@perplexdotgg/bounce 1.0.0 → 1.0.1

package/src/collision/collide/collideCompoundVsHeightMap.ts

@@ -1,73 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Aabb } from "../../shape/Aabb";
-import { CompoundShape } from "../../shape/CompoundShape";
-import { HeightMap } from "../../shape/HeightMap";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { BackFaceMode, CollisionCollector, CollisionSettings } from "./collide";
-import { HeightMapCollider } from "../HeightMapCollider";
-import { Body } from "../../physics/Body";
-import { BasicTransform, ConvexShape } from "../..";
-
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const isometryAToB = /*@__PURE__*/ Isometry.create();
-const shapeABoundsInBSpace = /*@__PURE__*/ Aabb.create();
-
-const transformSubShapeToA = /*@__PURE__*/ Isometry.create();
-const transformSubShapeToWorld = /*@__PURE__*/ Isometry.create();
-
-const heightMapCollider = /*@__PURE__*/ new HeightMapCollider();
-
-export function collideCompoundVsHeightMap(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: CompoundShape,
-  shapeB: HeightMap,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-) {
-  // TODO: don't hardcode this option
-  settings.backFaceMode = BackFaceMode.CollideWithBackFaces;
-
-  let index = 0;
-  for (const shapeObj of shapeA.shapes) {
-    const shape = shapeObj.shape as ConvexShape;
-    const transform = shapeObj.transform as BasicTransform;
-    const translation = transform.position;
-    const rotation = transform.rotation;
-
-    // set the isometries
-    transformSubShapeToA.fromRotationAndTranslation(rotation, translation);
-    transformSubShapeToWorld.matrix.multiplyMatrices(isometryA.matrix, transformSubShapeToA.matrix);
-
-    heightMapCollider.triangleCollider.initialize(
-      penetrationDepthModule,
-      shape,
-      transformSubShapeToWorld,
-      isometryB,
-      settings,
-      collector,
-      index,
-      bodyA,
-      bodyB
-    );
-
-    isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-
-    isometryAToB.matrix.multiplyMatrices(transformSubShapeToWorld.matrix, isometryWorldToB.matrix);
-
-    shapeABoundsInBSpace.copy(shape.computedAabb);
-    shapeABoundsInBSpace.transform(isometryAToB);
-    shapeABoundsInBSpace.expand(settings.maxSeparation);
-    heightMapCollider.initialize(shapeABoundsInBSpace, bodyA, bodyB);
-    shapeB.walkHeightMap(heightMapCollider);
-
-    index++;
-  }
-}

package/src/collision/collide/collideCompoundVsTriangleMesh.ts

@@ -1,56 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CollisionCollector, CollisionSettings } from "./collide";
-import { CompoundShape } from "../../shape/CompoundShape";
-import { TriangleMesh } from "../../shape/TriangleMesh";
-import { collideConvexVsTriangleMesh } from "./collideConvexVsTriangleMesh";
-import { Body } from "../../physics/Body";
-import { ConvexShape } from "../..";
-
-const transformSubShapeToA = /*@__PURE__*/ Isometry.create();
-const transformSubShapeToWorld = /*@__PURE__*/ Isometry.create();
-
-// the results are in world space
-export function collideCompoundVsTriangleMesh(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: CompoundShape,
-  shapeB: TriangleMesh,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  let index = 0;
-  for (const { shape, transform } of shapeA.shapes) {
-    const translation = transform.position;
-    const rotation = transform.rotation;
-
-    // set the isometries
-    transformSubShapeToA.fromRotationAndTranslation(rotation, translation);
-    transformSubShapeToWorld.matrix.multiplyMatrices(isometryA.matrix, transformSubShapeToA.matrix);
-
-    // collide the shapes. TODO: this should be convex vs convex for now, but may be expanded in the future
-    collideConvexVsTriangleMesh(
-      penetrationDepthModule,
-      collector,
-      shape as ConvexShape,
-      shapeB,
-      transformSubShapeToWorld,
-      isometryB,
-      settings,
-      bodyA,
-      bodyB,
-      initialDirection,
-      index,
-      0
-    );
-
-    index++;
-  }
-}

