@flighthq/collision 0.3.0 → 0.3.1-next.1041.35b950c

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Files changed (17) hide show
  1. package/dist/raycastCollisionShape.d.ts.map +1 -1
  2. package/dist/raycastCollisionShape.js +51 -35
  3. package/dist/raycastCollisionShape.js.map +1 -1
  4. package/dist/shapeCollision.d.ts.map +1 -1
  5. package/dist/shapeCollision.js +102 -55
  6. package/dist/shapeCollision.js.map +1 -1
  7. package/dist/shapeContact.d.ts.map +1 -1
  8. package/dist/shapeContact.js +128 -59
  9. package/dist/shapeContact.js.map +1 -1
  10. package/dist/sweepCollisionShape.d.ts.map +1 -1
  11. package/dist/sweepCollisionShape.js +73 -53
  12. package/dist/sweepCollisionShape.js.map +1 -1
  13. package/package.json +4 -4
  14. package/src/raycastCollisionShape.test.ts +31 -0
  15. package/src/shapeCollision.test.ts +55 -0
  16. package/src/shapeContact.test.ts +28 -0
  17. package/src/sweepCollisionShape.test.ts +43 -0
package/dist/raycastCollisionShape.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"raycastCollisionShape.d.ts","sourceRoot":"","sources":["../src/raycastCollisionShape.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,mBAAmB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAOpF,wBAAgB,yBAAyB,IAAI,mBAAmB,CAE/D;AAKD,wBAAgB,qBAAqB,CACnC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC/B,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,GAAG,EAAE,mBAAmB,EACxB,WAAW,SAA2B,GACrC,OAAO,CA+ET"}
1
+ {"version":3,"file":"raycastCollisionShape.d.ts","sourceRoot":"","sources":["../src/raycastCollisionShape.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,mBAAmB,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAOpF,wBAAgB,yBAAyB,IAAI,mBAAmB,CAE/D;AAKD,wBAAgB,qBAAqB,CACnC,KAAK,EAAE,QAAQ,CAAC,cAAc,CAAC,EAC/B,OAAO,EAAE,MAAM,EACf,OAAO,EAAE,MAAM,EACf,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,GAAG,EAAE,mBAAmB,EACxB,WAAW,SAA2B,GACrC,OAAO,CAqFT"}
package/dist/raycastCollisionShape.js CHANGED
@@ -24,21 +24,27 @@ export function raycastCollisionShape(shape, originX, originY, directionX, direc
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  const directionLengthSquared = directionX * directionX + directionY * directionY;
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  if (!(directionLengthSquared > 0))
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  return false;
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- switch (shape.kind) {
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- case 'circle':
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- return raycastCircle(shape.x, shape.y, shape.radius, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out);
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- case 'aabb':
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- return raycastBox(shape.minX, shape.minY, shape.maxX, shape.maxY, originX, originY, directionX, directionY, maxFraction, out);
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- case 'obb':
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- return raycastObb(shape, originX, originY, directionX, directionY, maxFraction, out);
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- case 'polygon':
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- return raycastPolygon(shape.points, originX, originY, directionX, directionY, maxFraction, out);
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- case 'segment':
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- return raycastSegment(shape.x0, shape.y0, shape.x1, shape.y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out);
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- case 'point':
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- return raycastPoint(shape.x, shape.y, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out);
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- default:
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- return false;
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+ const scratch = acquireRaycastScratch();
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+ try {
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+ switch (shape.kind) {
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+ case 'circle':
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+ return raycastCircle(shape.x, shape.y, shape.radius, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out);
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+ case 'aabb':
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+ return raycastBox(shape.minX, shape.minY, shape.maxX, shape.maxY, originX, originY, directionX, directionY, maxFraction, out);
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+ case 'obb':
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+ return raycastObb(shape, originX, originY, directionX, directionY, maxFraction, out, scratch);
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+ case 'polygon':
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+ return raycastPolygon(shape.points, originX, originY, directionX, directionY, maxFraction, out, scratch);
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+ case 'segment':
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+ return raycastSegment(shape.x0, shape.y0, shape.x1, shape.y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out, scratch);
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+ case 'point':
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+ return raycastPoint(shape.x, shape.y, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out);
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+ default:
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+ return false;
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+ }
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+ }
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+ finally {
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+ releaseRaycastScratch(scratch);
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  }
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  }
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  function raycastCircle(centerX, centerY, radius, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out) {
@@ -130,7 +136,7 @@ function raycastBox(minX, minY, maxX, maxY, originX, originY, directionX, direct
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  writeRaycastHit(out, originX, originY, directionX, directionY, lower, normalX, normalY);
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  return true;
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  }
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- function raycastObb(shape, originX, originY, directionX, directionY, maxFraction, out) {
