@typeonce/ritmo-math 0.13.0 → 0.14.0

package/CHANGELOG.md

@@ -1,5 +1,50 @@
 # @typeonce/ritmo-math
 
+## 0.14.0
+
+### Minor Changes
+
+- e169263: **`Collide2` collides circles with line segments, so walls can run at any angle.** The new `Segment2` module is the plain segment `Collide2` reads every frame (`Segment2.between(a, b)`, `closestPoint`, `overlapsCircle`), like `Box2` for boxes. A segment is a two-sided wall with round ends; both ends at one point make a round post. `Collide2.sweepCircleSegment` finds the first contact with one, next to `sweepCircleBox`. A map traced from survey data, a slanted fence, or a polygon's edges no longer need a hand-written port of `moveCircle`.
+
+  ```ts
+  const fence = Segment2.between({ x: 0, y: 0 }, { x: 40, y: 30 });
+  const moved = Collide2.moveCircle(position, delta, radius, {
+    boxes: rooms,
+    segments: [fence],
+  });
+  ```
+
+  - **Breaking: `moveCircle` and `pushOut` take the walls by kind, as `Collide2.Walls`** (`{ boxes?, segments? }`), instead of an array of boxes. An array no longer compiles (`pass walls by kind: { boxes: walls } or { segments: walls }`):
+
+    ```diff
+    -Collide2.moveCircle(position, delta, radius, walls)
+    +Collide2.moveCircle(position, delta, radius, { boxes: walls })
+    -Collide2.pushOut(position, radius, walls)
+    +Collide2.pushOut(position, radius, { boxes: walls })
+    ```
+
+  - **Breaking: `sweepCircleBoxes` is `sweepCircle`**, the first contact with any of the walls (line of sight with a radius of 0, as before):
+
+    ```diff
+    -Collide2.sweepCircleBoxes(eye, Vec2.subtract(target, eye), 0, walls) === undefined
+    +Collide2.sweepCircle(eye, Vec2.subtract(target, eye), 0, { boxes: walls }) === undefined
+    ```
+
+    Results against boxes are unchanged.
+
+### Patch Changes
+
+- Updated dependencies [c3719a5]
+- Updated dependencies [70d054e]
+- Updated dependencies [adb4066]
+- Updated dependencies [97e95fb]
+- Updated dependencies [dbfbd9d]
+- Updated dependencies [343660e]
+- Updated dependencies [d24258e]
+- Updated dependencies [cfe332a]
+- Updated dependencies [8aa1e85]
+  - @typeonce/ritmo@0.14.0
+
 ## 0.13.0
 
 ### Minor Changes

package/README.md

@@ -3,7 +3,7 @@
 Math for ritmo games, in two kinds:
 
 - **Validated values**: `Scalar` (`Finite`, `NonNegative`, `Positive`), `Vector2`, `Size2`, and `Aabb`. Each has constructors that validate input (`result`, `option`), a guard `is`, and one `codec`, a Standard Schema: `Descriptor.ConstructedComponent(Vector2.codec)` saves the value and checks it on restore. Inside a game's own schema, build the field from the guard (`Schema.declare(Vector2.is)` in Effect, `z.custom(Vector2.is)` in Zod). `Random.codec` does the same for a generator kept in a resource.
-- **Hot-path helpers** on plain numbers, for code that runs every step: `Vec2` vector arithmetic (validated `Vector2` values pass straight in), `Box2` edge boxes, `Collide2` swept circle collision that slides along walls and never tunnels through them, a `SpatialGrid` broad phase that allocates nothing per step, a `FlowField` that leads bodies around walls, a deterministic `Random` whose whole state is one integer (keep it in a resource, so runs replay), and `Ops`, math functions that return the same bits on every engine.
+- **Hot-path helpers** on plain numbers, for code that runs every step: `Vec2` vector arithmetic (validated `Vector2` values pass straight in), `Box2` edge boxes, `Segment2` walls at any angle, `Collide2` swept circle collision against both that slides along walls and never tunnels through them, a `SpatialGrid` broad phase that allocates nothing per step, a `FlowField` that leads bodies around walls, a deterministic `Random` whose whole state is one integer (keep it in a resource, so runs replay), and `Ops`, math functions that return the same bits on every engine.
