@perplexdotgg/bounce 1.0.0 → 1.0.2

package/src/collision/CollideShapesModule.ts

@@ -1,152 +0,0 @@
-import { Isometry } from "../math/isometry";
-import { Shape, ShapeType } from "../shape/Shape";
-import { PenetrationDepthModule } from "./gjk/PenetrationDepthModule";
-import { CollisionCollector, CollisionSettings } from "./collide/collide";
-import { collideSphereVsSphere } from "./collide/collideSphereVsSphere";
-import { collideConvexVsConvex } from "./collide/collideConvexVsConvex";
-import { collideCompoundVsConvex } from "./collide/collideCompoundVsConvex";
-import { collideConvexVsCompound } from "./collide/collideConvexVsCompound";
-import { collideCompoundVsCompound } from "./collide/collideCompoundVsCompound";
-import { collideConvexVsHeightMap } from "./collide/collideConvexVsHeightMap";
-import { collideCompoundVsHeightMap } from "./collide/collideCompoundVsHeightMap";
-import { collideHeightMapVsConvex } from "./collide/collideHeightMapVsConvex";
-import { collideHeightMapVsCompound } from "./collide/collideHeightMapVsCompound";
-import { collideConvexVsTriangleMesh } from "./collide/collideConvexVsTriangleMesh";
-import { collideTriangleMeshVsConvex } from "./collide/collideTriangleMeshVsConvex";
-import { collideTriangleMeshVsCompound } from "./collide/collideTriangleMeshVsCompound";
-import { collideCompoundVsTriangleMesh } from "./collide/collideCompoundVsTriangleMesh";
-import { Body } from "../physics/Body";
-
-function noOp() {
-  return;
-}
-
-const collideShapesFns = {
-  [ShapeType.sphere]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideSphereVsSphere,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh,
-  },
-  [ShapeType.box]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh,
-  },
-  [ShapeType.convexHull]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh,
-  },
-  [ShapeType.compoundShape]: {
-    [ShapeType.box]: collideCompoundVsConvex,
-    [ShapeType.capsule]: collideCompoundVsConvex,
-    [ShapeType.compoundShape]: collideCompoundVsCompound,
-    [ShapeType.convexHull]: collideCompoundVsConvex,
-    [ShapeType.cylinder]: collideCompoundVsConvex,
-    [ShapeType.heightMap]: collideCompoundVsHeightMap,
-    [ShapeType.sphere]: collideCompoundVsConvex,
-    [ShapeType.triangleMesh]: collideCompoundVsTriangleMesh,
-  },
-  [ShapeType.cylinder]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh,
-  },
-  [ShapeType.capsule]: {
-    [ShapeType.box]: collideConvexVsConvex,
-    [ShapeType.capsule]: collideConvexVsConvex,
-    [ShapeType.compoundShape]: collideConvexVsCompound,
-    [ShapeType.convexHull]: collideConvexVsConvex,
-    [ShapeType.cylinder]: collideConvexVsConvex,
-    [ShapeType.heightMap]: collideConvexVsHeightMap,
-    [ShapeType.sphere]: collideConvexVsConvex,
-    [ShapeType.triangleMesh]: collideConvexVsTriangleMesh,
-  },
-  [ShapeType.heightMap]: {
-    [ShapeType.box]: collideHeightMapVsConvex,
-    [ShapeType.capsule]: collideHeightMapVsConvex,
-    [ShapeType.compoundShape]: collideHeightMapVsCompound,
-    [ShapeType.convexHull]: collideHeightMapVsConvex,
-    [ShapeType.cylinder]: collideHeightMapVsConvex,
-    [ShapeType.heightMap]: noOp,
-    [ShapeType.sphere]: collideHeightMapVsConvex,
-    [ShapeType.triangleMesh]: noOp,
-  },
-  [ShapeType.triangleMesh]: {
-    [ShapeType.box]: collideTriangleMeshVsConvex,
-    [ShapeType.capsule]: collideTriangleMeshVsConvex,
-    [ShapeType.compoundShape]: collideTriangleMeshVsCompound,
