@perplexdotgg/bounce 1.0.0 → 1.0.2

package/src/collision/TriangleCollider.ts

@@ -1,308 +0,0 @@
-import { Isometry } from "../math/isometry";
-import { Mat3 } from "../math/mat3";
-import { Vec3 } from "../math/vec3";
-import { Face } from "../physics/manifold/Face";
-import { Aabb } from "../shape/Aabb";
-import { ConvexRadiusObject, SupportMode } from "../shape/Convex";
-import { ConvexShape } from "../shape/Shape";
-import { Triangle } from "../shape/Triangle";
-import { fixNormal } from "./activeEdge";
-import { PenetrationDepth, PenetrationDepthModule } from "./gjk/PenetrationDepthModule";
-import {
-  ActiveEdgeMode,
-  BackFaceMode,
-  CollisionCollector,
-  CollisionResult,
-  CollisionSettings,
-  CollisionStatus,
-} from "./collide/collide";
-import { Body } from "../physics/Body";
-
-const result = /*@__PURE__*/ 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 isometryBToA = /*@__PURE__*/ Isometry.create();
-const localBoundsA = /*@__PURE__*/ Aabb.create();
-const shapeB = /*@__PURE__*/ Triangle.create();
-const convexA = /*@__PURE__*/ ConvexRadiusObject.create();
-const convexB = /*@__PURE__*/ ConvexRadiusObject.create();
-const rotationMatrixA = /*@__PURE__*/ Mat3.create();
-const positionA = /*@__PURE__*/ Vec3.create();
-const positionB = /*@__PURE__*/ Vec3.create();
-
-const triangleNormal = /*@__PURE__*/ Vec3.create();
-const triangleBounds = /*@__PURE__*/ Aabb.create();
-const pointA = /*@__PURE__*/ Vec3.create();
-const pointB = /*@__PURE__*/ Vec3.create();
-const penetrationAxis = /*@__PURE__*/ Vec3.create();
-const gjkResult = /*@__PURE__*/ PenetrationDepth.create();
-const pointAB = /*@__PURE__*/ Vec3.create();
-const activeEdgeMovementDirectionWorld = /*@__PURE__*/ Vec3.create();
-const activeEdgeMovementDirectionLocal = /*@__PURE__*/ Vec3.create();
-const contactNormal = /*@__PURE__*/ Vec3.create();
-const negatedPenetrationAxis = /*@__PURE__*/ Vec3.create();
-const negatedTriangleNormal = /*@__PURE__*/ Vec3.create();
-const penetrationAxisWorld = /*@__PURE__*/ Vec3.create();
-
-export class TriangleCollider {
-  declare penetrationDepthModule: PenetrationDepthModule;
-  declare shapeA: ConvexShape;
-  declare shapeB: Triangle;
-  declare isometryA: Isometry;
-  declare isometryB: Isometry;
-  declare settings: CollisionSettings;
-  declare collector: CollisionCollector;
-  declare subShapeAId: number;
-  bodyA: Body | null = null;
-  bodyB: Body | null = null;
-
-  initialize(
-    penetrationDepthModule: PenetrationDepthModule,
-    shapeA: ConvexShape,
-    isometryA: Isometry,
-    isometryB: Isometry,
-    settings: CollisionSettings,
-    collector: CollisionCollector,
-    subShapeAId: number = 0,
-    bodyA: Body | null = null,
-    bodyB: Body | null = null
-  ): void {
-    this.penetrationDepthModule = penetrationDepthModule;
-    this.shapeA = shapeA;
-    this.isometryA = isometryA;
-    this.isometryB = isometryB;
-    this.settings = settings;
-    this.collector = collector;
-    this.subShapeAId = subShapeAId;
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-
-    // get the isometry from B to A
-    isometryBToA.matrix.invertMatrix(isometryA.matrix);
-    isometryBToA.matrix.multiplyMatrix(isometryB.matrix);
-
-    // get the rotation matrix of A
-    rotationMatrixA.fromMat4(isometryA.matrix);
-
-    // get the positions
-    isometryA.matrix.getTranslation(positionA);
-    isometryB.matrix.getTranslation(positionB);
-
-    // get the local bounds of A
-    localBoundsA.copy(shapeA.computedAabb);
-    localBoundsA.expand(settings.maxSeparation);
-  }
-
-  collide(triangle: Triangle, activeEdges: number, triangleId: number, bodyA?: Body | null, bodyB?: Body | null): void {
-    result.reset();
-    // @ts-ignore
-    result.bodyA = bodyA || this.bodyA;
-    // @ts-ignore
-    result.bodyB = bodyB || this.bodyB;
-    const settings = this.settings;
-    const shapeA = this.shapeA;
-    const isometryA = this.isometryA;