 
 ```ts
 import { Collide2, FlowField, Random, SpatialGrid, Vec2 } from "@typeonce/ritmo-math"
@@ -12,7 +12,7 @@ import { Collide2, FlowField, Random, SpatialGrid, Vec2 } from "@typeonce/ritmo-
 paths.setWalls(walls, radius)
 paths.setGoal(player)
 const way = paths.way(enemy) ?? Vec2.normalizeOr(Vec2.subtract(player, enemy), Vec2.zero)
-const moved = Collide2.moveCircle(enemy, Vec2.scale(way, speed * dt), radius, walls)
+const moved = Collide2.moveCircle(enemy, Vec2.scale(way, speed * dt), radius, { boxes: walls })
 ```
 
 ```sh

package/dist/Collide2.d.ts

@@ -1,10 +1,12 @@
 /**
- * Continuous collision for moving circles against static boxes and circles.
+ * Continuous collision for moving circles against static walls (axis-aligned
+ * boxes and line segments) and circles.
  *
- * Movement is swept, not sampled: `sweepCircleBox` finds the first time of
+ * Movement is swept, not sampled: `sweepCircle` finds the first time of
  * contact along the whole displacement, so fast movers (dashes, projectiles)
  * cannot skip over a wall between two steps. `moveCircle` stops at walls and
- * slides along them.
+ * slides along them. Walls are passed as {@link Walls}: `Box2` boxes for a
+ * grid of rooms, `Segment2` segments for walls at any angle, or both.
  *
  * Every query returns `undefined` for "no contact", never throws, and
  * allocates only its result. Inputs are expected to be finite.
@@ -12,7 +14,7 @@
  * @example
  * ```ts
  * // Move a body by its velocity this step, sliding along the walls.
- * const moved = Collide2.moveCircle(position, Vec2.scale(velocity, dt), radius, walls)
+ * const moved = Collide2.moveCircle(position, Vec2.scale(velocity, dt), radius, { boxes: walls })
  * if (moved.blocked) bumpedWall()
  * ```
  *
@@ -29,6 +31,7 @@
  * Moving a circle through walls with sliding.
  */
 import type { Box2 } from "./Box2.ts";
+import type { Segment2 } from "./Segment2.ts";
 import type { Vec2 } from "./Vec2.ts";
 /**
  * A contact along a sweep.
@@ -38,10 +41,22 @@ import type { Vec2 } from "./Vec2.ts";
 export interface Hit {
     /** Fraction of the displacement travelled before contact, in [0, 1]. */
     readonly time: number;
-    /** Unit contact normal, pointing away from the box. */
+    /** Unit contact normal, pointing away from the wall. */
     readonly nx: number;
     readonly ny: number;
 }
+/**
+ * The static walls a circle collides with: axis-aligned `boxes`, line
+ * `segments`, or both. A missing list is no walls of that kind.
+ *
+ * @category Collision Types
+ */
+export interface Walls {
+    readonly boxes?: ReadonlyArray<Box2>;
+    readonly segments?: ReadonlyArray<Segment2>;
+    /** Not a setting: an array of walls is passed by kind. */
+    readonly length?: "pass walls by kind: { boxes: walls } or { segments: walls }";
+}
 /**
  * Where a moved circle ended up.
  *
@@ -79,7 +94,18 @@ export declare const rayCircle: (ox: number, oy: number, dx: number, dy: number,
  */
 export declare const sweepCircleBox: (origin: Vec2, delta: Vec2, radius: number, box: Box2) => Hit | undefined;
 /**
- * First contact of a moving circle with any of `boxes`, or `undefined`.
+ * First contact of a circle of `radius` at `origin` moving by `delta` with
+ * `segment`, or `undefined`. Contact is computed against the segment
+ * thickened by the radius with round ends (the exact Minkowski sum), so the
+ * circle slides along it and around its ends. A circle that starts exactly
+ * touching it and moves into it hits at time 0. A circle that starts
+ * overlapping the segment is not reported; resolve it with `pushOut` first.