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+ function raycastObb(shape, originX, originY, directionX, directionY, maxFraction, out, scratch) {
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  if (!Number.isFinite(shape.x) ||
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  !Number.isFinite(shape.y) ||
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  !(shape.halfW >= 0) ||
@@ -148,15 +154,15 @@ function raycastObb(shape, originX, originY, directionX, directionY, maxFraction
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  const localOriginY = -offsetX * sin + offsetY * cos;
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  const localDirectionX = directionX * cos + directionY * sin;
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  const localDirectionY = -directionX * sin + directionY * cos;
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- if (!raycastBox(-shape.halfW, -shape.halfH, shape.halfW, shape.halfH, localOriginX, localOriginY, localDirectionX, localDirectionY, maxFraction, localHitScratch)) {
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+ if (!raycastBox(-shape.halfW, -shape.halfH, shape.halfW, shape.halfH, localOriginX, localOriginY, localDirectionX, localDirectionY, maxFraction, scratch.localHit)) {
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  return false;
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  }
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- const normalX = localHitScratch.normalX * cos - localHitScratch.normalY * sin;
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- const normalY = localHitScratch.normalX * sin + localHitScratch.normalY * cos;
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- writeRaycastHit(out, originX, originY, directionX, directionY, localHitScratch.fraction, normalX, normalY);
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+ const normalX = scratch.localHit.normalX * cos - scratch.localHit.normalY * sin;
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+ const normalY = scratch.localHit.normalX * sin + scratch.localHit.normalY * cos;
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+ writeRaycastHit(out, originX, originY, directionX, directionY, scratch.localHit.fraction, normalX, normalY);
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  return true;
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  }
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- function raycastPolygon(points, originX, originY, directionX, directionY, maxFraction, out) {
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+ function raycastPolygon(points, originX, originY, directionX, directionY, maxFraction, out, scratch) {
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  if (getCollisionPolygonValidationStatus(points) !== null)
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  return false;
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  let bestFraction = maxFraction;
@@ -164,14 +170,14 @@ function raycastPolygon(points, originX, originY, directionX, directionY, maxFra
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  let bestNormalY = 0;
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  let found = false;
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  const count = points.length >> 1;
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- const center = polygonCenter(points, count);
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+ polygonCenter(points, count, scratch.polygonCenter);
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  for (let i = 0; i < count; i++) {
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  const j = (i + 1) % count;
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  const x0 = points[i << 1];
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  const y0 = points[(i << 1) + 1];
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  const x1 = points[j << 1];
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  const y1 = points[(j << 1) + 1];
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- if (!writeRaySegmentFraction(x0, y0, x1, y1, originX, originY, directionX, directionY, directionX * directionX + directionY * directionY, bestFraction, fractionScratch)) {
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+ if (!writeRaySegmentFraction(x0, y0, x1, y1, originX, originY, directionX, directionY, directionX * directionX + directionY * directionY, bestFraction, scratch.fraction)) {
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  continue;
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  }
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  const edgeX = x1 - x0;
@@ -183,11 +189,11 @@ function raycastPolygon(points, originX, originY, directionX, directionY, maxFra
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  let normalY = -edgeX / length;
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  const middleX = (x0 + x1) * 0.5;
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  const middleY = (y0 + y1) * 0.5;
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- if (normalX * (center.x - middleX) + normalY * (center.y - middleY) > 0) {
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+ if (normalX * (scratch.polygonCenter.x - middleX) + normalY * (scratch.polygonCenter.y - middleY) > 0) {
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  normalX = -normalX;
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  normalY = -normalY;
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  }
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- bestFraction = fractionScratch.value;
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+ bestFraction = scratch.fraction.value;
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  bestNormalX = normalX;
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  bestNormalY = normalY;
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  found = true;
@@ -197,21 +203,20 @@ function raycastPolygon(points, originX, originY, directionX, directionY, maxFra
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  writeRaycastHit(out, originX, originY, directionX, directionY, bestFraction, bestNormalX, bestNormalY);
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  return true;
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  }
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- function polygonCenter(points, count) {
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+ function polygonCenter(points, count, out) {
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  let x = 0;
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  let y = 0;
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  for (let i = 0; i < count; i++) {
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  x += points[i << 1];