-    const subShapeAId = this.subShapeAId;
-    const collector = this.collector;
-    const penetrationDepthModule = this.penetrationDepthModule;
-
-    // get the triangle in A space
-    shapeB.copy(triangle);
-    shapeB.transform(isometryBToA.matrix);
-
-    // get the triangle normal
-
-    shapeB.computeNormal(triangleNormal);
-    // shapeB.getUnnormalizedNormal(triangleNormal);
-
-    // TODO: handle backface mode
-    const back_facing = triangleNormal.dot(triangle.a) > 0;
-    if (settings.backFaceMode === BackFaceMode.IgnoreBackFaces && back_facing) {
-      // console.log("miss: ignoring back-facing triangle");
-      collector.addMiss();
-      return;
-    }
-
-    // get triangle bounds
-
-    shapeB.computeLocalBounds(triangleBounds);
-
-    // collide bounds
-    if (localBoundsA.intersectsAabb(triangleBounds) === false) {
-      // console.log("miss: bounds do not intersect");
-      collector.addMiss();
-      return;
-    }
-
-    // get the support shapes
-    const supportA = shapeA.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-    const supportB = shapeB.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-
-    // get convex radii, including the max separation distance
-    const convexRadiusA = supportA.getConvexRadius() + settings.maxSeparation;
-    const convexRadiusB = supportB.getConvexRadius();
-
-    // init the pass-through results
-
-    // init the penetration axis as the triangle normal
-    penetrationAxis.negateVector(triangleNormal);
-
-    // init the gjk result
-
-    // run gjk
-    penetrationDepthModule.getPenetrationDepthStepGjk(
-      gjkResult,
-      supportA,
-      supportB,
-      convexRadiusA,
-      convexRadiusB,
-      penetrationAxis,
-      settings.collisionTolerance
-    );
-
-    switch (gjkResult.status) {
-      case CollisionStatus.Colliding: {
-        // pass through the results
-        pointA.copy(gjkResult.pointA);
-        pointB.copy(gjkResult.pointB);
-        penetrationAxis.copy(gjkResult.penetrationAxis);
-        break;
-      }
-
-      case CollisionStatus.NotColliding: {
-        // definitive no penetration
-        result.hasContact = false;
-        // console.log("miss: no hit from gjk");
-        collector.addMiss();
-        return;
-      }
-
-      case CollisionStatus.Indeterminate: {
-        // need to run IMP
-
-        // get the support shapes
-        const supportA = shapeA.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-        const supportB = shapeB.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-
-        // // get the convex shapes
-        // convexA.object = supportA;
-        // convexA.radius = settings.maxSeparation;
-
-        // convexB.object = supportB;
-        // convexB.radius = 0;
-        convexA.setData(settings.maxSeparation, supportA);
-        convexB.setData(0, supportB);
-
-        // init the imp result
-
-        const hitFound = penetrationDepthModule.getPenetrationDepthStepEPA(
-          convexA,
-          convexB,
-          settings.collisionTolerance,
-          penetrationAxis,
-          pointA,
-          pointB
-        );
-
-        if (!hitFound) {
-          // console.log("miss: no hit from EPA");
-          result.hasContact = false;
-          collector.addMiss();
-          return;
-        }
-      }
-    }
-
-    // we have a collision
-
-    // get the penetration depth
-
-    // check if penetration is bigger than early out fraction
-    pointAB.subtractVectors(pointB, pointA);
-    const penetrationDepth = pointAB.length() - settings.maxSeparation;
-    if (-penetrationDepth >= collector.getEarlyOutFraction()) {
-      result.hasContact = false;
-      collector.addMiss();
-      return;
-    }
-
-    // reduce pointA by the max separation distance along the penetration axis
-    const penetrationAxisLength = penetrationAxis.length();
-    if (penetrationAxisLength > 0) {