+ *
+ * @category Queries
+ */
+export declare const sweepCircleSegment: (origin: Vec2, delta: Vec2, radius: number, segment: Segment2) => Hit | undefined;
+/**
+ * First contact of a moving circle with any of `walls`, or `undefined`.
  *
  * With a `radius` of 0 the circle is a point and the sweep is a segment, so
  * this is also line of sight: `undefined` means nothing blocks the line from
@@ -88,12 +114,12 @@ export declare const sweepCircleBox: (origin: Vec2, delta: Vec2, radius: number,
  *
  * @example
  * ```ts
- * const sees = Collide2.sweepCircleBoxes(eye, Vec2.subtract(target, eye), 0, walls) === undefined
+ * const sees = Collide2.sweepCircle(eye, Vec2.subtract(target, eye), 0, { boxes: walls }) === undefined
  * ```
  *
  * @category Queries
  */
-export declare const sweepCircleBoxes: (origin: Vec2, delta: Vec2, radius: number, boxes: ReadonlyArray<Box2>) => Hit | undefined;
+export declare const sweepCircle: (origin: Vec2, delta: Vec2, radius: number, walls: Walls) => Hit | undefined;
 /**
  * First time in [0, 1] at which a circle of `radius` moving from `origin` by
  * `delta` touches a circle of `targetRadius` at `target`, or `undefined`. A
@@ -103,20 +129,28 @@ export declare const sweepCircleBoxes: (origin: Vec2, delta: Vec2, radius: numbe
  */
 export declare const sweepCircleCircle: (origin: Vec2, delta: Vec2, radius: number, target: Vec2, targetRadius: number) => number | undefined;
 /**
- * Pushes a circle out of every box it overlaps, in order, leaving `skin`
- * between it and each wall. Returns the corrected center.
+ * Pushes a circle out of every wall it overlaps, boxes first and then
+ * segments, each in order, leaving `skin` between it and each wall. Returns
+ * the corrected center. A center inside a box leaves through the nearest
+ * side; a center exactly on a segment leaves along the segment's left normal.
  *
  * @category Movement
  */
-export declare const pushOut: (center: Vec2, radius: number, boxes: ReadonlyArray<Box2>, skin?: number) => Vec2;
+export declare const pushOut: (center: Vec2, radius: number, walls: Walls, skin?: number) => Vec2;
 /**
  * Moves a circle by `delta`, stopping at walls and sliding along them (up to
  * four contacts per call). The whole path is swept, so no displacement can
  * tunnel through a wall. A circle that starts inside a wall is pushed out
- * first. A circle meeting a box's corner dead-on goes around it rather than
- * stopping against it.
+ * first. A circle meeting a box's corner or a segment's end dead-on goes
+ * around it rather than stopping against it.
+ *
+ * @example
+ * ```ts
+ * // A map traced from survey data: every wall is a segment.
+ * const moved = Collide2.moveCircle(position, delta, radius, { segments: nearbyWalls })
+ * ```
  *
  * @category Movement
  */
-export declare const moveCircle: (start: Vec2, delta: Vec2, radius: number, boxes: ReadonlyArray<Box2>, skin?: number) => MoveResult;
+export declare const moveCircle: (start: Vec2, delta: Vec2, radius: number, walls: Walls, skin?: number) => MoveResult;
 //# sourceMappingURL=Collide2.d.ts.map

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package/dist/Collide2.js

@@ -1,4 +1,6 @@
 import * as Ops from "./Ops.js";
+const noBoxes = [];
+const noSegments = [];
 /**
  * The distance `pushOut` and `moveCircle` keep from walls after a contact
  * (in world units), so the next sweep starts outside the wall.
@@ -120,7 +122,64 @@ export const sweepCircleBox = (origin, delta, radius, box) => {
     return { time: enter, nx, ny };
 };
 /**
- * First contact of a moving circle with any of `boxes`, or `undefined`.