-    [ShapeType.convexHull]: collideTriangleMeshVsConvex,
-    [ShapeType.cylinder]: collideTriangleMeshVsConvex,
-    [ShapeType.heightMap]: noOp,
-    [ShapeType.sphere]: collideTriangleMeshVsConvex,
-    [ShapeType.triangleMesh]: noOp,
-  },
-} as const;
-
-export class CollideShapesModule {
-  penetrationDepthModule: PenetrationDepthModule;
-
-  constructor(penetrationDepthModule: PenetrationDepthModule) {
-    this.penetrationDepthModule = penetrationDepthModule;
-  }
-  // collides two shapes that implement the ShapeWithType interface, using the query map
-  // the shapes must be in local space
-  // the isometries must transform the shapes into world space
-  // the results are in world space
-  collideShapes(
-    collector: CollisionCollector,
-    shapeA: Shape,
-    isometryA: Isometry,
-    shapeB: Shape,
-    isometryB: Isometry,
-    settings: CollisionSettings,
-    bodyA: Body | null,
-    bodyB: Body | null,
-    subShapeIdA: number = 0,
-    subShapeIdB: number = 0
-  ): void {
-    const keyA = shapeA.type as keyof typeof collideShapesFns;
-    const keyB = shapeB.type as keyof (typeof collideShapesFns)[keyof typeof collideShapesFns];
-    const collisionFunction = collideShapesFns[keyA][keyB];
-    if (!collisionFunction) {
-      throw new Error(`no collision function found for shapes with type ${keyA} and ${keyB}`);
-    }
-
-    return collisionFunction(
-      this.penetrationDepthModule,
-      collector,
-      // @ts-ignore
-      shapeA,
-      shapeB,
-      isometryA,
-      isometryB,
-      settings,
-      bodyA,
-      bodyB,
-      undefined,
-      subShapeIdA,
-      subShapeIdB
-    );
-  }
-}

package/src/collision/HeightMapCaster.ts

@@ -1,38 +0,0 @@
-import { Vec3 } from "../math/vec3";
-import { Body } from "../physics/Body";
-import { Aabb } from "../shape/Aabb";
-import { HeightMapVisitor } from "../shape/HeightMap";
-import { Ray } from "../shape/Ray";
-import { Triangle } from "../shape/Triangle";
-import { TriangleCaster } from "./TriangleCaster";
-
-export class HeightMapCaster implements HeightMapVisitor {
-  halfExtents: Vec3;
-  ray: Ray;
-  triangleCaster: TriangleCaster;
-  bodyA: Body | null = null;
-  bodyB: Body | null = null;
-
-  constructor(triangleCaster: TriangleCaster) {
-    this.triangleCaster = triangleCaster;
-    this.halfExtents = Vec3.create() as Vec3;
-    this.ray = Ray.create() as Ray;
-  }
-
-  initialize(halfExtents: Vec3, ray: Ray, bodyA: Body | null, bodyB: Body | null): void {
-    this.halfExtents.copy(halfExtents);
-    this.ray.copy(ray);
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-  }
-
-  shouldVisitBlock(block: Aabb): boolean {
-    // expand the block aabb by the extents of the shape aabb
-    block.expandByVector(this.halfExtents);
-    return this.ray.intersectsAabb(block);
-  }
-
-  visitTriangle(triangle: Triangle, activeEdges: number, triangleId: number): void {
-    this.triangleCaster.cast(triangle, activeEdges, triangleId, this.bodyA, this.bodyB);
-  }
-}

package/src/collision/HeightMapCollider.ts

@@ -1,33 +0,0 @@
-import { Body } from "../physics/Body";
-import { Aabb } from "../shape/Aabb";
-import { HeightMapVisitor } from "../shape/HeightMap";
-import { Triangle } from "../shape/Triangle";
-import { TriangleCollider } from "./TriangleCollider";
-
-export class HeightMapCollider implements HeightMapVisitor {
-  bodyA: Body | null;
-  bodyB: Body | null;