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  y += points[(i << 1) + 1];
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  }
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- polygonCenterScratch.x = x / count;
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- polygonCenterScratch.y = y / count;
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- return polygonCenterScratch;
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+ out.x = x / count;
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+ out.y = y / count;
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  }
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- function raycastSegment(x0, y0, x1, y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out) {
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+ function raycastSegment(x0, y0, x1, y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out, scratch) {
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  if (!Number.isFinite(x0) || !Number.isFinite(y0) || !Number.isFinite(x1) || !Number.isFinite(y1))
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  return false;
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- if (!writeRaySegmentFraction(x0, y0, x1, y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, fractionScratch)) {
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+ if (!writeRaySegmentFraction(x0, y0, x1, y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, scratch.fraction)) {
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  return false;
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  }
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  const edgeX = x1 - x0;
@@ -223,7 +228,7 @@ function raycastSegment(x0, y0, x1, y1, originX, originY, directionX, directionY
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  normalX = -normalX;
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  normalY = -normalY;
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  }
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- writeRaycastHit(out, originX, originY, directionX, directionY, fractionScratch.value, normalX, normalY);
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+ writeRaycastHit(out, originX, originY, directionX, directionY, scratch.fraction.value, normalX, normalY);
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  return true;
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  }
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  function writeRaySegmentFraction(x0, y0, x1, y1, originX, originY, directionX, directionY, directionLengthSquared, maxFraction, out) {
@@ -289,7 +294,18 @@ function clearRaycastHit(out) {
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  out.normalX = 0;
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  out.normalY = 0;
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  }
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- const localHitScratch = { fraction: 0, x: 0, y: 0, normalX: 0, normalY: 0 };
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- const fractionScratch = { value: 0 };
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- const polygonCenterScratch = { x: 0, y: 0 };
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+ function acquireRaycastScratch() {
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+ return raycastScratchPool.pop() ?? createRaycastScratch();
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+ }
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+ function createRaycastScratch() {
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+ return {
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+ localHit: { fraction: 0, x: 0, y: 0, normalX: 0, normalY: 0 },
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+ fraction: { value: 0 },
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+ polygonCenter: { x: 0, y: 0 },
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+ };
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+ }
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+ function releaseRaycastScratch(scratch) {
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+ raycastScratchPool.push(scratch);
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+ }
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+ const raycastScratchPool = [createRaycastScratch()];
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  //# sourceMappingURL=raycastCollisionShape.js.map
package/dist/raycastCollisionShape.js.map CHANGED
@@ -1 +1 @@
1
- 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+ {"version":3,"file":"shapeCollision.d.ts","sourceRoot":"","sources":["../src/shapeCollision.ts"],"names":[],"mappings":"AACA,OAAO,KAAK,EACV,aAAa,EACb,eAAe,EACf,iBAAiB,EACjB,YAAY,EACZ,gBAAgB,EACjB,MAAM,0BAA0B,CAAC;AAuBlC,wBAAgB,qBAAqB,CACnC,CAAC,EAAE,QAAQ,CAAC,aAAa,CAAC,EAC1B,CAAC,EAAE,QAAQ,CAAC,aAAa,CAAC,EAC1B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAmCT;AAGD,wBAAgB,oBAAoB,CAClC,CAAC,EAAE,QAAQ,CAAC,aAAa,CAAC,EAC1B,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,EACzB,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAUT;AAGD,wBAAgB,wBAAwB,CACtC,CAAC,EAAE,QAAQ,CAAC,aAAa,CAAC,EAC1B,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAYT;AAID,wBAAgB,uBAAuB,CACrC,CAAC,EAAE,QAAQ,CAAC,eAAe,CAAC,EAC5B,CAAC,EAAE,QAAQ,CAAC,aAAa,CAAC,EAC1B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAGT;AAID,wBAAgB,yBAAyB,CACvC,CAAC,EAAE,QAAQ,CAAC,eAAe,CAAC,EAC5B,CAAC,EAAE,QAAQ,CAAC,eAAe,CAAC,EAC5B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CA6BT;AAID,wBAAgB,sBAAsB,CACpC,CAAC,EAAE,QAAQ,CAAC,eAAe,CAAC,EAC5B,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,EACzB,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAuBT;AAID,wBAAgB,0BAA0B,CACxC,CAAC,EAAE,QAAQ,CAAC,eAAe,CAAC,EAC5B,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAWT;AAGD,wBAAgB,mBAAmB,CACjC,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,EACzB,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,EACzB,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAUT;AAGD,wBAAgB,uBAAuB,CACrC,CAAC,EAAE,QAAQ,CAAC,YAAY,CAAC,EACzB,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAYT;AAGD,wBAAgB,2BAA2B,CACzC,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,CAAC,EAAE,QAAQ,CAAC,gBAAgB,CAAC,EAC7B,GAAG,EAAE,iBAAiB,GACrB,OAAO,CAeT"}
package/dist/shapeCollision.js CHANGED
@@ -10,7 +10,7 @@ import { clearCollisionManifold } from './manifold';
10
10
  // AABB/OBB/convex-polygon pairs route through a single separating-axis (SAT) core over materialized
11
11
  // vertex lists; circle pairs are special-cased with closest-point / radial math (SAT does not model
12
12
  // a circle's infinite axis set). The hot path allocates nothing: box vertices are written into
13
- // module-level scratch buffers and the manifold is written last, after all inputs are read.