+ * First contact of a circle of `radius` at `origin` moving by `delta` with
+ * `segment`, or `undefined`. Contact is computed against the segment
+ * thickened by the radius with round ends (the exact Minkowski sum), so the
+ * circle slides along it and around its ends. A circle that starts exactly
+ * touching it and moves into it hits at time 0. A circle that starts
+ * overlapping the segment is not reported; resolve it with `pushOut` first.
+ *
+ * @category Queries
+ */
+export const sweepCircleSegment = (origin, delta, radius, segment) => {
+    const ex = segment.bx - segment.ax;
+    const ey = segment.by - segment.ay;
+    const lengthSquared = ex * ex + ey * ey;
+    if (lengthSquared > 1e-12) {
+        // The flat side facing the circle, `radius` away from the segment's line.
+        const length = Math.sqrt(lengthSquared);
+        let nx = -ey / length;
+        let ny = ex / length;
+        let side = (origin.x - segment.ax) * nx + (origin.y - segment.ay) * ny;
+        if (side < 0) {
+            nx = -nx;
+            ny = -ny;
+            side = -side;
+        }
+        if (side < radius) {
+            // Beside the line: overlapping when level with the segment, otherwise
+            // only its ends are in the way.
+            const along = ((origin.x - segment.ax) * ex + (origin.y - segment.ay) * ey) / lengthSquared;
+            if (along >= 0 && along <= 1)
+                return undefined;
+        }
+        else {
+            const into = delta.x * nx + delta.y * ny;
+            if (into < 0) {
+                // `0 +` turns a -0 (touching at the start) into 0.
+                const time = 0 + (radius - side) / into;
+                if (time <= 1) {
+                    const along = ((origin.x + delta.x * time - segment.ax) * ex + (origin.y + delta.y * time - segment.ay) * ey) / lengthSquared;
+                    // The thickened segment is convex, so entering through its flat side is the first contact.
+                    if (along >= 0 && along <= 1)
+                        return { time, nx, ny };
+                }
+            }
+        }
+    }
+    const atA = rayCircle(origin.x, origin.y, delta.x, delta.y, segment.ax, segment.ay, radius);
+    const atB = lengthSquared > 1e-12 ? rayCircle(origin.x, origin.y, delta.x, delta.y, segment.bx, segment.by, radius) : undefined;
+    if (atA === undefined && atB === undefined)
+        return undefined;
+    const fromA = atB === undefined || (atA !== undefined && atA <= atB);
+    const time = fromA ? atA : atB;
+    const cx = origin.x + delta.x * time - (fromA ? segment.ax : segment.bx);
+    const cy = origin.y + delta.y * time - (fromA ? segment.ay : segment.by);
+    const length = Ops.hypot(cx, cy) || 1;
+    return { time, nx: cx / length, ny: cy / length };
+};
+/**
+ * First contact of a moving circle with any of `walls`, or `undefined`.
  *
  * With a `radius` of 0 the circle is a point and the sweep is a segment, so
  * this is also line of sight: `undefined` means nothing blocks the line from
@@ -129,18 +188,23 @@ export const sweepCircleBox = (origin, delta, radius, box) => {
  *
  * @example
  * ```ts
- * const sees = Collide2.sweepCircleBoxes(eye, Vec2.subtract(target, eye), 0, walls) === undefined
+ * const sees = Collide2.sweepCircle(eye, Vec2.subtract(target, eye), 0, { boxes: walls }) === undefined
  * ```
  *
  * @category Queries
  */
-export const sweepCircleBoxes = (origin, delta, radius, boxes) => {
+export const sweepCircle = (origin, delta, radius, walls) => {
     let first;
-    for (const box of boxes) {
+    for (const box of walls.boxes ?? noBoxes) {
         const hit = sweepCircleBox(origin, delta, radius, box);
         if (hit !== undefined && (first === undefined || hit.time < first.time))
             first = hit;
     }
+    for (const segment of walls.segments ?? noSegments) {
+        const hit = sweepCircleSegment(origin, delta, radius, segment);
+        if (hit !== undefined && (first === undefined || hit.time < first.time))
+            first = hit;
+    }
     return first;
 };
 /**
@@ -159,15 +223,17 @@ export const sweepCircleCircle = (origin, delta, radius, target, targetRadius) =
     return rayCircle(origin.x, origin.y, delta.x, delta.y, target.x, target.y, r);
 };
 /**
- * Pushes a circle out of every box it overlaps, in order, leaving `skin`
- * between it and each wall. Returns the corrected center.