-  triangleCollider: TriangleCollider;
-  shapeABoundsInBSpace: Aabb;
-
-  constructor() {
-    this.shapeABoundsInBSpace = Aabb.create() as Aabb;
-    this.triangleCollider = new TriangleCollider();
-    this.bodyA = null;
-    this.bodyB = null;
-  }
-
-  initialize(shapeABoundsInBSpace: Aabb, bodyA: Body | null, bodyB: Body | null): void {
-    this.shapeABoundsInBSpace.copy(shapeABoundsInBSpace);
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-  }
-
-  shouldVisitBlock(block: Aabb): boolean {
-    return this.shapeABoundsInBSpace.intersectsAabb(block);
-  }
-
-  visitTriangle(triangle: Triangle, activeEdges: number, triangleId: number): void {
-    this.triangleCollider.collide(triangle, activeEdges, triangleId, this.bodyA, this.bodyB);
-  }
-}

package/src/collision/TriangleCaster.ts

@@ -1,249 +0,0 @@
-import { Isometry } from "../math/isometry";
-import { Mat3 } from "../math/mat3";
-import { NumberValue } from "../math/NumberValue";
-import { Vec3 } from "../math/vec3";
-import { Body } from "../physics/Body";
-import { SupportMode } from "../shape/Convex";
-import { ConvexShape } from "../shape/Shape";
-import { Triangle } from "../shape/Triangle";
-import { fixNormal } from "./activeEdge";
-import { CastCollector, CastResult, CastSettings } from "./cast/cast";
-import { ActiveEdgeMode, BackFaceMode } from "./collide/collide";
-import { GjkCastShapeResult, GjkModule } from "./gjk/GjkModule";
-import { PenetrationDepthModule } from "./gjk/PenetrationDepthModule";
-
-const triangleNormal = /*@__PURE__*/ Vec3.create();
-const negatedTriangleNormal = /*@__PURE__*/ Vec3.create();
-const pointA = /*@__PURE__*/ Vec3.create();
-const pointB = /*@__PURE__*/ Vec3.create();
-const penetrationAxis = /*@__PURE__*/ Vec3.create();
-const lambda = /*@__PURE__*/ NumberValue.create();
-const castResult = /*@__PURE__*/ GjkCastShapeResult.create();
-const activeEdgeMovementDirectionLocal = /*@__PURE__*/ Vec3.create();
-const contactNormal = /*@__PURE__*/ Vec3.create();
-const result = /*@__PURE__*/ CastResult.create();
-const rotationMatrixB = /*@__PURE__*/ Mat3.create();
-const penetrationDepthModule = /*@__PURE__*/ new PenetrationDepthModule(new GjkModule());
-const activeEdgeMovementDirection = /*@__PURE__*/ Vec3.create();
-
-export class TriangleCaster {
-  declare penetrationDepthModule: PenetrationDepthModule;
-
-  declare settings: CastSettings;
-  declare collector: CastCollector;
-  declare shapeA: ConvexShape;
-  bodyA: Body | null = null;
-  bodyB: Body | null = null;
-  shapeB: Triangle;
-  negatedOffset: Vec3;
-  offsetIsometryA: Isometry;
-  offsetIsometryB: Isometry;
-  inverseOffsetIsometryB: Isometry;
-  offsetIsometryAToB: Isometry;
-  displacementInB: Vec3;
-  rotateBToWorld: Mat3;
-  rotateWorldToB: Mat3;
-
-  constructor() {
-    this.shapeB = Triangle.create() as Triangle;
-    this.negatedOffset = Vec3.create() as Vec3;
-    this.offsetIsometryA = Isometry.create() as Isometry;
-    this.offsetIsometryB = Isometry.create() as Isometry;
-    this.inverseOffsetIsometryB = Isometry.create() as Isometry;
-    this.offsetIsometryAToB = Isometry.create() as Isometry;
-    this.displacementInB = Vec3.create() as Vec3;
-    this.rotateBToWorld = Mat3.create() as Mat3;
-    this.rotateWorldToB = Mat3.create() as Mat3;
-  }
-
-  initialize(
-    settings: CastSettings,
-    collector: CastCollector,
-    shapeA: ConvexShape,
-    isometryA: Isometry,
-    isometryB: Isometry,