package/src/collision/collide/collideConvexVsCompound.ts

@@ -1,57 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CollisionCollector, CollisionSettings } from "./collide";
-import { CompoundShape } from "../../shape/CompoundShape";
-import { collideConvexVsConvex } from "./collideConvexVsConvex";
-import { Body } from "../../physics/Body";
-import { ConvexShape } from "../../shape/Shape";
-
-const transformSubShapeBToB = /*@__PURE__*/ Isometry.create();
-const transformSubShapeBToWorld = /*@__PURE__*/ Isometry.create();
-
-// the results are in world space
-export function collideConvexVsCompound(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: ConvexShape,
-  shapeB: CompoundShape,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  // throw new Error("Not implemented");
-
-  let index = 0;
-  for (const { shape: subShapeB, transform } of shapeB.shapes) {
-    const translation = transform.position;
-    const rotation = transform.rotation;
-
-    // set the isometries
-    transformSubShapeBToB.fromRotationAndTranslation(rotation, translation);
-    transformSubShapeBToWorld.matrix.multiplyMatrices(isometryB.matrix, transformSubShapeBToB.matrix);
-
-    // collide the shapes. TODO: this should be convex vs convex for now, but may be expanded in the future
-    collideConvexVsConvex(
-      penetrationDepthModule,
-      collector,
-      shapeA,
-      subShapeB as ConvexShape,
-      isometryA,
-      transformSubShapeBToWorld,
-      settings,
-      bodyA,
-      bodyB,
-      initialDirection,
-      0,
-      index
-    );
-
-    index++;
-  }
-}