+ * Pushes a circle out of every wall it overlaps, boxes first and then
+ * segments, each in order, leaving `skin` between it and each wall. Returns
+ * the corrected center. A center inside a box leaves through the nearest
+ * side; a center exactly on a segment leaves along the segment's left normal.
  *
  * @category Movement
  */
-export const pushOut = (center, radius, boxes, skin = defaultSkin) => {
+export const pushOut = (center, radius, walls, skin = defaultSkin) => {
     let x = center.x;
     let y = center.y;
-    for (const box of boxes) {
+    for (const box of walls.boxes ?? noBoxes) {
         const closestX = Math.max(box.minX, Math.min(x, box.maxX));
         const closestY = Math.max(box.minY, Math.min(y, box.maxY));
         const dx = x - closestX;
@@ -197,26 +263,83 @@ export const pushOut = (center, radius, boxes, skin = defaultSkin) => {
                 y = box.maxY + radius + skin;
         }
     }
+    for (const segment of walls.segments ?? noSegments) {
+        const ex = segment.bx - segment.ax;
+        const ey = segment.by - segment.ay;
+        const lengthSquared = ex * ex + ey * ey;
+        const along = lengthSquared > 1e-12 ? Math.max(0, Math.min(1, ((x - segment.ax) * ex + (y - segment.ay) * ey) / lengthSquared)) : 0;
+        const closestX = segment.ax + ex * along;
+        const closestY = segment.ay + ey * along;
+        const dx = x - closestX;
+        const dy = y - closestY;
+        const distanceSquared = dx * dx + dy * dy;
+        if (distanceSquared >= radius * radius)
+            continue;
+        if (distanceSquared > 1e-12) {
+            const distance = Math.sqrt(distanceSquared);
+            x = closestX + (dx / distance) * (radius + skin);
+            y = closestY + (dy / distance) * (radius + skin);
+        }
+        else if (lengthSquared > 1e-12) {
+            // Center on the segment: leave along its left normal.
+            const length = Math.sqrt(lengthSquared);
+            x = closestX - (ey / length) * (radius + skin);
+            y = closestY + (ex / length) * (radius + skin);
+        }
+        else {
+            // Center on a round post: leave along +x.
+            x = closestX + radius + skin;
+        }
+    }
     return { x, y };
 };
 /**
  * Moves a circle by `delta`, stopping at walls and sliding along them (up to
  * four contacts per call). The whole path is swept, so no displacement can
  * tunnel through a wall. A circle that starts inside a wall is pushed out
- * first. A circle meeting a box's corner dead-on goes around it rather than
- * stopping against it.
+ * first. A circle meeting a box's corner or a segment's end dead-on goes
+ * around it rather than stopping against it.
+ *
+ * @example
+ * ```ts
+ * // A map traced from survey data: every wall is a segment.
+ * const moved = Collide2.moveCircle(position, delta, radius, { segments: nearbyWalls })
+ * ```
  *
  * @category Movement
  */
-export const moveCircle = (start, delta, radius, boxes, skin = defaultSkin) => {
-    let position = pushOut(start, radius, boxes, skin);
+export const moveCircle = (start, delta, radius, walls, skin = defaultSkin) => {
+    let position = pushOut(start, radius, walls, skin);
     let rx = delta.x;
     let ry = delta.y;
     let blocked = false;
     for (let iteration = 0; iteration < 4; iteration++) {
         if (rx * rx + ry * ry < 1e-12)
             break;
-        const hit = sweepCircleBoxes(position, { x: rx, y: ry }, radius, boxes);
+        const step = { x: rx, y: ry };
+        // The first contact, and whether it is round (a box's corner or a
+        // segment's end) rather than a flat side.