-      pointA.addScaled(penetrationAxis, -(settings.maxSeparation / penetrationAxisLength));
-    }
-
-    // TODO: handle active edge detection
-    if (settings.activeEdgeMode === ActiveEdgeMode.CollideOnlyWithActive && activeEdges !== 0b111) {
-      activeEdgeMovementDirectionWorld.x = settings.activeEdgeMovementDirectionX;
-      activeEdgeMovementDirectionWorld.y = settings.activeEdgeMovementDirectionY;
-      activeEdgeMovementDirectionWorld.z = settings.activeEdgeMovementDirectionZ;
-
-      // convert the active edge velocity hint to local space
-      isometryA.matrix.multiply3x3Transposed(activeEdgeMovementDirectionLocal, activeEdgeMovementDirectionWorld);
-
-      // update the penetration axis to account for active edges
-      // note that we flip the triangle normal as the penetration axis is pointing towards the triangle instead of away
-      negatedPenetrationAxis.negateVector(penetrationAxis);
-      negatedTriangleNormal.negateVector(triangleNormal);
-
-      fixNormal(
-        contactNormal,
-        shapeB.a,
-        shapeB.b,
-        shapeB.c,
-        // back_facing ? triangleNormal : negatedTriangleNormal,
-        // triangleNormal,
-        negatedTriangleNormal,
-        activeEdges,
-        pointB,
-        penetrationAxis,
-        activeEdgeMovementDirectionLocal
-      );
-
-      // update the penetration axis
-      penetrationAxis.copy(contactNormal);
-    }
-
-    // convert results from A space to world space
-    result.hasContact = true;
-    result.subShapeIdA = subShapeAId;
-    result.subShapeIdB = triangleId;
-    result.isBackFace = back_facing;
-
-    // convert to world space
-    pointA.transformByMat4(isometryA.matrix);
-    pointB.transformByMat4(isometryA.matrix);
-    isometryA.matrix.multiply3x3(penetrationAxisWorld, penetrationAxis);
-
-    result.contactPointA.copy(pointA);
-    result.contactPointB.copy(pointB);
-
-    // get the normal in world space
-    result.normalA.copy(penetrationAxisWorld);
-    result.normalB.negateVector(result.normalA);
-
-    result.penetration = penetrationDepth;
-    result.hasContact = true;
-
-    // add the world space surface normal of the triangle
-    result.surfaceNormalA.zero();
-    result.surfaceNormalB.transformVectorFromMat3(triangleNormal, rotationMatrixA);
-
-    // normalize the normals
-    result.normalA.normalize();
-    result.normalB.normalize();
-
-    // console.log("hit: triangle collider hit");
-
-    // add the hit
-    collector.addHit(result);
-  }
-}

package/src/collision/TriangleCollider2.ts

@@ -1,379 +0,0 @@
-import { Isometry } from "../math/isometry";
-import { Mat3 } from "../math/mat3";
-import { Vec3 } from "../math/vec3";
-import { Face } from "../physics/manifold/Face";
-import { Aabb } from "../shape/Aabb";
-import { ConvexRadiusObject, SupportMode } from "../shape/Convex";
-import { ConvexShape } from "../shape/Shape";
-import { Triangle } from "../shape/Triangle";
-import { fixNormal } from "./activeEdge";
-import { PenetrationDepth, PenetrationDepthModule } from "./gjk/PenetrationDepthModule";
-import {
-  ActiveEdgeMode,
-  BackFaceMode,
-  CollectFacesMode,
-  CollisionCollector,
-  CollisionResult,
-  CollisionSettings,
-  CollisionStatus,
-} from "./collide/collide";
-import { Body } from "../physics/Body";
-
-const result = /*@__PURE__*/ 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 isometryBToA = /*@__PURE__*/ Isometry.create();
-const localBoundsA = /*@__PURE__*/ Aabb.create();
-const shapeB = /*@__PURE__*/ Triangle.create();
-const convexA = /*@__PURE__*/ ConvexRadiusObject.create();
-const convexB = /*@__PURE__*/ ConvexRadiusObject.create();
-const rotationMatrixA = /*@__PURE__*/ Mat3.create();
-const positionA = /*@__PURE__*/ Vec3.create();
-const positionB = /*@__PURE__*/ Vec3.create();
-
-const centerA = /*@__PURE__*/ Vec3.create();
-const centerB = /*@__PURE__*/ Vec3.create();
-
-const triangleNormal = /*@__PURE__*/ Vec3.create();
