@perplexdotgg/bounce 1.0.0 → 1.0.1

package/src/shape/Cylinder.ts

@@ -1,313 +0,0 @@
-import {
-  createClass,
-  LazyReferenceType,
-  MonomorphType,
-  NumberType,
-  PropertyDefinitionMap,
-  PropertyDefinitionReference,
-} from "monomorph";
-import { squared } from "../math/scalar";
-import { Vec3 } from "../math/vec3";
-import { Face } from "../physics/manifold/Face";
-import { Mat4 } from "../math/mat4";
-import { Aabb } from "./Aabb";
-import { ConvexShapeInterface, ShapeType } from "./Shape";
-import type { World } from "../world";
-import { Isometry } from "../math/isometry";
-import { SupportMode, SupportShapeWithConvexRadius } from "./Convex";
-import { Mat3 } from "../math/mat3";
-import { Quat } from "../math/quat";
-
-// Approximation of top face with 8 vertices
-const topFace: [number, number, number][] = [
-  [0.0, 1.0, 1.0],
-  [Math.sin(Math.PI / 4), 1.0, Math.sin(Math.PI / 4)],
-  [1.0, 1.0, 0.0],
-  [Math.sin(Math.PI / 4), 1.0, -Math.sin(Math.PI / 4)],
-  [0.0, 1.0, -1.0],
-  [-Math.sin(Math.PI / 4), 1.0, -Math.sin(Math.PI / 4)],
-  [-1.0, 1.0, 0.0],
-  [-Math.sin(Math.PI / 4), 1.0, Math.sin(Math.PI / 4)],
-];
-
-// Approximation of bottom face with 8 vertices
-const bottomFace: [number, number, number][] = [
-  [0.0, -1.0, 1.0],
-  [-Math.sin(Math.PI / 4), -1.0, Math.sin(Math.PI / 4)],
-  [-1.0, -1.0, 0.0],
-  [-Math.sin(Math.PI / 4), -1.0, -Math.sin(Math.PI / 4)],
-  [0.0, -1.0, -1.0],
-  [Math.sin(Math.PI / 4), -1.0, -Math.sin(Math.PI / 4)],
-  [1.0, -1.0, 0.0],
-  [Math.sin(Math.PI / 4), -1.0, Math.sin(Math.PI / 4)],
-];
-
-const local_surface_position_xz = /*@__PURE__*/ Vec3.create();
-const abs_scale = /*@__PURE__*/ Vec3.create();
-const vertex = /*@__PURE__*/ Vec3.create();
-const multiplier = /*@__PURE__*/ Vec3.create();
-const transform = /*@__PURE__*/ Mat4.create();
-const isometry = /*@__PURE__*/ Isometry.create();
-
-const cylinderSupportShapeProps = {
-  halfHeight: NumberType(0),
-  radius: NumberType(0),
-  convexRadius: NumberType(0),
-} as const satisfies PropertyDefinitionMap;
-
-export class CylinderSupportShape extends createClass<CylinderSupportShape, typeof cylinderSupportShapeProps>(
-  cylinderSupportShapeProps
-) {
-  getConvexRadius(): number {
-    return this.convexRadius;
-  }
-
-  computeSupport(out: Vec3, direction: Vec3): void {
-    // Support mapping, taken from:
-    // A Fast and Robust GJK Implementation for Collision Detection of Convex Objects - Gino van den Bergen
-    // page 8
-    const x = direction.x;
-    const y = direction.y;
-    const z = direction.z;
-    const o = Math.sqrt(squared(x) + squared(z));
-
-    if (o > 0.0) {
-      out.x = (this.radius * x) / o;
-      out.y = Math.sign(y) * this.halfHeight;
-      out.z = (this.radius * z) / o;
-    } else {
-      out.x = 0;
-      out.y = Math.sign(y) * this.halfHeight;
-      out.z = 0;
-    }
-  }
-
-  computeSupportingFace(out: Face, subShapeID: number, direction: Vec3, scale: number, centerOfMassTransform: Mat4) {
-    throw new Error("Method not implemented.");
-  }
-}
-
-const cylinderProps = {
-  computedCenterOfMass: MonomorphType(Vec3, undefined, true),
-  computedVolume: NumberType(0.0, true),
-  computedAabb: MonomorphType(Aabb, undefined, true),
-  radius: NumberType(0),
-  halfHeight: NumberType(0),
-  convexRadius: NumberType(0),
-  translation: MonomorphType(Vec3, undefined, true),
-  supportShape: MonomorphType(CylinderSupportShape, undefined, true),