+        let hit;
+        let round = false;
+        for (const box of walls.boxes ?? noBoxes) {
+            const found = sweepCircleBox(position, step, radius, box);
+            if (found === undefined || (hit !== undefined && found.time >= hit.time))
+                continue;
+            hit = found;
+            round = found.nx !== 0 && found.ny !== 0;
+        }
+        for (const segment of walls.segments ?? noSegments) {
+            const found = sweepCircleSegment(position, step, radius, segment);
+            if (found === undefined || (hit !== undefined && found.time >= hit.time))
+                continue;
+            hit = found;
+            const ex = segment.bx - segment.ax;
+            const ey = segment.by - segment.ay;
+            const lengthSquared = ex * ex + ey * ey;
+            const along = found.nx * ex + found.ny * ey;
+            // A flat side's normal is perpendicular to the segment.
+            round = lengthSquared < 1e-12 || along * along > 1e-18 * lengthSquared;
+        }
         if (hit === undefined) {
             position = { x: position.x + rx, y: position.y + ry };
             break;
@@ -234,10 +357,10 @@ export const moveCircle = (start, delta, radius, boxes, skin = defaultSkin) => {
         if (into < 0) {
             rx -= into * hit.nx;
             ry -= into * hit.ny;
-            // Dead-on into a rounded corner (as an exact diagonal meets an
-            // axis-aligned box) nothing is left to slide along: go around the
-            // corner instead of stopping against it.
-            if (hit.nx !== 0 && hit.ny !== 0 && rx * rx + ry * ry < 1e-12 * into * into) {
+            // Dead-on into a rounded corner or end (as an exact diagonal meets an
+            // axis-aligned box) nothing is left to slide along: go around it
+            // instead of stopping against it.
+            if (round && rx * rx + ry * ry < 1e-12 * into * into) {
                 const side = rx * -hit.ny + ry * hit.nx < 0 ? -1 : 1;
                 rx = -hit.ny * -into * side;
                 ry = hit.nx * -into * side;

package/dist/Collide2.js.map

@@ -1 +1 @@
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package/dist/Segment2.d.ts

@@ -0,0 +1,56 @@
+/**
+ * Plain line segments stored by their ends, for hot-path collision against
+ * walls that are not axis-aligned (a map traced from survey data, a slanted
+ * fence, a polygon's edges).
+ *
+ * Like `Box2`, it is the plain form the collision helpers (`Collide2`) read
+ * every frame, built once from whatever the game stores. A wall is
+ * two-sided: a circle is kept off it on both sides and around both ends.
+ *
+ * @example
+ * ```ts
+ * const fence = Segment2.between({ x: 0, y: 0 }, { x: 40, y: 30 })
+ * const moved = Collide2.moveCircle(position, delta, radius, { segments: [fence] })
+ * ```
+ *
+ * @module Segment2
+ * @docGroup helpers
+ *
+ * @categoryDescription Segment Types
+ * The structural segment shape.
+ *
+ * @categoryDescription Operations
+ * Building segments and measuring them against points and circles.
+ */
+import type { Vec2 } from "./Vec2.ts";
+/**
+ * The segment from (`ax`, `ay`) to (`bx`, `by`). Both ends may be the same
+ * point, which is then a round post.
+ *
+ * @category Segment Types
+ */
+export interface Segment2 {
+    readonly ax: number;
+    readonly ay: number;
+    readonly bx: number;
+    readonly by: number;
+}
+/**
+ * The segment from `a` to `b`.
+ *
+ * @category Operations
+ */
+export declare const between: (a: Vec2, b: Vec2) => Segment2;
+/**
+ * The point of the segment nearest to `point`.
+ *
+ * @category Operations
+ */
+export declare const closestPoint: (segment: Segment2, point: Vec2) => Vec2;
+/**
+ * Whether a circle overlaps (or touches) the segment.
+ *
+ * @category Operations
+ */
+export declare const overlapsCircle: (segment: Segment2, center: Vec2, radius: number) => boolean;
+//# sourceMappingURL=Segment2.d.ts.map

package/dist/Segment2.d.ts.map

@@ -0,0 +1 @@
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package/dist/Segment2.js

@@ -0,0 +1,32 @@
+/**
+ * The segment from `a` to `b`.