-    displacement: Vec3,
-    offset: Vec3,
-    bodyA: Body | null = null,
-    bodyB: Body | null = null
-  ): void {
-    // so far, everything is in world space (as in, the shapes are in local space, and the isometries transform from their local space to world space, respectively)
-    // but we want to cast in B space, so convert everything to B space in the same style as CastModule.castConvexVsConvexWorld
-    this.settings = settings;
-    this.collector = collector;
-    this.shapeA = shapeA;
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-
-    const negatedOffset = this.negatedOffset;
-    const offsetIsometryA = this.offsetIsometryA;
-    const offsetIsometryB = this.offsetIsometryB;
-    const inverseOffsetIsometryB = this.inverseOffsetIsometryB;
-    const offsetIsometryAToB = this.offsetIsometryAToB;
-    const displacementInB = this.displacementInB;
-
-    // translate A and B by the offset, for example to move them both to origin
-    negatedOffset.negateVector(offset);
-    offsetIsometryA.matrix.postTranslatedMatrix(isometryA.matrix, negatedOffset);
-    offsetIsometryB.matrix.postTranslatedMatrix(isometryB.matrix, negatedOffset);
-
-    // get a transformA in the space of B
-    inverseOffsetIsometryB.matrix.invertMatrix(offsetIsometryB.matrix);
-    offsetIsometryAToB.matrix.multiplyMatrices(inverseOffsetIsometryB.matrix, offsetIsometryA.matrix);
-
-    // get the rotation matrix of B
-    this.rotateBToWorld.fromMat4(isometryB.matrix);
-
-    // get the rotation matrix of world to B
-    this.rotateWorldToB.invertMat3(this.rotateBToWorld);
-
-    // get displacement in the space of B
-    inverseOffsetIsometryB.matrix.multiply3x3(displacementInB, displacement);
-  }
-
-  cast(triangle: Triangle, activeEdges: number, triangleId: number, bodyA: Body | null, bodyB: Body | null): void {
-    // cast in B space, return in world space
-    const ioCollector = this.collector;
-    const inShapeA = this.shapeA;
-    const inShapeB = this.shapeB;
-    const isometryAToB = this.offsetIsometryAToB;
-    const isometryB = this.offsetIsometryB;
-    const inScaleA = 1;
-    const inScaleB = 1;
-    const displacementInB = this.displacementInB;
-    const inShapeCastSettings = this.settings;
-    const rotateBToWorld = this.rotateBToWorld;
-    const rotateWorldToB = this.rotateWorldToB;
-
-    // get shape B in B space
-    inShapeB.copy(triangle);
-
-    // TODO: scale the shapes
-
-    // get the triangle normal in B space
-
-    inShapeB.computeNormal(triangleNormal);
-    negatedTriangleNormal.negateVector(triangleNormal);
-
-    // TODO: handle backface mode
-    const back_facing = triangleNormal.dot(displacementInB) > 0;
-    if (inShapeCastSettings.backFaceModeTriangles === BackFaceMode.IgnoreBackFaces && back_facing) {
-      ioCollector.addMiss();
-      return;
-    }
-
-    // TODO: handle bounds casting
-
-    // get the support shapes
-    const supportMode = inShapeCastSettings.useShrunkenShapeAndConvexRadius
-      ? SupportMode.ExcludeConvexRadius
-      : SupportMode.IncludeConvexRadius;
-    const supportA = inShapeA.computeSupportShape(supportMode, inScaleA);
-    const supportB = inShapeB.computeSupportShape(supportMode, inScaleB);
-
-    // get the convex radii
-    const convexRadiusA = supportA.getConvexRadius();
-    const convexRadiusB = supportB.getConvexRadius();
-
-    // init pass-through results
-
-    // init the gjk cast shape result
