@nice2dev/game-engine 0.1.0

package/dist/esm/physics/PhysicsEngine2D.js

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+import { v2 } from '../core/math.js';
+import { EventBus } from '../core/EventBus.js';
+import { System } from '../ecs/World.js';
+
+/* ────────────────────────────────────────────────────────────────
+   PhysicsEngine2D — Built-in 2D physics
+   
+   AABB, Circle, Polygon collision detection & resolution.
+   Broad-phase spatial hashing + narrow-phase SAT / overlap.
+──────────────────────────────────────────────────────────────── */
+/* ── Spatial Hash ─────────────────────────────────────────────── */
+class SpatialHash {
+    constructor(cellSize = 128) {
+        this.cells = new Map();
+        this.cellSize = cellSize;
+    }
+    clear() {
+        this.cells.clear();
+    }
+    key(cx, cy) {
+        return `${cx},${cy}`;
+    }
+    insert(id, x, y, hw, hh) {
+        const minCX = Math.floor((x - hw) / this.cellSize);
+        const maxCX = Math.floor((x + hw) / this.cellSize);
+        const minCY = Math.floor((y - hh) / this.cellSize);
+        const maxCY = Math.floor((y + hh) / this.cellSize);
+        for (let cx = minCX; cx <= maxCX; cx++) {
+            for (let cy = minCY; cy <= maxCY; cy++) {
+                const k = this.key(cx, cy);
+                let set = this.cells.get(k);
+                if (!set) {
+                    set = new Set();
+                    this.cells.set(k, set);
+                }
+                set.add(id);
+            }
+        }
+    }
+    query(x, y, hw, hh) {
+        const result = new Set();
+        const minCX = Math.floor((x - hw) / this.cellSize);
+        const maxCX = Math.floor((x + hw) / this.cellSize);
+        const minCY = Math.floor((y - hh) / this.cellSize);
+        const maxCY = Math.floor((y + hh) / this.cellSize);
+        for (let cx = minCX; cx <= maxCX; cx++) {
+            for (let cy = minCY; cy <= maxCY; cy++) {
+                const set = this.cells.get(this.key(cx, cy));
+                if (set)
+                    set.forEach(id => result.add(id));
+            }
+        }
+        return result;
+    }
+}
+/* ── PhysicsEngine2D ──────────────────────────────────────────── */
+class PhysicsEngine2D {
+    constructor() {
+        this.events = new EventBus();
+        this.gravity = { x: 0, y: 980 };
+        this.hash = new SpatialHash(128);
+        // Track collision pairs for enter/exit events
+        this.activeCollisions = new Set();
+        this.activeTriggers = new Set();
+    }
+    /* ── Fixed update (call at fixedTimestep) ────────────────────── */
+    step(world, dt) {
+        this.integrateForces(world, dt);
+        const collisions = this.detectCollisions(world);
+        this.resolveCollisions(world, collisions);
+        this.emitEvents(collisions);
+    }
+    /* ── Integration ────────────────────────────────────────────── */
+    integrateForces(world, dt) {
+        for (const id of world.query('Transform', 'RigidBody2D')) {
+            const transform = world.getComponent(id, 'Transform');
+            const rb = world.getComponent(id, 'RigidBody2D');
+            if (rb.bodyType === 'static' || !rb.enabled)
+                continue;
+            // Store previous position for interpolation
+            transform.prevPosition = { ...transform.position };
+            transform.prevRotation = transform.rotation;
+            if (rb.bodyType === 'dynamic') {
+                // Gravity
+                rb.velocity.x += (this.gravity.x * rb.gravityScale + rb.acceleration.x) * dt;
+                rb.velocity.y += (this.gravity.y * rb.gravityScale + rb.acceleration.y) * dt;
+                // Drag
+                rb.velocity.x *= 1 / (1 + rb.drag * dt);
+                rb.velocity.y *= 1 / (1 + rb.drag * dt);
+                // Angular
+                if (!rb.fixedRotation) {
+                    transform.rotation += rb.angularVelocity * dt;
+                    rb.angularVelocity *= 1 / (1 + rb.angularDrag * dt);
+                }
+            }
+            // Move
+            transform.position.x += rb.velocity.x * dt;
+            transform.position.y += rb.velocity.y * dt;
+        }
+    }
+    /* ── Collision Detection ────────────────────────────────────── */
+    detectCollisions(world) {
+        const collisions = [];
+        const bodies = world.query('Transform', 'Collider2D');
+        // Broad phase: spatial hash insert
+        this.hash.clear();
+        for (const id of bodies) {
+            const t = world.getComponent(id, 'Transform');