+ *
+ * @category Operations
+ */
+export const between = (a, b) => ({ ax: a.x, ay: a.y, bx: b.x, by: b.y });
+/**
+ * The point of the segment nearest to `point`.
+ *
+ * @category Operations
+ */
+export const closestPoint = (segment, point) => {
+    const ex = segment.bx - segment.ax;
+    const ey = segment.by - segment.ay;
+    const lengthSquared = ex * ex + ey * ey;
+    if (lengthSquared < 1e-12)
+        return { x: segment.ax, y: segment.ay };
+    const along = Math.max(0, Math.min(1, ((point.x - segment.ax) * ex + (point.y - segment.ay) * ey) / lengthSquared));
+    return { x: segment.ax + ex * along, y: segment.ay + ey * along };
+};
+/**
+ * Whether a circle overlaps (or touches) the segment.
+ *
+ * @category Operations
+ */
+export const overlapsCircle = (segment, center, radius) => {
+    const nearest = closestPoint(segment, center);
+    const dx = center.x - nearest.x;
+    const dy = center.y - nearest.y;
+    return dx * dx + dy * dy <= radius * radius;
+};
+//# sourceMappingURL=Segment2.js.map

package/dist/Segment2.js.map

@@ -0,0 +1 @@
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package/dist/index.d.ts

@@ -7,7 +7,8 @@
  * `ConstructedResource(Random.codec)` and are validated once at the boundary. `InputAxis` normalizes directional input.
  *
  * Hot-path helpers work on plain numbers every frame: `Vec2` arithmetic,
- * `Box2` edges, `Collide2` swept circle collision, a `SpatialGrid` broad
+ * `Box2` edges, `Segment2` walls at any angle, `Collide2` swept circle
+ * collision against both, a `SpatialGrid` broad
  * phase, a `FlowField` for finding the way around walls, and a deterministic
  * `Random` whose state is one integer.
  *
@@ -23,6 +24,7 @@ export * as InputAxis from "./InputAxis.ts";
 export * as Ops from "./Ops.ts";
 export * as Random from "./Random.ts";
 export * as Scalar from "./Scalar.ts";
+export * as Segment2 from "./Segment2.ts";
 export * as Size2 from "./Size2.ts";
 export * as SpatialGrid from "./SpatialGrid.ts";
 export * as Vec2 from "./Vec2.ts";

package/dist/index.d.ts.map

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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;GAiBG;AACH,OAAO,KAAK,IAAI,MAAM,WAAW,CAAA;AACjC,OAAO,KAAK,IAAI,MAAM,WAAW,CAAA;AACjC,OAAO,KAAK,QAAQ,MAAM,eAAe,CAAA;AACzC,OAAO,KAAK,SAAS,MAAM,gBAAgB,CAAA;AAC3C,OAAO,KAAK,SAAS,MAAM,gBAAgB,CAAA;AAC3C,OAAO,KAAK,GAAG,MAAM,UAAU,CAAA;AAC/B,OAAO,KAAK,MAAM,MAAM,aAAa,CAAA;AACrC,OAAO,KAAK,MAAM,MAAM,aAAa,CAAA;AACrC,OAAO,KAAK,QAAQ,MAAM,eAAe,CAAA;AACzC,OAAO,KAAK,KAAK,MAAM,YAAY,CAAA;AACnC,OAAO,KAAK,WAAW,MAAM,kBAAkB,CAAA;AAC/C,OAAO,KAAK,IAAI,MAAM,WAAW,CAAA;AACjC,OAAO,KAAK,OAAO,MAAM,cAAc,CAAA"}

package/dist/index.js

@@ -7,7 +7,8 @@
  * `ConstructedResource(Random.codec)` and are validated once at the boundary. `InputAxis` normalizes directional input.