13
+ // exclusively leased scratch buffers and the manifold is written last, after all inputs are read.
14
14
  //
15
15
  // Polygons are assumed convex; `points` is a flat `[x0,y0,...]` list. Winding does not matter — the
16
16
  // core orients the manifold by comparing shape centroids.
@@ -57,18 +57,30 @@ export function testAabbAabbCollision(a, b, out) {
57
57
  export function testAabbObbCollision(a, b, out) {
58
58
  if (!isValidAabb(a) || !isValidObb(b))
59
59
  return clearInvalidCollisionManifold(out);
60
- writeAabbVertices(a, scratchA);
61
- writeObbVertices(b, scratchB);
62
- return satConvexOverlap(scratchA, 4, scratchB, 4, out);
60
+ const scratch = acquireShapeCollisionScratch();
61
+ try {
62
+ writeAabbVertices(a, scratch.verticesA);
63
+ writeObbVertices(b, scratch.verticesB);
64
+ return satConvexOverlap(scratch.verticesA, 4, scratch.verticesB, 4, out, scratch);
65
+ }
66
+ finally {
67
+ releaseShapeCollisionScratch(scratch);
68
+ }
63
69
  }
64
70
  // Axis-aligned box vs convex polygon (SAT).
65
71
  export function testAabbPolygonCollision(a, b, out) {
66
72
  if (!isValidAabb(a) || getCollisionPolygonValidationStatus(b.points) !== null) {
67
73
  return clearInvalidCollisionManifold(out);
68
74
  }
69
- writeAabbVertices(a, scratchA);
70
75
  const bPoints = b.points;
71
- return satConvexOverlap(scratchA, 4, bPoints, bPoints.length >> 1, out);
76
+ const scratch = acquireShapeCollisionScratch();
77
+ try {
78
+ writeAabbVertices(a, scratch.verticesA);
79
+ return satConvexOverlap(scratch.verticesA, 4, bPoints, bPoints.length >> 1, out, scratch);
80
+ }
81
+ finally {
82
+ releaseShapeCollisionScratch(scratch);
83
+ }
72
84
  }
73
85
  // Circle vs axis-aligned box. Closest-point when the center is outside the box; nearest-face
74
86
  // push-out when the center is inside it.
@@ -141,24 +153,42 @@ export function testCirclePolygonCollision(a, b, out) {
141
153
  return clearInvalidCollisionManifold(out);
142
154
  }
143
155
  const points = b.points;
144
- return satCircleConvexOverlap(a.x, a.y, a.radius, points, points.length >> 1, out);
156
+ const scratch = acquireShapeCollisionScratch();
157
+ try {
158
+ return satCircleConvexOverlap(a.x, a.y, a.radius, points, points.length >> 1, out, scratch);
159
+ }
160
+ finally {
161
+ releaseShapeCollisionScratch(scratch);
162
+ }
145
163
  }
146
164
  // Oriented box vs oriented box (SAT over both boxes' four corners).