+            const c = world.getComponent(id, 'Collider2D');
+            const hw = c.shape === 'circle' ? c.radius : c.width / 2;
+            const hh = c.shape === 'circle' ? c.radius : c.height / 2;
+            this.hash.insert(id, t.position.x + c.offset.x, t.position.y + c.offset.y, hw, hh);
+        }
+        // Narrow phase
+        const checked = new Set();
+        for (const idA of bodies) {
+            const tA = world.getComponent(idA, 'Transform');
+            const cA = world.getComponent(idA, 'Collider2D');
+            const hwA = cA.shape === 'circle' ? cA.radius : cA.width / 2;
+            const hhA = cA.shape === 'circle' ? cA.radius : cA.height / 2;
+            const nearby = this.hash.query(tA.position.x + cA.offset.x, tA.position.y + cA.offset.y, hwA, hhA);
+            for (const idB of nearby) {
+                if (idA >= idB)
+                    continue; // avoid duplicates and self
+                const pairKey = `${idA}:${idB}`;
+                if (checked.has(pairKey))
+                    continue;
+                checked.add(pairKey);
+                // Layer/mask check
+                if (!(cA.layer & world.getComponent(idB, 'Collider2D').mask))
+                    continue;
+                if (!(world.getComponent(idB, 'Collider2D').layer & cA.mask))
+                    continue;
+                const tB = world.getComponent(idB, 'Transform');
+                const cB = world.getComponent(idB, 'Collider2D');
+                const collision = this.narrowPhase(tA, cA, tB, cB);
+                if (collision) {
+                    collisions.push({
+                        entityA: idA,
+                        entityB: idB,
+                        normal: collision.normal,
+                        depth: collision.depth,
+                        point: collision.point,
+                    });
+                }
+            }
+        }
+        return collisions;
+    }
+    narrowPhase(tA, cA, tB, cB) {
+        const posA = { x: tA.position.x + cA.offset.x, y: tA.position.y + cA.offset.y };
+        const posB = { x: tB.position.x + cB.offset.x, y: tB.position.y + cB.offset.y };
+        // Circle vs Circle
+        if (cA.shape === 'circle' && cB.shape === 'circle') {
+            return circleVsCircle(posA, cA.radius, posB, cB.radius);
+        }
+        // AABB vs AABB
+        if (cA.shape === 'aabb' && cB.shape === 'aabb') {
+            return aabbVsAabb(posA, cA.width, cA.height, posB, cB.width, cB.height);
+        }
+        // Circle vs AABB
+        if (cA.shape === 'circle' && cB.shape === 'aabb') {
+            return circleVsAabb(posA, cA.radius, posB, cB.width, cB.height);
+        }
+        if (cA.shape === 'aabb' && cB.shape === 'circle') {
+            const result = circleVsAabb(posB, cB.radius, posA, cA.width, cA.height);
+            if (result)
+                result.normal = v2.negate(result.normal);
+            return result;
+        }
+        return null;
+    }
+    /* ── Resolution ─────────────────────────────────────────────── */
+    resolveCollisions(world, collisions) {
+        for (const col of collisions) {
+            const cA = world.getComponent(col.entityA, 'Collider2D');
+            const cB = world.getComponent(col.entityB, 'Collider2D');
+            if (!cA || !cB)
+                continue;
+            // Triggers don't resolve
+            if (cA.isTrigger || cB.isTrigger)
+                continue;
+            const tA = world.getComponent(col.entityA, 'Transform');
+            const tB = world.getComponent(col.entityB, 'Transform');
+            const rbA = world.getComponent(col.entityA, 'RigidBody2D');
+            const rbB = world.getComponent(col.entityB, 'RigidBody2D');
+            if (!tA || !tB)
+                continue;
+            const aStatic = !rbA || rbA.bodyType === 'static';
+            const bStatic = !rbB || rbB.bodyType === 'static';
+            // Positional correction (push apart)
+            if (aStatic && !bStatic) {
+                tB.position.x += col.normal.x * col.depth;
+                tB.position.y += col.normal.y * col.depth;
+            }
+            else if (!aStatic && bStatic) {
+                tA.position.x -= col.normal.x * col.depth;
+                tA.position.y -= col.normal.y * col.depth;
+            }
+            else if (!aStatic && !bStatic) {
+                tA.position.x -= col.normal.x * col.depth * 0.5;
+                tA.position.y -= col.normal.y * col.depth * 0.5;
+                tB.position.x += col.normal.x * col.depth * 0.5;
