@perplexdotgg/bounce 1.0.0 → 1.0.2

package/src/collision/collide/collideConvexVsHeightMap.ts

@@ -1,53 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Aabb } from "../../shape/Aabb";
-import { HeightMap } from "../../shape/HeightMap";
-import { ConvexShape } from "../../shape/Shape";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { BackFaceMode, CollisionCollector, CollisionSettings } from "./collide";
-import { HeightMapCollider } from "../HeightMapCollider";
-import { Body } from "../../physics/Body";
-import { Vec3 } from "../../math/vec3";
-
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const isometryAToB = /*@__PURE__*/ Isometry.create();
-const shapeABoundsInBSpace = /*@__PURE__*/ Aabb.create();
-
-const heightMapCollider = /*@__PURE__*/ new HeightMapCollider();
-
-export function collideConvexVsHeightMap(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: ConvexShape,
-  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;
-
-  heightMapCollider.triangleCollider.initialize(
-    penetrationDepthModule,
-    shapeA,
-    isometryA,
-    isometryB,
-    settings,
-    collector,
-    undefined,
-    bodyA,
-    bodyB
-  );
-
-  isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-  isometryAToB.matrix.multiplyMatrices(isometryWorldToB.matrix, isometryA.matrix);
-  shapeABoundsInBSpace.copy(shapeA.computedAabb);
-  shapeABoundsInBSpace.transform(isometryAToB);
-  shapeABoundsInBSpace.expand(settings.maxSeparation);
-  heightMapCollider.initialize(shapeABoundsInBSpace, bodyA, bodyB);
-  shapeB.walkHeightMap(heightMapCollider);
-}

package/src/collision/collide/collideConvexVsTriangleMesh.ts

@@ -1,58 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Aabb } from "../../shape/Aabb";
-import { ConvexShape } from "../../shape/Shape";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { ActiveEdgeMode, BackFaceMode, CollectFacesMode, CollisionCollector, CollisionSettings } from "./collide";
-import { TriangleMesh } from "../../shape/TriangleMesh";
-import { Triangle } from "../../shape/Triangle";
-import { TriangleCollider2 } from "../TriangleCollider2";
-import { Body } from "../../physics/Body";
-import { Vec3 } from "../../math/vec3";
-
-const isometryWorldToB = /*@__PURE__*/ Isometry.create();
-const isometryAToB = /*@__PURE__*/ Isometry.create();
-const shapeABoundsInBSpace = /*@__PURE__*/ Aabb.create();
-const triangleCollider = /*@__PURE__*/ new TriangleCollider2();
-
-function onHit(triangle: Triangle): boolean {
-  triangleCollider.collide(triangle, triangle.activeEdges, triangle.subShapeId, undefined, undefined, false);
-  return false;
-}
-
-export function collideConvexVsTriangleMesh(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: ConvexShape,
-  shapeB: TriangleMesh,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  // TODO: don't hardcode this option
-  settings.backFaceMode = BackFaceMode.IgnoreBackFaces;
-  settings.collectFacesMode = CollectFacesMode.CollectFaces;
-  settings.activeEdgeMode = ActiveEdgeMode.CollideWithAll;
-
-  triangleCollider.initialize(
-    penetrationDepthModule,
-    shapeA,
-    isometryA,
-    isometryB,
-    settings,
-    collector,
-    subShapeIdA,
-    bodyA,
-    bodyB
-  );
-  isometryWorldToB.matrix.invertMatrix(isometryB.matrix);
-  isometryAToB.matrix.multiplyMatrices(isometryWorldToB.matrix, isometryA.matrix);
-  shapeABoundsInBSpace.copy(shapeA.computedAabb);
-  shapeABoundsInBSpace.transform(isometryAToB);
-  shapeABoundsInBSpace.expand(settings.maxSeparation);
-  shapeB.bvh!.intersectAabb(onHit, shapeABoundsInBSpace);
-}