147
165
  export function testObbObbCollision(a, b, out) {
148
166
  if (!isValidObb(a) || !isValidObb(b))
149
167
  return clearInvalidCollisionManifold(out);
150
- writeObbVertices(a, scratchA);
151
- writeObbVertices(b, scratchB);
152
- return satConvexOverlap(scratchA, 4, scratchB, 4, out);
168
+ const scratch = acquireShapeCollisionScratch();
169
+ try {
170
+ writeObbVertices(a, scratch.verticesA);
171
+ writeObbVertices(b, scratch.verticesB);
172
+ return satConvexOverlap(scratch.verticesA, 4, scratch.verticesB, 4, out, scratch);
173
+ }
174
+ finally {
175
+ releaseShapeCollisionScratch(scratch);
176
+ }
153
177
  }
154
178
  // Oriented box vs convex polygon (SAT).
155
179
  export function testObbPolygonCollision(a, b, out) {
156
180
  if (!isValidObb(a) || getCollisionPolygonValidationStatus(b.points) !== null) {
157
181
  return clearInvalidCollisionManifold(out);
158
182
  }
159
- writeObbVertices(a, scratchA);
160
183
  const bPoints = b.points;
161
- return satConvexOverlap(scratchA, 4, bPoints, bPoints.length >> 1, out);
184
+ const scratch = acquireShapeCollisionScratch();
185
+ try {
186
+ writeObbVertices(a, scratch.verticesA);
187
+ return satConvexOverlap(scratch.verticesA, 4, bPoints, bPoints.length >> 1, out, scratch);
188
+ }
189
+ finally {
190
+ releaseShapeCollisionScratch(scratch);
191
+ }
162
192
  }
163
193
  // Convex polygon vs convex polygon (SAT — the general convex core).
164
194
  export function testPolygonPolygonCollision(a, b, out) {
@@ -168,7 +198,13 @@ export function testPolygonPolygonCollision(a, b, out) {
168
198
  }
169
199
  const aPoints = a.points;
170
200
  const bPoints = b.points;
171
- return satConvexOverlap(aPoints, aPoints.length >> 1, bPoints, bPoints.length >> 1, out);
201
+ const scratch = acquireShapeCollisionScratch();
202
+ try {
203
+ return satConvexOverlap(aPoints, aPoints.length >> 1, bPoints, bPoints.length >> 1, out, scratch);
204
+ }
205
+ finally {
206
+ releaseShapeCollisionScratch(scratch);
207
+ }
172
208
  }
173
209
  // Circle (`cx`,`cy`,`radius`) vs axis-aligned box given as min/max. Writes the manifold pushing the
174
210
  // circle out of the box. Shared by the circle-AABB and circle-OBB (local-frame) entry points.
@@ -225,7 +261,7 @@ function circleAabbOverlap(cx, cy, radius, minX, minY, maxX, maxY, out) {
225
261
  // SAT for a circle vs a convex polygon. Tests every polygon edge normal plus the center-to-nearest-
226
262
  // vertex axis, tracking the least-penetration axis. Orients the normal from the polygon toward the
227
263
  // circle so it pushes the circle out.
228
- function satCircleConvexOverlap(cx, cy, radius, px, pn, out) {
264
+ function satCircleConvexOverlap(cx, cy, radius, px, pn, out, scratch) {
229
265
  const epsilon = relativeEpsilon(Math.max(getPolygonExtent(px, pn), radius));
230
266
  let minOverlap = Infinity;
231
267
  let normalX = 0;
@@ -236,14 +272,14 @@ function satCircleConvexOverlap(cx, cy, radius, px, pn, out) {
236
272
  const y0 = px[(i << 1) + 1];
237
273
  const x1 = px[j << 1];
238
274
  const y1 = px[(j << 1) + 1];
239
- scratchAxis.x = y1 - y0;
240
- scratchAxis.y = -(x1 - x0);
241
- const len = normalizeVector2(scratchAxis, scratchAxis);
275
+ scratch.axis.x = y1 - y0;
276
+ scratch.axis.y = -(x1 - x0);
277
+ const len = normalizeVector2(scratch.axis, scratch.axis);
242
278
  if (len <= epsilon)
243
279
  continue;
244
- canonicalizeScratchAxis();
245
- const axisX = scratchAxis.x;
246