package/src/collision/collide/collideConvexVsConvex.ts

@@ -1,225 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Face } from "../../physics/manifold/Face";
-import { PenetrationDepth, PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CollisionCollector, CollisionResult, CollisionSettings, CollisionStatus } from "./collide";
-import {
-  ConvexRadiusObject,
-  ConvexWithcomputeSupportShape,
-  SupportMode,
-  TransformedConvexShape,
-} from "../../shape/Convex";
-import { Body } from "../../physics/Body";
-
-const result = CollisionResult.create({
-  faceA: {
-    numVertices: 0,
-    buffer: { pool: new Vec3.Pool(32), maxLength: 32 },
-  },
-  faceB: {
-    numVertices: 0,
-    buffer: { pool: new Vec3.Pool(32), maxLength: 32 },
-  },
-});
-
-const positionA = /*@__PURE__*/ Vec3.create();
-const positionB = /*@__PURE__*/ Vec3.create();
-const searchDirection = /*@__PURE__*/ Vec3.create();
-const gjkResult = /*@__PURE__*/ PenetrationDepth.create();
-const ab = /*@__PURE__*/ Vec3.create();
-const transformedShapeA = /*@__PURE__*/ TransformedConvexShape.create();
-const transformedShapeB = /*@__PURE__*/ TransformedConvexShape.create();
-const convexObjectA = /*@__PURE__*/ ConvexRadiusObject.create();
-const vectorAB = /*@__PURE__*/ Vec3.create();
-
-const inverseIsometryA = /*@__PURE__*/ Isometry.create();
-const isometryBToA = /*@__PURE__*/ Isometry.create();
-
-const pointAB = /*@__PURE__*/ Vec3.create();
-const penetrationAxisWorld = /*@__PURE__*/ Vec3.create();
-
-// the results are in world space
-export function collideConvexVsConvex(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: ConvexWithcomputeSupportShape,
-  shapeB: ConvexWithcomputeSupportShape,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  result.reset();
-  // @ts-ignore
-  result.bodyA = bodyA;
-  // @ts-ignore
-  result.bodyB = bodyB;
-  collector.body2 = bodyB;
-
-  // get support functions that exclude convex radii
-  const shapeAExcludingConvexRadius = shapeA.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-  const shapeBExcludingConvexRadius = shapeB.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-
-  // get convex radii, including the max separation distance
-  const convexRadiusA = shapeAExcludingConvexRadius.getConvexRadius() + settings.maxSeparation;
-  const convexRadiusB = shapeBExcludingConvexRadius.getConvexRadius();
-
-  // create transformed convex objects
-  transformedShapeA.transform.matrix.identity();
-  transformedShapeA.object = shapeAExcludingConvexRadius;
-
-  inverseIsometryA.matrix.invertMatrix(isometryA.matrix);
-  isometryBToA.matrix.multiplyMatrices(inverseIsometryA.matrix, isometryB.matrix);
-
-  isometryA.matrix.getTranslation(positionA);
-  isometryBToA.matrix.getTranslation(positionB);
-  vectorAB.subtractVectors(positionB, positionA);
-  searchDirection.copy(vectorAB).normalize();
-  if (searchDirection.isNearZero()) {
-    searchDirection.fromArray([0, -1, 0]);
-  }
-
-  // transformedShapeB.transform.matrix.copy(isometryB.matrix);
-  transformedShapeB.transform.matrix.copy(isometryBToA.matrix);
-  transformedShapeB.object = shapeBExcludingConvexRadius;
-
-  // collide shapes using GJK
-  penetrationDepthModule.getPenetrationDepthStepGjk(
-    gjkResult,
-    transformedShapeA,
-    transformedShapeB,
-    convexRadiusA,
-    convexRadiusB,
-    searchDirection,
-    settings.collisionTolerance
-  );
-
-  switch (gjkResult.status) {
-    case CollisionStatus.Colliding: {
-      const point1 = gjkResult.pointA;
-      const point2 = gjkResult.pointB;
-      const penetration_axis = gjkResult.penetrationAxis;
-
-      // check if penetration is bigger than early out fraction
-      pointAB.subtractVectors(point2, point1);
-      const penetration_depth = pointAB.length() - settings.maxSeparation;
-      if (-penetration_depth >= collector.getEarlyOutFraction()) {
-        result.hasContact = false;
-        collector.addMiss();
-        return;
-      }
-
-      // correct pointA for the added separation distance
-      const penetration_axis_len = penetration_axis.length();
-      if (penetration_axis_len > 0.0) {
-        point1.addScaled(penetration_axis, -(settings.maxSeparation / penetration_axis_len));
-      }
-
-      // convert to world space
-      point1.transformByMat4(isometryA.matrix);
-      point2.transformByMat4(isometryA.matrix);
-      isometryA.matrix.multiply3x3(penetrationAxisWorld, penetration_axis);
-
-      // create collision result
-      result.subShapeIdA = subShapeIdA;
-      result.subShapeIdB = subShapeIdB;
-      result.hasContact = true;
-      result.penetration = penetration_depth;
-      result.contactPointA.copy(point1);
-      result.contactPointB.copy(point2);
-      result.normalA.copy(penetrationAxisWorld);
-
-      // TODO: gather faces
-
-      // notify the collector
-      collector.addHit(result);
-      return;
-    }
-
-    case CollisionStatus.NotColliding: {
-      // definitive no penetration
-      result.hasContact = false;
-      collector.addMiss();
-      return;
-    }
-
-    case CollisionStatus.Indeterminate: {
-      // possible deep penetration, use EPA to check
-
-      // get support functions that include convex radii
-      const objectAIncludingConvexRadius = shapeA.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-      const objectBIncludingConvexRadius = shapeB.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-
-      // get transformed convex objects
-      transformedShapeA.object = objectAIncludingConvexRadius;
-      transformedShapeB.object = objectBIncludingConvexRadius;
-
-      // add max separation distance to convex object A
-      convexObjectA.setData(settings.maxSeparation, transformedShapeA);
-
-      const hitFound = penetrationDepthModule.getPenetrationDepthStepEPA(
-        convexObjectA,
-        transformedShapeB,
-        settings.penetrationTolerance,
-        penetrationAxis,
-        pointA,
-        pointB
-      );
-
-      if (!hitFound) {
-        // definitive no penetration
-        result.hasContact = false;
-        collector.addMiss();
-        return;
-      }
-
-      // check if penetration is bigger than early out fraction
-      pointAB.subtractVectors(pointB, pointA);
-      const penetration_depth = pointAB.length() - settings.maxSeparation;
-      if (-penetration_depth >= collector.getEarlyOutFraction()) {
-        result.hasContact = false;
-        collector.addMiss();
-        return;
-      }
-
-      // correct pointA for the added separation distance
-      const penetrationAxisLength = penetrationAxis.length();
-      if (penetrationAxisLength > 0.0) {
-        pointA.addScaled(penetrationAxis, -(settings.maxSeparation / penetrationAxisLength));
-      }
-
-      // convert to world space
-      pointA.transformByMat4(isometryA.matrix);
-      pointB.transformByMat4(isometryA.matrix);
-      isometryA.matrix.multiply3x3(penetrationAxisWorld, penetrationAxis);
-
-      // create collision result
-      result.subShapeIdA = subShapeIdA;
-      result.subShapeIdB = subShapeIdB;
-      result.hasContact = true;
-      result.penetration = penetration_depth;
-      result.contactPointA.copy(pointA);
-      result.contactPointB.copy(pointB);
-      result.normalA.copy(penetrationAxisWorld);
-
-      // TODO: gather faces
-
-      // notify the collector
-      collector.addHit(result);
-
-      return;
-    }
-
-    default: {
-      throw new Error(`Invalid status: ${gjkResult.status}`);
-    }
-  }
-}
-
-const penetrationAxis = /*@__PURE__*/ Vec3.create();
-const pointA = /*@__PURE__*/ Vec3.create();
-const pointB = /*@__PURE__*/ Vec3.create();