package/src/collision/collide/collideHeightMapVsCompound.ts

@@ -1,69 +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 { ConvexShape } from "../../shape/Shape";
-
-const isometryWorldToA = /*@__PURE__*/ Isometry.create();
-const isometryBToA = /*@__PURE__*/ Isometry.create();
-const shapeBBoundsInASpace = /*@__PURE__*/ Aabb.create();
-
-const transformSubShapeToB = /*@__PURE__*/ Isometry.create();
-const transformSubShapeToWorld = /*@__PURE__*/ Isometry.create();
-
-const heightMapCollider = /*@__PURE__*/ new HeightMapCollider();
-
-export function collideHeightMapVsCompound(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: HeightMap,
-  shapeB: CompoundShape,
-  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 { shape, transform } of shapeB.shapes) {
-    const translation = transform.position;
-    const rotation = transform.rotation;
-
-    // set the isometries
-    transformSubShapeToB.fromRotationAndTranslation(rotation, translation);
-    transformSubShapeToWorld.matrix.multiplyMatrices(isometryB.matrix, transformSubShapeToB.matrix);
-
-    heightMapCollider.triangleCollider.initialize(
-      penetrationDepthModule,
-      shape as ConvexShape,
-      transformSubShapeToWorld,
-      isometryA,
-      settings,
-      collector,
-      index
-    );
-
-    isometryWorldToA.matrix.invertMatrix(isometryA.matrix);
-
-    isometryBToA.matrix.multiplyMatrices(transformSubShapeToWorld.matrix, isometryWorldToA.matrix);
-
-    shapeBBoundsInASpace.copy((shape as ConvexShape).computedAabb);
-    shapeBBoundsInASpace.transform(isometryBToA);
-    shapeBBoundsInASpace.expand(settings.maxSeparation);
-    heightMapCollider.initialize(shapeBBoundsInASpace, bodyB, bodyA);
-    shapeA.walkHeightMap(heightMapCollider);
-
-    index++;
-  }
-}

package/src/collision/collide/collideHeightMapVsConvex.ts

@@ -1,53 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Vec3 } from "../../math/vec3";
-import { Aabb } from "../../shape/Aabb";
-import { HeightMap } from "../../shape/HeightMap";
-import { ConvexShape } from "../../shape/Shape";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { BackFaceMode, CollisionCollector, CollisionSettings } from "./collide";
-import { HeightMapCollider } from "../HeightMapCollider";
-import { Body } from "../../physics/Body";
-
-const isometryWorldToA = /*@__PURE__*/ Isometry.create();
-const isometryBToA = /*@__PURE__*/ Isometry.create();
-const shapeBBoundsInASpace = /*@__PURE__*/ Aabb.create();
-
-const heightMapCollider = /*@__PURE__*/ new HeightMapCollider();
-
-export function collideHeightMapVsConvex(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: HeightMap,
-  shapeB: ConvexShape,
-  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;
-
-  heightMapCollider.triangleCollider.initialize(
-    penetrationDepthModule,
-    shapeB,
-    isometryB,
-    isometryA,
-    settings,
-    collector,
-    undefined,
-    bodyB,
-    bodyA
-  );
-
-  isometryWorldToA.matrix.invertMatrix(isometryA.matrix);
-  isometryBToA.matrix.multiplyMatrices(isometryWorldToA.matrix, isometryB.matrix);
-  shapeBBoundsInASpace.copy(shapeB.computedAabb);
-  shapeBBoundsInASpace.transform(isometryBToA);
-  shapeBBoundsInASpace.expand(settings.maxSeparation);
-  heightMapCollider.initialize(shapeBBoundsInASpace, bodyB, bodyA);
-  shapeA.walkHeightMap(heightMapCollider);
-}

package/src/collision/collide/collideSphereVsSphere.ts

@@ -1,81 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { squared } from "../../math/scalar";
-import { Vec3 } from "../../math/vec3";
-import { Body } from "../../physics/Body";
-import { Sphere } from "../../shape/Sphere";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { CollisionCollector, CollisionResult, CollisionSettings } from "./collide";
-
-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 ab = /*@__PURE__*/ Vec3.create();
-
-// TODO: use settings
-// TODO: use initialDirection
-export function collideSphereVsSphere(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: Sphere,
-  shapeB: Sphere,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-) {
-  result.reset();
-  // @ts-ignore
-  result.bodyA = bodyA;
-  // @ts-ignore
-  result.bodyB = bodyB;
-
-  // get positions
-  isometryA.matrix.getTranslation(positionA);
-  isometryB.matrix.getTranslation(positionB);
-
-  // get distance
-  ab.subtractVectors(positionB, positionA);
-
-  // exit if no contact
-  if (ab.squaredLength() > squared(shapeA.radius + shapeB.radius)) {
-    result.hasContact = false;
-    collector.addMiss();
-    return;
-  }
-
-  // set results
-  result.hasContact = true;
-  // @ts-ignore
-  result.bodyA = bodyA;
-  // @ts-ignore
-  result.bodyB = bodyB;
-  result.subShapeIdA = subShapeIdA;
-  result.subShapeIdB = subShapeIdB;
-  result.normalA.normalizeVector(ab);
-  result.normalB.negateVector(result.normalA);
-  result.contactPointA.addScaledToVector(positionA, result.normalA, shapeA.radius);
-  result.contactPointB.addScaledToVector(positionB, result.normalB, shapeB.radius);
-  result.momentArmA.subtractVectors(result.contactPointA, positionA);
-  result.momentArmB.subtractVectors(result.contactPointB, positionB);
-  result.penetration = shapeA.radius + shapeB.radius - ab.length();
-
-  // normalize the normals
-  result.normalA.normalizeVector(result.normalA);
-  result.normalB.normalizeVector(result.normalB);
-
-  collector.addHit(result);
-}