-  copyForDiff: LazyReferenceType((() => Cylinder) as () => never) as PropertyDefinitionReference<Cylinder | null, true>,
-} as const satisfies PropertyDefinitionMap;
-
-const afterConstructorCode = `
-  this.world = null;
-`;
-
-export class Cylinder
-  extends createClass<Cylinder, typeof cylinderProps>(cylinderProps, { afterConstructorCode })
-  implements ConvexShapeInterface
-{
-  type: ShapeType.cylinder = ShapeType.cylinder;
-  declare world: World | null;
-
-  intersectsAabb(aabb: Aabb): boolean {
-    throw new Error("Method not implemented.");
-  }
-
-  computeSupport(out: Vec3, direction: Vec3): void {
-    throw new Error("Method not implemented.");
-  }
-
-  getConvexRadius(): number {
-    return this.convexRadius;
-  }
-
-  computeSurfaceNormal(out: Vec3, inLocalSurfacePosition: Vec3, subShapeId?: number): void {
-    // Calculate distance to infinite cylinder surface
-
-    local_surface_position_xz.fromArray([inLocalSurfacePosition.x, 0, inLocalSurfacePosition.z]);
-    const local_surface_position_xz_len = local_surface_position_xz.length();
-    const distance_to_curved_surface = Math.abs(local_surface_position_xz_len - this.radius);
-
-    // Calculate distance to top or bottom plane
-    const distance_to_top_or_bottom = Math.abs(Math.abs(inLocalSurfacePosition.y) - this.halfHeight);
-
-    // Return normal according to closest surface
-    if (distance_to_curved_surface < distance_to_top_or_bottom) {
-      out.copy(local_surface_position_xz).scale(1 / local_surface_position_xz_len);
-    } else {
-      out.fromArray([0, inLocalSurfacePosition.y > 0 ? +1 : -1, 0]);
-    }
-  }
-
-  computeSupportShape(mode: SupportMode, scale: number): SupportShapeWithConvexRadius {
-    abs_scale.replicate(Math.abs(scale));
-    const scale_xz = abs_scale.x;
-    const scale_y = abs_scale.y;
-    const scaled_half_height = scale_y * this.halfHeight;
-    const scaled_radius = scale_xz * this.radius;
-    const scaled_convex_radius = this.convexRadius * scale;
-
-    const supportShape = this.supportShape;
-
-    switch (mode) {
-      case SupportMode.IncludeConvexRadius: {
-        supportShape.set({ halfHeight: scaled_half_height, radius: scaled_radius, convexRadius: 0.0 });
-        break;
-      }
-
-      case SupportMode.ExcludeConvexRadius: {
-        supportShape.set({
-          halfHeight: scaled_half_height - scaled_convex_radius,
-          radius: scaled_radius - scaled_convex_radius,
-          convexRadius: scaled_convex_radius,
-        });
-        break;
-      }
-
-      default: {
-        throw new Error("Invalid mode");
-      }
-    }
-
-    return supportShape;
-  }
-
-  computeSupportingFace(
-    out: Face,
-    subShapeID: number,
-    direction: Vec3,
-    scale: number,
-    centerOfMassTransform: Mat4
-  ): void {
-    out.clear();
-
-    // Get scaled cylinder
-
-    abs_scale.replicate(Math.abs(scale));
-    const scale_xz = abs_scale.x;
-    const scale_y = abs_scale.y;
-    const scaled_half_height = scale_y * this.halfHeight;
-    const scaled_radius = scale_xz * this.radius;
-
-    const x = direction.x;
-    const y = direction.y;
-    const z = direction.z;
-    const o = Math.sqrt(squared(x) + squared(z));
-
-    // If o / |y| > scaled_radius / scaled_half_height, we're hitting the side
-    if (o * scaled_half_height > scaled_radius * Math.abs(y)) {
-      // Hitting side