- const axisY = scratchAxis.y;
280
+ canonicalizeScratchAxis(scratch);
281
+ const axisX = scratch.axis.x;
282
+ const axisY = scratch.axis.y;
247
283
  const overlap = circlePolygonAxisOverlap(axisX, axisY, cx, cy, radius, px, pn);
248
284
  if (overlap <= epsilon) {
249
285
  clearCollisionManifold(out);
@@ -271,13 +307,13 @@ function satCircleConvexOverlap(cx, cy, radius, px, pn, out) {
271
307
  nearestY = vy;
272
308
  }
273
309
  }
274
- scratchAxis.x = cx - nearestX;
275
- scratchAxis.y = cy - nearestY;
276
- const vertexAxisLen = normalizeVector2(scratchAxis, scratchAxis);
310
+ scratch.axis.x = cx - nearestX;
311
+ scratch.axis.y = cy - nearestY;
312
+ const vertexAxisLen = normalizeVector2(scratch.axis, scratch.axis);
277
313
  if (vertexAxisLen > epsilon) {
278
- canonicalizeScratchAxis();
279
- const axisX = scratchAxis.x;
280
- const axisY = scratchAxis.y;
314
+ canonicalizeScratchAxis(scratch);
315
+ const axisX = scratch.axis.x;
316
+ const axisY = scratch.axis.y;
281
317
  const overlap = circlePolygonAxisOverlap(axisX, axisY, cx, cy, radius, px, pn);
282
318
  if (overlap <= epsilon) {
283
319
  clearCollisionManifold(out);
@@ -337,16 +373,16 @@ function circlePolygonAxisOverlap(axisX, axisY, cx, cy, radius, px, pn) {
337
373
  }
338
374
  // SAT for two convex polygons given as flat vertex lists. Tests each polygon's edge normals,
339
375
  // tracking the least-penetration separating axis, and orients the normal to push A out of B.
340
- function satConvexOverlap(ax, an, bx, bn, out) {
376
+ function satConvexOverlap(ax, an, bx, bn, out, scratch) {
341
377
  const epsilon = relativeEpsilon(Math.max(getPolygonExtent(ax, an), getPolygonExtent(bx, bn)));
342
- minOverlapAxis.overlap = Infinity;
343
- minOverlapAxis.x = 0;
344
- minOverlapAxis.y = 0;
345
- if (!accumulatePolygonAxes(ax, an, ax, an, bx, bn, epsilon, out))
378
+ scratch.minOverlapAxis.overlap = Infinity;
379
+ scratch.minOverlapAxis.x = 0;
380
+ scratch.minOverlapAxis.y = 0;
381
+ if (!accumulatePolygonAxes(ax, an, ax, an, bx, bn, epsilon, out, scratch))
346
382
  return false;
347
- if (!accumulatePolygonAxes(bx, bn, ax, an, bx, bn, epsilon, out))
383
+ if (!accumulatePolygonAxes(bx, bn, ax, an, bx, bn, epsilon, out, scratch))
348
384
  return false;
349
- if (minOverlapAxis.overlap === Infinity) {
385
+ if (scratch.minOverlapAxis.overlap === Infinity) {
350
386
  clearCollisionManifold(out);
351
387
  return false;
352
388
  }
@@ -368,45 +404,45 @@ function satConvexOverlap(ax, an, bx, bn, out) {
368
404
  }
369
405
  bCentroidX /= bn;
370
406
  bCentroidY /= bn;
371
- let normalX = minOverlapAxis.x;
372
- let normalY = minOverlapAxis.y;
407
+ let normalX = scratch.minOverlapAxis.x;
408
+ let normalY = scratch.minOverlapAxis.y;
373
409
  if (normalX * (aCentroidX - bCentroidX) + normalY * (aCentroidY - bCentroidY) < -epsilon) {
374
410
  normalX = -normalX;
375
411
  normalY = -normalY;
376
412
  }
377
413
  out.normalX = normalX === 0 ? 0 : normalX;
378
414
  out.normalY = normalY === 0 ? 0 : normalY;
379
- out.depth = minOverlapAxis.overlap;
415
+ out.depth = scratch.minOverlapAxis.overlap;
380
416
  out.overlapping = true;
381
417
  return true;
382
418
  }
383
419
  // Tests every edge normal of the source polygon (`sx`,`sn`) as a separating axis for the pair
384
420
  // (`ax`/`bx`), updating the tracked least-penetration axis. Returns false (and clears `out`) as soon
385
421
  // as a separating axis with no positive overlap is found.