-const triangleBounds = /*@__PURE__*/ Aabb.create();
-const pointA = /*@__PURE__*/ Vec3.create();
-const pointB = /*@__PURE__*/ Vec3.create();
-const penetrationAxis = /*@__PURE__*/ Vec3.create();
-const gjkResult = /*@__PURE__*/ PenetrationDepth.create();
-const pointAB = /*@__PURE__*/ Vec3.create();
-const activeEdgeMovementDirectionWorld = /*@__PURE__*/ Vec3.create();
-const activeEdgeMovementDirectionLocal = /*@__PURE__*/ Vec3.create();
-const contactNormal = /*@__PURE__*/ Vec3.create();
-const negatedPenetrationAxis = /*@__PURE__*/ Vec3.create();
-const negatedTriangleNormal = /*@__PURE__*/ Vec3.create();
-const penetrationAxisWorld = /*@__PURE__*/ Vec3.create();
-
-export class TriangleCollider2 {
-  declare penetrationDepthModule: PenetrationDepthModule;
-  declare shapeA: ConvexShape;
-  declare shapeB: Triangle;
-  declare isometryA: Isometry;
-  declare isometryB: Isometry;
-  declare settings: CollisionSettings;
-  declare collector: CollisionCollector;
-  declare subShapeAId: number;
-  bodyA: Body | null = null;
-  bodyB: Body | null = null;
-
-  initialize(
-    penetrationDepthModule: PenetrationDepthModule,
-    shapeA: ConvexShape,
-    isometryA: Isometry,
-    isometryB: Isometry,
-    settings: CollisionSettings,
-    collector: CollisionCollector,
-    subShapeAId: number = 0,
-    bodyA: Body | null = null,
-    bodyB: Body | null = null
-  ): void {
-    this.penetrationDepthModule = penetrationDepthModule;
-    this.shapeA = shapeA;
-    this.isometryA = isometryA;
-    this.isometryB = isometryB;
-    this.settings = settings;
-    this.collector = collector;
-    this.subShapeAId = subShapeAId;
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-
-    // console.log(isometryA.matrix.toObject());
-    // console.log(isometryB.matrix.toObject());
-    // console.log(settings);
-    // console.log(subShapeAId);
-
-    // get the isometry from B to A
-    isometryBToA.matrix.invertMatrix(isometryA.matrix);
-    isometryBToA.matrix.multiplyMatrices(isometryBToA.matrix, isometryB.matrix);
-    // isometryBToA.matrix.log("isometryBToA");
-
-    // get the rotation matrix of A
-    rotationMatrixA.fromMat4(isometryA.matrix);
-
-    // get the positions
-    isometryA.matrix.getTranslation(positionA);
-    isometryB.matrix.getTranslation(positionB);
-
-    // get the local bounds of A
-    localBoundsA.copy(shapeA.computedAabb);
-    localBoundsA.expand(settings.maxSeparation);
-  }
-
-  collide(
-    triangle: Triangle,
-    activeEdges: number,
-    triangleId: number,
-    bodyA: Body | null = null,
-    bodyB: Body | null = null,
-    swapResults: boolean = false
-  ): void {
-    result.reset();
-    // @ts-ignore
-    result.bodyA = bodyA || this.bodyA;
-    // @ts-ignore
-    result.bodyB = bodyB || this.bodyB;
-    const settings = this.settings;
-    const shapeA = this.shapeA;
-    const isometryA = this.isometryA;
-    const subShapeAId = this.subShapeAId;
-    const collector = this.collector;
-    const penetrationDepthModule = this.penetrationDepthModule;
-
-    // get the triangle in A space
-    shapeB.copy(triangle);
-    shapeB.transform(isometryBToA.matrix);
-    // console.log(triangleId, triangle.toObject(), shapeB.toObject());
-
-    // get the triangle normal
-    shapeB.computeUnnormalizedNormal(triangleNormal);
-    // shapeB.getNormal(triangleNormal);
-
-    // TODO: handle backface mode
-    // const back_facing = triangleNormal.dot(triangle.a) > 0;
-    const back_facing = triangleNormal.dot(shapeB.a) > 0;
-    if (settings.backFaceMode === BackFaceMode.IgnoreBackFaces && back_facing) {
-      // this.world.debug && console.log("triangle miss, ignore back faces", triangleId);
-      // console.log("miss: ignoring back-facing triangle");
-      collector.addMiss();
-      return;
-    }
-
-    // get triangle bounds
-    shapeB.computeLocalBounds(triangleBounds);
-
-    // collide bounds
