxY = aabb.maxY;
+    out[0] = minX;
+    out[1] = minY;
+    out[2] = maxX;
+    out[3] = minY;
+    out[4] = maxX;
+    out[5] = maxY;
+    out[6] = minX;
+    out[7] = maxY;
+}
+// Writes the four world-space corners of an oriented box into `out` as a flat `[x0,y0,...]` list.
+function writeObbVertices(obb, out) {
+    const cx = obb.x;
+    const cy = obb.y;
+    const halfW = obb.halfW;
+    const halfH = obb.halfH;
+    const cos = Math.cos(obb.rotation);
+    const sin = Math.sin(obb.rotation);
+    const wx = cos * halfW;
+    const wy = sin * halfW;
+    const hx = -sin * halfH;
+    const hy = cos * halfH;
+    out[0] = cx - wx - hx;
+    out[1] = cy - wy - hy;
+    out[2] = cx + wx - hx;
+    out[3] = cy + wy - hy;
+    out[4] = cx + wx + hx;
+    out[5] = cy + wy + hy;
+    out[6] = cx - wx + hx;
+    out[7] = cy - wy + hy;
+}
+const scratchA = new Float64Array(8);
+const scratchB = new Float64Array(8);
+const scratchAxis = createVector2();
+const minOverlapAxis = { overlap: Infinity, x: 0, y: 0 };
+//# sourceMappingURL=shapeCollision.js.map

package/dist/shapeCollision.js.map

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package/dist/testCollision.d.ts

@@ -0,0 +1,3 @@
+import type { CollisionManifold, CollisionShape } from '@flighthq/types';
+export declare function testCollision(a: Readonly<CollisionShape>, b: Readonly<CollisionShape>, out: CollisionManifold): boolean;
+//# sourceMappingURL=testCollision.d.ts.map

package/dist/testCollision.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"testCollision.d.ts","sourceRoot":"","sources":["../src/testCollision.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,iBAAiB,EAAE,cAAc,EAAsB,MAAM,iBAAiB,CAAC;AAuB7F,wBAAgB,aAAa,CAC3B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,CAAC,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC3B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAiET"}

package/dist/testCollision.js

@@ -0,0 +1,90 @@
+import { clearCollisionManifold } from './manifold';
+import { testAabbAabbCollision, testAabbObbCollision, testAabbPolygonCollision, testCircleAabbCollision, testCircleCircleCollision, testCircleObbCollision, testCirclePolygonCollision, testObbObbCollision, testObbPolygonCollision, testPolygonPolygonCollision, } from './shapeCollision';
+// Generic narrow-phase test: dispatches on the two shapes' `kind`s to the matching per-pair test and
+// writes the manifold pushing **A out of B**. Shapes are canonically ordered by kind rank before
+// dispatch so only the ten manifold-bearing pairs (circle/aabb/obb/polygon) need explicit branches;
+// when the arguments arrive in the reversed order the shared normal is negated to preserve the
+// A-out-of-B orientation. Area-less kinds (`segment`, `point`) and unknown kinds carry no manifold —
+// the pair is reported as non-overlapping; use `getCollisionShapeContainsPoint` or the
+// `testSegment*Collision` queries for those. The direct per-pair functions remain the hot path.
+export function testCollision(a, b, out) {
+    const rankA = shapeKindRank(a.kind);
+    const rankB = shapeKindRank(b.kind);
+    if (rankA < 0 || rankB < 0) {
+        clearCollisionManifold(out);
+        return false;
+    }
+    const swapped = rankA > rankB;
+    const lo = swapped ? b : a;
+    const hi = swapped ? a : b;
+    let overlapping = false;
+    switch (lo.kind) {
+        case 'circle':
+            switch (hi.kind) {
+                case 'circle':
+                    overlapping = testCircleCircleCollision(lo, hi, out);
+                    break;
+                case 'aabb':
+                    overlapping = testCircleAabbCollision(lo, hi, out);
+                    break;
+                case 'obb':
+                    overlapping = testCircleObbCollision(lo, hi, out);
+                    break;
+                case 'polygon':
+                    overlapping = testCirclePolygonCollision(lo, hi, out);
+                    break;
+            }
+            break;
+        case 'aabb':
+            switch (hi.kind) {
+                case 'aabb':
+                    overlapping = testAabbAabbCollision(lo, hi, out);
+                    break;
+                case 'obb':
+                    overlapping = testAabbObbCollision(lo, hi, out);
+                    break;
+                case 'polygon':
+                    overlapping = testAabbPolygonCollision(lo, hi, out);
+                    break;
+            }
+            break;
+        case 'obb':
+            switch (hi.kind) {
+                case 'obb':
+                    overlapping = testObbObbCollision(lo, hi, out);
+                    break;
+                case 'polygon':
+                    overlapping = testObbPolygonCollision(lo, hi, out);
+                    break;
+            }
+            break;
+        case 'polygon':
+            if (hi.kind === 'polygon') {
+                overlapping = testPolygonPolygonCollision(lo, hi, out);
+            }
+            break;
+    }
+    if (overlapping && swapped) {
+        out.normalX = -out.normalX;
+        out.normalY = -out.normalY;
+    }
+    return overlapping;
+}
+// Canonical dispatch rank of a shape kind, or -1 for kinds that carry no manifold (segment, point,
+// and any custom kind). Ordering the pair by rank collapses the 4x4 kind matrix to its ten lower-
+// triangular manifold pairs.
+function shapeKindRank(kind) {
+    switch (kind) {
+        case 'circle':
+            return 0;
+        case 'aabb':
+            return 1;
+        case 'obb':
+            return 2;
+        case 'polygon':
+            return 3;
+        default:
+            return -1;
+    }
+}
+//# sourceMappingURL=testCollision.js.map