package/src/collision/collide/collideTriangleMeshVsCompound.ts

@@ -1,58 +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 { collideTriangleMeshVsConvex } from "./collideTriangleMeshVsConvex";
-import { Body } from "../../physics/Body";
-import { ConvexShape } from "../..";
-
-const transformSubShapeToB = /*@__PURE__*/ Isometry.create();
-const transformSubShapeToWorld = /*@__PURE__*/ Isometry.create();
-
-// the results are in world space
-export function collideTriangleMeshVsCompound(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: TriangleMesh,
-  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, transform } of shapeB.shapes) {
-    const translation = transform.position;
-    const rotation = transform.rotation;
-
-    // set the isometries
-    transformSubShapeToB.fromRotationAndTranslation(rotation, translation);
-    transformSubShapeToWorld.matrix.multiplyMatrices(isometryB.matrix, transformSubShapeToB.matrix);
-
-    // collide the shapes. TODO: this should be convex vs convex for now, but may be expanded in the future
-    collideTriangleMeshVsConvex(
-      penetrationDepthModule,
-      collector,
-      shapeA,
-      shape as ConvexShape,
-      isometryA,
-      transformSubShapeToWorld,
-      settings,
-      bodyA,
-      bodyB,
-      initialDirection,
-      0,
-      index
-    );
-
-    index++;
-  }
-}

package/src/collision/collide/collideTriangleMeshVsConvex.ts

@@ -1,58 +0,0 @@
-import { Isometry } from "../../math/isometry";
-import { Aabb } from "../../shape/Aabb";
-import { ConvexShape } from "../../shape/Shape";
-import { PenetrationDepthModule } from "../gjk/PenetrationDepthModule";
-import { ActiveEdgeMode, BackFaceMode, CollectFacesMode, CollisionCollector, CollisionSettings } from "./collide";
-import { TriangleMesh } from "../../shape/TriangleMesh";
-import { Triangle } from "../../shape/Triangle";
-import { TriangleCollider2 } from "../TriangleCollider2";
-import { Body } from "../../physics/Body";
-import { Vec3 } from "../../math/vec3";
-
-const isometryWorldToA = /*@__PURE__*/ Isometry.create();
-const isometryBToA = /*@__PURE__*/ Isometry.create();
-const shapeBBoundsInASpace = /*@__PURE__*/ Aabb.create();
-const triangleCollider = /*@__PURE__*/ new TriangleCollider2();
-
-function onHit(triangle: Triangle): boolean {
-  triangleCollider.collide(triangle, triangle.activeEdges, triangle.subShapeId, undefined, undefined, true);
-  return false;
-}
-
-export function collideTriangleMeshVsConvex(
-  penetrationDepthModule: PenetrationDepthModule,
-  collector: CollisionCollector,
-  shapeA: TriangleMesh,
-  shapeB: ConvexShape,
-  isometryA: Isometry,
-  isometryB: Isometry,
-  settings: CollisionSettings,
-  bodyA: Body | null,
-  bodyB: Body | null,
-  initialDirection?: Vec3,
-  subShapeIdA: number = 0,
-  subShapeIdB: number = 0
-): void {
-  // TODO: don't hardcode this option
-  settings.backFaceMode = BackFaceMode.IgnoreBackFaces;
-  settings.collectFacesMode = CollectFacesMode.CollectFaces;
-  settings.activeEdgeMode = ActiveEdgeMode.CollideWithAll;
-
-  triangleCollider.initialize(
-    penetrationDepthModule,
-    shapeB,
-    isometryB,
-    isometryA,
-    settings,
-    collector,
-    subShapeIdB,
-    bodyB,
-    bodyA
-  );
-  isometryWorldToA.matrix.invertMatrix(isometryA.matrix);
-  isometryBToA.matrix.multiplyMatrices(isometryWorldToA.matrix, isometryB.matrix);
-  shapeBBoundsInASpace.copy(shapeB.computedAabb);
-  shapeBBoundsInASpace.transform(isometryBToA);
-  shapeBBoundsInASpace.expand(settings.maxSeparation);
-  shapeA.bvh!.intersectAabb(onHit, shapeBBoundsInASpace);
-}