-    if (localBoundsA.intersectsAabb(triangleBounds) === false) {
-      // this.world.debug && console.log("triangle miss, bounds not intersecting", triangleId);
-      // console.log("miss: bounds do not intersect");
-      collector.addMiss();
-      // console.log("exit because bounds don't overlap");
-      return;
-    }
-
-    // get the support shapes
-    const supportA = shapeA.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-    const supportB = shapeB.computeSupportShape(SupportMode.ExcludeConvexRadius, 1);
-
-    // init the pass-through results
-    // init the penetration axis as the triangle normal
-    // vec3.negate(penetrationAxis, triangleNormal);
-
-    // penetrationAxis.set([0, +1, 0]);
-
-    isometryA.matrix.getTranslation(centerA);
-    shapeB.computeCentroid(centerB);
-    penetrationAxis.subtractVectors(centerB, centerA);
-
-    penetrationAxis.normalize();
-
-    // init the gjk result
-    // run gjk
-    // if (this.world.debug) {
-    //   debugger;
-    // }
-    penetrationDepthModule.getPenetrationDepthStepGjk(
-      gjkResult,
-      supportA,
-      supportB,
-      supportA.getConvexRadius() + settings.maxSeparation,
-      supportB.getConvexRadius(),
-      penetrationAxis,
-      settings.collisionTolerance
-    );
-
-    switch (gjkResult.status) {
-      case CollisionStatus.Colliding: {
-        // pass through the results
-        pointA.copy(gjkResult.pointA);
-        pointB.copy(gjkResult.pointB);
-        penetrationAxis.copy(gjkResult.penetrationAxis);
-        // console.log("found collision with gjk");
-        break;
-      }
-
-      case CollisionStatus.NotColliding: {
-        // this.world.debug && console.log("triangle miss, not colliding via gjk", triangleId);
-        // definitive no penetration
-        // console.log("miss: no hit from gjk");
-        collector.addMiss();
-        // console.log("exit because gjk says not colliding");
-        return;
-      }
-
-      case CollisionStatus.Indeterminate: {
-        // console.log("starting imp");
-        // need to run IMP
-
-        // get the support shapes
-        const supportA = shapeA.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-        const supportB = shapeB.computeSupportShape(SupportMode.IncludeConvexRadius, 1);
-
-        // get the convex shapes
-        // const convexA = this.convexA;
-        // convexA.object = supportA;
-        // convexA.radius = settings.maxSeparation;
-
-        // const convexB = this.convexB;
-        // convexB.object = supportB;
-        // convexB.radius = 0;
-
-        convexA.setData(settings.maxSeparation, supportA);
-        convexB.setData(0, supportB);
-
-        const hitFound = penetrationDepthModule.getPenetrationDepthStepEPA(
-          convexA,
-          convexB,
-          settings.collisionTolerance,
-          penetrationAxis,
-          pointA,
-          pointB
-        );
-
-        if (!hitFound) {
-          result.hasContact = false;
-          collector.addMiss();
-          return;
-        }
-      }
-    }
-
-    // we have a collision
-
-    // // check if penetration axis is similar to triangle normal, if it is, negate it to make it consistent whether back-facing or not
-    // if (penetrationAxis.dot(triangleNormal) > 0) {
-    //   vec3.negate(penetrationAxis, penetrationAxis);
-    // }
-
-    // if (this.world.debugger) {
-    //   this.world.debugger.drawShape({
-    //     type: "arrow",
-    //     group: "foo",
-    //     origin: pointA,
-    //     direction: penetrationAxis,
-    //     length: 10,
-    //     radius: 0.1,
-    //     color: "black",
-    //   });
-    // }
-
-    // check if penetration is bigger than early out fraction
-    pointAB.subtractVectors(pointB, pointA);
-    const penetrationDepth = pointAB.length() - settings.maxSeparation;
-    if (-penetrationDepth >= collector.getEarlyOutFraction()) {
-      result.hasContact = false;
-      collector.addMiss();