+                tB.position.y += col.normal.y * col.depth * 0.5;
+            }
+            // Velocity resolution
+            if (rbA && rbB && !aStatic && !bStatic) {
+                const restitution = Math.min(rbA.restitution, rbB.restitution);
+                const relVel = v2.sub(rbB.velocity, rbA.velocity);
+                const velAlongNormal = v2.dot(relVel, col.normal);
+                if (velAlongNormal > 0)
+                    continue; // separating
+                const invMassA = 1 / rbA.mass;
+                const invMassB = 1 / rbB.mass;
+                const j = (-(1 + restitution) * velAlongNormal) / (invMassA + invMassB);
+                rbA.velocity.x -= j * invMassA * col.normal.x;
+                rbA.velocity.y -= j * invMassA * col.normal.y;
+                rbB.velocity.x += j * invMassB * col.normal.x;
+                rbB.velocity.y += j * invMassB * col.normal.y;
+            }
+            else if (rbA && !aStatic && bStatic) {
+                const restitution = rbA.restitution;
+                const velAlongNormal = v2.dot(rbA.velocity, col.normal);
+                if (velAlongNormal > 0)
+                    continue;
+                rbA.velocity.x -= (1 + restitution) * velAlongNormal * col.normal.x;
+                rbA.velocity.y -= (1 + restitution) * velAlongNormal * col.normal.y;
+            }
+            else if (rbB && !bStatic && aStatic) {
+                const restitution = rbB.restitution;
+                const velAlongNormal = -v2.dot(rbB.velocity, col.normal);
+                if (velAlongNormal > 0)
+                    continue;
+                rbB.velocity.x += (1 + restitution) * velAlongNormal * col.normal.x;
+                rbB.velocity.y += (1 + restitution) * velAlongNormal * col.normal.y;
+            }
+        }
+    }
+    /* ── Events ─────────────────────────────────────────────────── */
+    emitEvents(collisions) {
+        const currentPairs = new Set();
+        for (const col of collisions) {
+            const cA = col.entityA < col.entityB
+                ? `${col.entityA}:${col.entityB}`
+                : `${col.entityB}:${col.entityA}`;
+            currentPairs.add(cA);
+            if (!this.activeCollisions.has(cA)) {
+                this.events.emit('collision:enter', col);
+            }
+            this.events.emit('collision:stay', col);
+        }
+        // Emit exit events for pairs that ended
+        for (const pair of this.activeCollisions) {
+            if (!currentPairs.has(pair)) {
+                const [a, b] = pair.split(':').map(Number);
+                this.events.emit('collision:exit', { entityA: a, entityB: b });
+            }
+        }
+        this.activeCollisions = currentPairs;
+    }
+    /* ── Raycast ────────────────────────────────────────────────── */
+    raycast(world, origin, direction, maxDistance = Infinity, layerMask = 0xFFFF) {
+        const dir = v2.normalize(direction);
+        let closest = null;
+        for (const id of world.query('Transform', 'Collider2D')) {
+            const t = world.getComponent(id, 'Transform');
+            const c = world.getComponent(id, 'Collider2D');
+            if (!(c.layer & layerMask))
+                continue;
+            const center = { x: t.position.x + c.offset.x, y: t.position.y + c.offset.y };
+            let hit = null;
+            if (c.shape === 'circle') {
+                hit = rayVsCircle(origin, dir, center, c.radius, maxDistance);
+            }
+            else if (c.shape === 'aabb') {
+                hit = rayVsAABB(origin, dir, center, c.width, c.height, maxDistance);
+            }
+            if (hit && (!closest || hit.distance < closest.distance)) {
+                closest = { entityId: id, ...hit };
+            }
+        }
+        return closest;
+    }
+    /* ── Static collision test helpers (for unit tests & utilities) ── */
+    static testAABBvsAABB(a, b) {
+        return aabbVsAabb(a, a.width, a.height, b, b.width, b.height) !== null;
+    }
+    static testCircleVsCircle(a, b) {
+        return circleVsCircle(a, a.radius, b, b.radius) !== null;
+    }
+    static testAABBvsCircle(aabb, circle) {
+        return circleVsAabb(circle, circle.radius, aabb, aabb.width, aabb.height) !== null;
+    }
+}
+/* ── PhysicsSystem (ECS wrapper) ──────────────────────────────── */
+class PhysicsSystem extends System {
+    constructor(engine, priority = -100) {
+        super(priority);
+        this.engine = engine;
+    }
+    fixedUpdate(world, dt) {
+        this.engine.step(world, dt);