386
- function accumulatePolygonAxes(sx, sn, ax, an, bx, bn, epsilon, out) {
422
+ function accumulatePolygonAxes(sx, sn, ax, an, bx, bn, epsilon, out, scratch) {
387
423
  for (let i = 0; i < sn; i++) {
388
424
  const j = (i + 1) % sn;
389
425
  const x0 = sx[i << 1];
390
426
  const y0 = sx[(i << 1) + 1];
391
427
  const x1 = sx[j << 1];
392
428
  const y1 = sx[(j << 1) + 1];
393
- scratchAxis.x = y1 - y0;
394
- scratchAxis.y = -(x1 - x0);
395
- const len = normalizeVector2(scratchAxis, scratchAxis);
429
+ scratch.axis.x = y1 - y0;
430
+ scratch.axis.y = -(x1 - x0);
431
+ const len = normalizeVector2(scratch.axis, scratch.axis);
396
432
  if (len <= epsilon)
397
433
  continue;
398
- canonicalizeScratchAxis();
399
- const axisX = scratchAxis.x;
400
- const axisY = scratchAxis.y;
434
+ canonicalizeScratchAxis(scratch);
435
+ const axisX = scratch.axis.x;
436
+ const axisY = scratch.axis.y;
401
437
  const overlap = polygonAxisOverlap(axisX, axisY, ax, an, bx, bn);
402
438
  if (overlap <= epsilon) {
403
439
  clearCollisionManifold(out);
404
440
  return false;
405
441
  }
406
- if (isPreferredAxis(overlap, axisX, axisY, minOverlapAxis.overlap, minOverlapAxis.x, minOverlapAxis.y, epsilon)) {
407
- minOverlapAxis.overlap = overlap;
408
- minOverlapAxis.x = axisX;
409
- minOverlapAxis.y = axisY;
442
+ if (isPreferredAxis(overlap, axisX, axisY, scratch.minOverlapAxis.overlap, scratch.minOverlapAxis.x, scratch.minOverlapAxis.y, epsilon)) {
443
+ scratch.minOverlapAxis.overlap = overlap;
444
+ scratch.minOverlapAxis.x = axisX;
445
+ scratch.minOverlapAxis.y = axisY;
410
446
  }
411
447
  }
412
448
  return true;
@@ -439,10 +475,10 @@ function polygonAxisOverlap(axisX, axisY, ax, an, bx, bn) {
439
475
  const penHigh = maxB - minA;
440
476
  return penLow < penHigh ? penLow : penHigh;
441
477
  }
442
- function canonicalizeScratchAxis() {
443
- if (scratchAxis.x < -RELATIVE_EPSILON || (Math.abs(scratchAxis.x) <= RELATIVE_EPSILON && scratchAxis.y < 0)) {
444
- scratchAxis.x = -scratchAxis.x;
445
- scratchAxis.y = -scratchAxis.y;
478
+ function canonicalizeScratchAxis(scratch) {
479
+ if (scratch.axis.x < -RELATIVE_EPSILON || (Math.abs(scratch.axis.x) <= RELATIVE_EPSILON && scratch.axis.y < 0)) {
480
+ scratch.axis.x = -scratch.axis.x;
481
+ scratch.axis.y = -scratch.axis.y;
446
482
  }
447
483
  }
448
484
  function clearInvalidCollisionManifold(out) {
@@ -500,8 +536,19 @@ function isValidObb(shape) {
500
536
  function relativeEpsilon(extent) {
501
537
  return extent > 0 ? extent * RELATIVE_EPSILON : Number.EPSILON;
502
538
  }
503
- const scratchA = new Float64Array(8);
504
- const scratchB = new Float64Array(8);
505
- const scratchAxis = createVector2();
506
- const minOverlapAxis = { overlap: Infinity, x: 0, y: 0 };
539
+ function acquireShapeCollisionScratch() {
540
+ return shapeCollisionScratchPool.pop() ?? createShapeCollisionScratch();
541
+ }
542
+ function createShapeCollisionScratch() {
543
+ return {
544
+ verticesA: new Float64Array(8),
545
+ verticesB: new Float64Array(8),
546
+ axis: createVector2(),
547
+ minOverlapAxis: { overlap: Infinity, x: 0, y: 0 },
548
+ };
549
+ }
550
+ function releaseShapeCollisionScratch(scratch) {
551
+ shapeCollisionScratchPool.push(scratch);
552
+ }
553
+ const shapeCollisionScratchPool = [createShapeCollisionScratch()];
507
554
  //# sourceMappingURL=shapeCollision.js.map
package/dist/shapeCollision.js.map CHANGED
@@ -1 +1 @@
1
- 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