-      const f = -scaled_radius / o;
-      const vx = x * f;
-      const vz = z * f;
-
-      vertex.fromArray([vx, +scaled_half_height, vz]);
-      out.pushVertex(vertex);
-
-      vertex.fromArray([vx, -scaled_half_height, vz]);
-      out.pushVertex(vertex);
-
-      out.transform(centerOfMassTransform);
-      // out.log("hitting side, cylinder supporting face");
-    } else {
-      // // Hitting top or bottom
-
-      multiplier.fromArray([+scaled_radius, +scaled_half_height, +scaled_radius]);
-      // if (y < 0) {
-      //   multiplier.fromArray([+scaled_radius, +scaled_half_height, +scaled_radius]);
-      // } else {
-      //   multiplier.fromArray([-scaled_radius, -scaled_half_height, -scaled_radius]);
-      // }
-
-      const theFace = y < 0 ? topFace : bottomFace;
-
-      for (const topFaceVertex of theFace) {
-        vertex.fromArray(topFaceVertex);
-        out.pushVertex(vertex);
-      }
-
-      transform.copy(centerOfMassTransform).preScaled(multiplier);
-      out.transform(transform);
-      // out.log("hitting top or bottom, cylinder supporting face");
-    }
-
-    // console.log("cylinder supporting face with vertex count", out.vertexCount);
-  }
-
-  computeInertiaTensor(out: Mat3, mass: number): void {
-    const radiusSquared = squared(this.radius);
-    const height = this.halfHeight * 2;
-    const yyInertia = radiusSquared * mass * 0.5;
-    const xxInertia = yyInertia * 0.5 + (mass * height * height) / 12;
-    const zzInertia = xxInertia;
-    out.fromArray([xxInertia, 0, 0, 0, yyInertia, 0, 0, 0, zzInertia]);
-  }
-
-  computeInverseInertiaTensor(out: Mat3, mass: number): void {
-    this.computeInertiaTensor(out, mass);
-    out.invert();
-  }
-
-  computeWorldBounds(out: Aabb, translation: Vec3, rotation: Quat): void {
-    // TODO: apply rotation if shape's center of mass is not at the origin?
-    isometry.fromRotationAndTranslation(rotation, translation);
-    out.transformAabb(this.computedAabb, isometry);
-  }
-
-  get isConvex(): boolean {
-    return true;
-  }
-
-  hasChanged() {
-    return (
-      this.copyForDiff !== null &&
-      (this.radius !== this.copyForDiff.radius || this.halfHeight !== this.copyForDiff.halfHeight)
-    );
-  }
-
-  commitChanges() {
-    if (this.hasChanged()) {
-      updateShape(this);
-      // this.world?.updateBodyProperties();
-    }
-  }
-}
-
-const oldCreate = Cylinder.create;
-Cylinder.create = function () {
-  const shape = oldCreate.apply(this, arguments as any);
-  updateShape(shape);
-  return shape;
-};
-
-function updateVolume(shape: Cylinder) {
-  shape.computedVolume = Math.PI * squared(shape.radius) * shape.halfHeight * 2;
-}
-
-function updateLocalBounds(shape: Cylinder) {
-  shape.computedAabb.min.x = -shape.radius;
-  shape.computedAabb.min.y = -shape.halfHeight;
-  shape.computedAabb.min.z = -shape.radius;
-  shape.computedAabb.max.x = +shape.radius;
-  shape.computedAabb.max.y = +shape.halfHeight;
-  shape.computedAabb.max.z = +shape.radius;
-}
-
-function updateCopyForDiff(shape: Cylinder) {
-  if (shape.copyForDiff) {
-    shape.copyForDiff.copy(shape);
-    shape.copyForDiff.copyForDiff = null;
-  }
-}
-
-function updateCenterOfMass(shape: Cylinder) {
-  shape.computedCenterOfMass.zero();
-}
-
-function updateShape(shape: Cylinder) {
-  updateCopyForDiff(shape);
-  updateCenterOfMass(shape);
-  updateVolume(shape);
-  updateLocalBounds(shape);
-}