+    }
+}
+/* ── Collision helpers ────────────────────────────────────────── */
+function circleVsCircle(posA, rA, posB, rB) {
+    const dx = posB.x - posA.x;
+    const dy = posB.y - posA.y;
+    const distSq = dx * dx + dy * dy;
+    const radSum = rA + rB;
+    if (distSq >= radSum * radSum)
+        return null;
+    const dist = Math.sqrt(distSq);
+    const normal = dist > 0 ? { x: dx / dist, y: dy / dist } : { x: 1, y: 0 };
+    return {
+        normal,
+        depth: radSum - dist,
+        point: { x: posA.x + normal.x * rA, y: posA.y + normal.y * rA },
+    };
+}
+function aabbVsAabb(posA, wA, hA, posB, wB, hB) {
+    const dx = posB.x - posA.x;
+    const dy = posB.y - posA.y;
+    const overlapX = (wA / 2 + wB / 2) - Math.abs(dx);
+    const overlapY = (hA / 2 + hB / 2) - Math.abs(dy);
+    if (overlapX <= 0 || overlapY <= 0)
+        return null;
+    if (overlapX < overlapY) {
+        const nx = dx > 0 ? 1 : -1;
+        return {
+            normal: { x: nx, y: 0 },
+            depth: overlapX,
+            point: { x: posA.x + nx * wA / 2, y: posA.y },
+        };
+    }
+    else {
+        const ny = dy > 0 ? 1 : -1;
+        return {
+            normal: { x: 0, y: ny },
+            depth: overlapY,
+            point: { x: posA.x, y: posA.y + ny * hA / 2 },
+        };
+    }
+}
+function circleVsAabb(circlePos, radius, aabbPos, aabbW, aabbH) {
+    const halfW = aabbW / 2;
+    const halfH = aabbH / 2;
+    const closestX = Math.max(aabbPos.x - halfW, Math.min(aabbPos.x + halfW, circlePos.x));
+    const closestY = Math.max(aabbPos.y - halfH, Math.min(aabbPos.y + halfH, circlePos.y));
+    const dx = circlePos.x - closestX;
+    const dy = circlePos.y - closestY;
+    const distSq = dx * dx + dy * dy;
+    if (distSq >= radius * radius)
+        return null;
+    const dist = Math.sqrt(distSq);
+    const normal = dist > 0 ? { x: dx / dist, y: dy / dist } : { x: 0, y: -1 };
+    return {
+        normal,
+        depth: radius - dist,
+        point: { x: closestX, y: closestY },
+    };
+}
+/* ── Raycast helpers ──────────────────────────────────────────── */
+function rayVsCircle(origin, dir, center, radius, maxDist) {
+    const oc = v2.sub(origin, center);
+    const b = v2.dot(oc, dir);
+    const c = v2.dot(oc, oc) - radius * radius;
+    const discriminant = b * b - c;
+    if (discriminant < 0)
+        return null;
+    const sqrtD = Math.sqrt(discriminant);
+    let t = -b - sqrtD;
+    if (t < 0)
+        t = -b + sqrtD;
+    if (t < 0 || t > maxDist)
+        return null;
+    const point = { x: origin.x + dir.x * t, y: origin.y + dir.y * t };
+    const normal = v2.normalize(v2.sub(point, center));
+    return { distance: t, point, normal };
+}
+function rayVsAABB(origin, dir, center, w, h, maxDist) {
+    const hw = w / 2;
+    const hh = h / 2;
+    let tMin = 0;
+    let tMax = maxDist;
+    let normalMin = { x: 0, y: 0 };
+    // X axis
+    if (Math.abs(dir.x) < 1e-8) {
+        if (origin.x < center.x - hw || origin.x > center.x + hw)
+            return null;
+    }
+    else {
+        let t1 = (center.x - hw - origin.x) / dir.x;
+        let t2 = (center.x + hw - origin.x) / dir.x;
+        let n = { x: -1, y: 0 };
+        if (t1 > t2) {
+            const tmp = t1;
+            t1 = t2;
+            t2 = tmp;
+            n = { x: 1, y: 0 };
+        }
+        if (t1 > tMin) {
+            tMin = t1;
+            normalMin = n;
+        }
+        if (t2 < tMax)
+            tMax = t2;
+        if (tMin > tMax)
+            return null;
+    }
+    // Y axis
+    if (Math.abs(dir.y) < 1e-8) {
+        if (origin.y < center.y - hh || origin.y > center.y + hh)
+            return null;
+    }
+    else {
+        let t1 = (center.y - hh - origin.y) / dir.y;
+        let t2 = (center.y + hh - origin.y) / dir.y;
+        let n = { x: 0, y: -1 };
+        if (t1 > t2) {
+            const tmp = t1;
+            t1 = t2;
+            t2 = tmp;
+            n = { x: 0, y: 1 };
+        }
+        if (t1 > tMin) {
+            tMin = t1;
+            normalMin = n;
+        }
+        if (t2 < tMax)
+            tMax = t2;
+        if (tMin > tMax)
+            return null;
+    }
+    if (tMin < 0)
+        return null;
+    const point = { x: origin.x + dir.x * tMin, y: origin.y + dir.y * tMin };
+    return { distance: tMin, point, normal: normalMin };
+}
+
+export { PhysicsEngine2D, PhysicsSystem };
+//# sourceMappingURL=PhysicsEngine2D.js.map

package/dist/esm/physics/PhysicsEngine2D.js.map

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