package/src/collision/collide/collideConvexVsConvexImp.ts

@@ -1,236 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Face } from "../../physics/manifold/Face";
-import { findContactImp } from "../imp/findContactImp";
-import { ImpResult, ImpStatus } from "../imp/imp";
-import { PenetrationDepth, PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CollisionCollector, CollisionResult, CollisionSettings, CollisionStatus } from "./collide";
-import {
-  ConvexRadiusObject,
-  ConvexWithcomputeSupportShape,
-  SupportMode,
-  TransformedConvexShape,
-} from "../../shape/Convex";
-import { Body } from "../../physics/Body";
-
-const result = CollisionResult.create({
-  faceA: {
-    numVertices: 0,
-    buffer: { pool: new Vec3.Pool(32), maxLength: 32 },
-  },
-  faceB: {
-    numVertices: 0,
-    buffer: { pool: new Vec3.Pool(32), maxLength: 32 },
-  },
-});
-
-const positionA = /*@__PURE__*/ Vec3.create();
-const positionB = /*@__PURE__*/ Vec3.create();
-const searchDirection = /*@__PURE__*/ Vec3.create();
-const gjkResult = /*@__PURE__*/ PenetrationDepth.create();
-const impResult = /*@__PURE__*/ ImpResult.create();
-const ab = /*@__PURE__*/ Vec3.create();
-const transformedShapeA = /*@__PURE__*/ TransformedConvexShape.create();
-const transformedShapeB = /*@__PURE__*/ TransformedConvexShape.create();
-const convexObjectA = /*@__PURE__*/ ConvexRadiusObject.create();
-const vectorAB = /*@__PURE__*/ Vec3.create();
-
-const inverseIsometryA = /*@__PURE__*/ Isometry.create();
-const isometryBToA = /*@__PURE__*/ Isometry.create();
-
-// the results are in world space
-export function collideConvexVsConvexIMP(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: ConvexWithcomputeSupportShape,
-  shapeB: ConvexWithcomputeSupportShape,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  result.reset();
-  // @ts-ignore
-  result.bodyA = bodyA;
-  // @ts-ignore
-  result.bodyB = bodyB;
-  collector.body2 = bodyB;
-
-  // get support functions that exclude convex radii
-  const shapeAExcludingConvexRadius = shapeA.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-  const shapeBExcludingConvexRadius = shapeB.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-
-  // get convex radii, including the max separation distance
-  const convexRadiusA = shapeAExcludingConvexRadius.getConvexRadius() + settings.maxSeparation;
-  const convexRadiusB = shapeBExcludingConvexRadius.getConvexRadius();
-
-  // create transformed convex objects
-  transformedShapeA.transform.matrix.identity();
-  transformedShapeA.object = shapeAExcludingConvexRadius;
-
-  inverseIsometryA.matrix.invertMatrix(isometryA.matrix); // world > A
-  isometryBToA.matrix.multiplyMatrices(inverseIsometryA.matrix, isometryB.matrix); // B > A
-
-  isometryA.matrix.getTranslation(positionA);
-  isometryBToA.matrix.getTranslation(positionB);
-  vectorAB.subtractVectors(positionB, positionA); // B > A
-  searchDirection.copy(vectorAB).normalize();
-  if (searchDirection.isNearZero()) {
-    searchDirection.fromArray([0, -1, 0]); // A > B
-  }
-
-  // transformedShapeB.transform.matrix.copy(isometryB.matrix);
-  transformedShapeB.transform.matrix.copy(isometryBToA.matrix);
-  transformedShapeB.object = shapeBExcludingConvexRadius;
-
-  // collide shapes using GJK
-  penetrationDepthModule.getPenetrationDepthStepGjk(
-    gjkResult,
-    transformedShapeA,
-    transformedShapeB,
-    convexRadiusA,
-    convexRadiusB,
-    searchDirection,
-    settings.collisionTolerance
-  );
-
-  switch (gjkResult.status) {
-    case CollisionStatus.Colliding: {
-      // check if penetration is bigger than early out fraction
-      pointAB.subtractVectors(gjkResult.pointB, gjkResult.pointA);
-      const penetrationDepth = pointAB.length() - settings.maxSeparation;
-      if (-penetrationDepth >= collector.getEarlyOutFraction()) {
-        result.hasContact = false;
-        collector.addMiss();
-        return;
-      }
-
-      // correct pointA for the added separation distance
-      const penetrationAxisLength = gjkResult.penetrationAxis.length();
-      if (penetrationAxisLength > 0.0) {
-        gjkResult.pointA.addScaled(gjkResult.penetrationAxis, -(settings.maxSeparation / penetrationAxisLength));