package/dist/testCollision.js.map

@@ -0,0 +1 @@
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package/package.json

@@ -0,0 +1,38 @@
+{
+  "name": "@flighthq/collision",
+  "version": "0.1.0",
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "exports": {
+    ".": {
+      "types": "./dist/index.d.ts",
+      "default": "./dist/index.js"
+    }
+  },
+  "files": [
+    "dist",
+    "src/**/*.test.ts",
+    "!dist/**/*.test.js",
+    "!dist/**/*.test.d.ts",
+    "!dist/**/*.test.js.map",
+    "!dist/**/*.test.d.ts.map"
+  ],
+  "scripts": {
+    "build": "tsc -b",
+    "clean": "tsc -b --clean",
+    "test": "vitest run --config vitest.config.ts",
+    "test:watch": "vitest --watch --config vitest.config.ts",
+    "prepack": "npm run clean && npm run clean:dist && npm run build",
+    "clean:dist": "tsx ../../scripts/clean-package-dist.ts"
+  },
+  "dependencies": {
+    "@flighthq/geometry": "0.1.0",
+    "@flighthq/types": "0.1.0"
+  },
+  "devDependencies": {
+    "typescript": "^5.3.0"
+  },
+  "description": "2D narrow-phase collision — discrete shape-vs-shape overlap returning a contact manifold (minimum-translation normal + depth), plus point/segment queries",
+  "sideEffects": false
+}

package/src/manifold.test.ts

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+import { describe, expect, it } from 'vitest';
+
+import { clearCollisionManifold, createCollisionManifold } from './manifold';
+
+describe('clearCollisionManifold', () => {
+  it('resets every field to the non-overlapping state', () => {
+    const manifold = { overlapping: true, normalX: 0.5, normalY: -0.5, depth: 3 };
+    clearCollisionManifold(manifold);
+    expect(manifold.overlapping).toBe(false);
+    expect(manifold.normalX).toBe(0);
+    expect(manifold.normalY).toBe(0);
+    expect(manifold.depth).toBe(0);
+  });
+});
+
+describe('createCollisionManifold', () => {
+  it('allocates a fresh manifold in the non-overlapping state', () => {
+    const manifold = createCollisionManifold();
+    expect(manifold.overlapping).toBe(false);
+    expect(manifold.normalX).toBe(0);
+    expect(manifold.normalY).toBe(0);
+    expect(manifold.depth).toBe(0);
+  });
+
+  it('returns an independent object each call', () => {
+    const a = createCollisionManifold();
+    const b = createCollisionManifold();
+    a.overlapping = true;
+    expect(b.overlapping).toBe(false);
+  });
+});