-
-    castResult.lambda = ioCollector.getEarlyOutFraction();
-    penetrationDepthModule.castShape(
-      castResult,
-      isometryAToB,
-      displacementInB,
-      inShapeCastSettings.collisionTolerance,
-      inShapeCastSettings.penetrationTolerance,
-      supportA,
-      supportB,
-      convexRadiusA,
-      convexRadiusB,
-      inShapeCastSettings.returnDeepestPoint
-    );
-
-    // exit if no hit found
-    if (castResult.isHitFound === false) {
-      this.collector.addMiss();
-      return;
-    }
-
-    // update pass-through results
-    pointA.copy(castResult.pointA);
-    pointB.copy(castResult.pointB);
-    penetrationAxis.copy(castResult.separatingAxis);
-    // vec3.normalize(penetrationAxis, castResult.separatingAxis);
-    lambda.value = castResult.lambda;
-
-    // check active edge mode
-    if (inShapeCastSettings.activeEdgeMode === ActiveEdgeMode.CollideOnlyWithActive && activeEdges !== 0b111) {
-      // debugger;
-      // convert the active edge velocity hint to local space
-
-      activeEdgeMovementDirection.x = inShapeCastSettings.activeEdgeMovementDirectionX;
-      activeEdgeMovementDirection.y = inShapeCastSettings.activeEdgeMovementDirectionY;
-      activeEdgeMovementDirection.z = inShapeCastSettings.activeEdgeMovementDirectionZ;
-
-      activeEdgeMovementDirectionLocal.transformVectorFromMat3(activeEdgeMovementDirection, rotateWorldToB);
-
-      // update the contact normal to account for active edges
-      // note that we flip the triangle normal as the penetration axis is pointing towards the triangle instead of away
-
-      fixNormal(
-        contactNormal,
-        inShapeB.a,
-        inShapeB.b,
-        inShapeB.c,
-        back_facing ? triangleNormal : negatedTriangleNormal,
-        activeEdges,
-        pointB,
-        penetrationAxis,
-        activeEdgeMovementDirectionLocal
-      );
-
-      // update the penetration axis
-      penetrationAxis.copy(contactNormal);
-      // vec3.negate(penetrationAxis, contactNormal);
-    }
-
-    // convert to world space
-    pointA.transformVectorFromMat4(pointA, isometryB.matrix);
-    pointB.transformVectorFromMat4(pointB, isometryB.matrix);
-    penetrationAxis.transformVectorFromMat3(penetrationAxis, rotateBToWorld);
-
-    // create the result
-
-    result.bodyA = bodyA;
-    result.bodyB = bodyB;
-    result.subShapeIdA = 0;
-    result.subShapeIdB = triangleId;
-    result.fraction = lambda.value;
-    result.isBackFaceHit = false;
-    result.contactPointA.copy(pointA);
-    result.contactPointB.copy(pointB);
-    result.normalA.copy(penetrationAxis);
-    result.normalB.negateVector(penetrationAxis);
-    result.penetration = pointA.distance(pointB);
-
-    // early out if this hit is deeper than the collector's early out value
-    if (result.fraction === 0 && -result.penetration >= ioCollector.getEarlyOutFraction()) {
-      ioCollector.addMiss(); // TODO: should we classify as a miss?
-      return;
-    }
-
-    // set surface normals on result
-    result.surfaceNormalA.zero();
-
-    // surface normal B should be the triangle's normal in world space
-
-    rotationMatrixB.fromMat4(isometryB.matrix);
-    result.surfaceNormalB.transformVectorFromMat3(triangleNormal, rotationMatrixB);
-
-    // TODO: handle faces
-
-    // add the result to the collector
-    // ioCollector.earlyOutFraction = result.fraction;
-    ioCollector.addHit(result);
-  }
-}