-      }
-
-      // convert to world space
-      gjkResult.pointA.transformByMat4(isometryA.matrix);
-      gjkResult.pointB.transformByMat4(isometryA.matrix);
-      isometryA.matrix.multiply3x3(penetrationAxisWorld, gjkResult.penetrationAxis);
-
-      // create collision result
-      result.subShapeIdA = subShapeIdA;
-      result.subShapeIdB = subShapeIdB;
-      result.hasContact = true;
-      result.penetration = penetrationDepth;
-      result.contactPointA.copy(gjkResult.pointA);
-      result.contactPointB.copy(gjkResult.pointB);
-      result.normalA.copy(penetrationAxisWorld);
-
-      // TODO: gather faces
-
-      // notify the collector
-      collector.addHit(result);
-      return;
-    }
-
-    case CollisionStatus.NotColliding: {
-      // definitive no penetration
-      result.hasContact = false;
-      collector.addMiss();
-      return;
-    }
-
-    case CollisionStatus.Indeterminate: {
-      // possible deep penetration, use IMP to check
-
-      // get support functions that include convex radii
-      const objectAIncludingConvexRadius = shapeA.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-      const objectBIncludingConvexRadius = shapeB.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-
-      // get transformed convex objects
-      transformedShapeA.object = objectAIncludingConvexRadius;
-      transformedShapeB.object = objectBIncludingConvexRadius;
-
-      // add max separation distance to convex object A
-      convexObjectA.setData(settings.maxSeparation, transformedShapeA);
-
-      findContactImp(
-        impResult,
-        convexObjectA,
-        transformedShapeB,
-        searchDirection,
-        100,
-        settings.collisionTolerance,
-        false
-      );
-
-      switch (impResult.status) {
-        // TODO: what's the difference between these three?
-        case ImpStatus.DirectedPenetrationFailed:
-        case ImpStatus.Failed:
-        case ImpStatus.FailedNoIntersect: {
-          // definitive no penetration
-          result.hasContact = false;
-          collector.addMiss();
-          return;
-        }
-
-        // TODO: should iteration limit be considered a failure?
-        case ImpStatus.IterationLimit:
-        case ImpStatus.OK: {
-          // check if penetration is bigger than early out fraction
-          pointAB.subtractVectors(impResult.worldContactPointB, impResult.worldContactPointA);
-          const penetrationDepth = pointAB.length() - settings.maxSeparation;
-          if (-penetrationDepth >= collector.getEarlyOutFraction()) {
-            result.hasContact = false;
-            collector.addMiss();
-            return;
-          }
-
-          // correct pointA for the added separation distance
-          const penetrationAxisLength = impResult.penetration_direction.length();
-          if (penetrationAxisLength > 0.0) {
-            impResult.worldContactPointA.addScaled(
-              impResult.penetration_direction,
-              -(settings.maxSeparation / penetrationAxisLength)
-            );
-          }
-
-          // convert to world space
-          impResult.worldContactPointA.transformByMat4(isometryA.matrix);
-          impResult.worldContactPointB.transformByMat4(isometryA.matrix);
-          isometryA.matrix.multiply3x3(penetrationAxisWorld, impResult.penetration_direction);
-
-          // create collision result
-          result.subShapeIdA = subShapeIdA;
-          result.subShapeIdB = subShapeIdB;
-          result.hasContact = true;
-          result.penetration = penetrationDepth;
-          result.contactPointA.copy(impResult.worldContactPointA);
-          result.contactPointB.copy(impResult.worldContactPointB);
-          result.normalA.copy(penetrationAxisWorld);
-
-          // TODO: gather faces
-
-          // notify the collector
-          collector.addHit(result);
-          return;
-        }
-
-        default: {
-          throw new Error(`Invalid status: ${impResult.status}`);
-        }
-      }
-    }
-
-    default: {
-      throw new Error(`Invalid status: ${gjkResult.status}`);
-    }
-  }
-}
-
-const pointAB = /*@__PURE__*/ Vec3.create();
-const penetrationAxisWorld = /*@__PURE__*/ Vec3.create();