-      return;
-    }
-
-    // reduce pointA by the max separation distance along the penetration axis
-    const penetrationAxisLength = penetrationAxis.length();
-    if (penetrationAxisLength > 0) {
-      pointA.addScaled(penetrationAxis, -(settings.maxSeparation / penetrationAxisLength));
-    }
-
-    // TODO: handle active edge detection
-    if (settings.activeEdgeMode === ActiveEdgeMode.CollideOnlyWithActive && activeEdges !== 0b111) {
-      activeEdgeMovementDirectionWorld.x = settings.activeEdgeMovementDirectionX;
-      activeEdgeMovementDirectionWorld.y = settings.activeEdgeMovementDirectionY;
-      activeEdgeMovementDirectionWorld.z = settings.activeEdgeMovementDirectionZ;
-
-      // convert the active edge velocity hint to local space
-      isometryA.matrix.multiply3x3Transposed(activeEdgeMovementDirectionLocal, activeEdgeMovementDirectionWorld);
-
-      // update the penetration axis to account for active edges
-      // note that we flip the triangle normal as the penetration axis is pointing towards the triangle instead of away
-      negatedPenetrationAxis.negateVector(penetrationAxis);
-      negatedTriangleNormal.negateVector(triangleNormal);
-
-      fixNormal(
-        contactNormal,
-        shapeB.a,
-        shapeB.b,
-        shapeB.c,
-        // back_facing ? triangleNormal : negatedTriangleNormal,
-        // triangleNormal,
-        negatedTriangleNormal,
-        activeEdges,
-        pointB,
-        penetrationAxis,
-        activeEdgeMovementDirectionLocal
-      );
-
-      // update the penetration axis
-      penetrationAxis.copy(contactNormal);
-    }
-
-    // convert results from A space to world space
-    result.hasContact = true;
-    result.subShapeIdA = subShapeAId;
-    result.subShapeIdB = triangleId;
-    result.isBackFace = back_facing;
-
-    // this.faceA.clear();
-    // this.faceB.clear();
-    // result.faceA = this.faceA;
-    // result.faceB = this.faceB;
-
-    // if (settings.collectFacesMode === CollectFacesMode.CollectFaces) {
-    //   // const negatedPenetrationAxis = Vec3.global(
-    //   //   this.world,
-    //   //   "CollideConvexAndTriangles2.collide.negatedPenetrationAxis"
-    //   // );
-    //   negatedPenetrationAxis.negateVector(penetrationAxis);
-    //   shapeA.computeSupportingFace(result.faceA, subShapeAId, negatedPenetrationAxis, 1, isometryA.matrix);
-    //   shapeB.computeSupportingFace(result.faceB, triangleId, negatedPenetrationAxis, 1, isometryA.matrix);
-    // }
-
-    // convert to world space
-    pointA.transformByMat4(isometryA.matrix);
-    pointB.transformByMat4(isometryA.matrix);
-    isometryA.matrix.multiply3x3(penetrationAxisWorld, penetrationAxis);
-
-    result.contactPointA.copy(pointA);
-    result.contactPointB.copy(pointB);
-
-    // get the normal in world space
-    result.normalA.copy(penetrationAxisWorld);
-    result.normalB.negateVector(result.normalA);
-
-    result.penetration = penetrationDepth;
-    result.hasContact = true;
-
-    // add the world space surface normal of the triangle
-    result.surfaceNormalA.zero();
-    result.surfaceNormalB.transformVectorFromMat3(triangleNormal, rotationMatrixA);
-
-    // normalize the normals
-    result.normalA.normalize();
-    result.normalB.normalize();
-
-    // console.log("collision found: processed results");
-    // console.log("result.contactPointA", result.contactPointA.toArray());
-    // console.log("result.contactPointB", result.contactPointB.toArray());
-    // console.log("result.normalA", result.normalA.toArray());
-    // console.log("result.penetration", result.penetration);
-    // result.faceA.log("result.faceA");
-    // result.faceB.log("result.faceB");
-
-    if (swapResults) {
-      result.swap();
-    }
-
-    // console.log("hit: triangle collider hit");
-
-    // add the hit
-    // this.world.debug && console.log("triangle hit", triangleId);
-    collector.addHit(result);
-  }
-}