  *
  * Hot-path helpers work on plain numbers every frame: `Vec2` arithmetic,
- * `Box2` edges, `Collide2` swept circle collision, a `SpatialGrid` broad
+ * `Box2` edges, `Segment2` walls at any angle, `Collide2` swept circle
+ * collision against both, a `SpatialGrid` broad
  * phase, a `FlowField` for finding the way around walls, and a deterministic
  * `Random` whose state is one integer.
  *
@@ -23,6 +24,7 @@ export * as InputAxis from "./InputAxis.js";
 export * as Ops from "./Ops.js";
 export * as Random from "./Random.js";
 export * as Scalar from "./Scalar.js";
+export * as Segment2 from "./Segment2.js";
 export * as Size2 from "./Size2.js";
 export * as SpatialGrid from "./SpatialGrid.js";
 export * as Vec2 from "./Vec2.js";

package/dist/index.js.map

@@ -1 +1 @@
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+{"version":3,"file":"index.js","sourceRoot":"","sources":["../src/index.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;GAiBG;AACH,OAAO,KAAK,IAAI,MAAM,WAAW,CAAA;AACjC,OAAO,KAAK,IAAI,MAAM,WAAW,CAAA;AACjC,OAAO,KAAK,QAAQ,MAAM,eAAe,CAAA;AACzC,OAAO,KAAK,SAAS,MAAM,gBAAgB,CAAA;AAC3C,OAAO,KAAK,SAAS,MAAM,gBAAgB,CAAA;AAC3C,OAAO,KAAK,GAAG,MAAM,UAAU,CAAA;AAC/B,OAAO,KAAK,MAAM,MAAM,aAAa,CAAA;AACrC,OAAO,KAAK,MAAM,MAAM,aAAa,CAAA;AACrC,OAAO,KAAK,QAAQ,MAAM,eAAe,CAAA;AACzC,OAAO,KAAK,KAAK,MAAM,YAAY,CAAA;AACnC,OAAO,KAAK,WAAW,MAAM,kBAAkB,CAAA;AAC/C,OAAO,KAAK,IAAI,MAAM,WAAW,CAAA;AACjC,OAAO,KAAK,OAAO,MAAM,cAAc,CAAA"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@typeonce/ritmo-math",
-  "version": "0.13.0",
+  "version": "0.14.0",
   "description": "Validated math values and hot-path game helpers (collision, spatial grid, flow field, random) for Ritmo games",
   "author": "Sandro Maglione",
   "license": "MIT",
@@ -47,7 +47,7 @@
     "provenance": true
   },
   "dependencies": {
-    "@typeonce/ritmo": "^0.13.0"
+    "@typeonce/ritmo": "^0.14.0"
   },
   "engines": {
     "node": ">=20"

package/src/Collide2.ts

@@ -1,10 +1,12 @@
 /**
- * Continuous collision for moving circles against static boxes and circles.
+ * Continuous collision for moving circles against static walls (axis-aligned
+ * boxes and line segments) and circles.
  *
- * Movement is swept, not sampled: `sweepCircleBox` finds the first time of
+ * Movement is swept, not sampled: `sweepCircle` finds the first time of
  * contact along the whole displacement, so fast movers (dashes, projectiles)
  * cannot skip over a wall between two steps. `moveCircle` stops at walls and
- * slides along them.
+ * slides along them. Walls are passed as {@link Walls}: `Box2` boxes for a
+ * grid of rooms, `Segment2` segments for walls at any angle, or both.
  *
  * Every query returns `undefined` for "no contact", never throws, and
  * allocates only its result. Inputs are expected to be finite.
@@ -12,7 +14,7 @@
  * @example
  * ```ts
  * // Move a body by its velocity this step, sliding along the walls.
- * const moved = Collide2.moveCircle(position, Vec2.scale(velocity, dt), radius, walls)
+ * const moved = Collide2.moveCircle(position, Vec2.scale(velocity, dt), radius, { boxes: walls })
  * if (moved.blocked) bumpedWall()
  * ```
  *
@@ -30,6 +32,7 @@
  */
 import type { Box2 } from "./Box2.ts"
 import * as Ops from "./Ops.ts"
+import type { Segment2 } from "./Segment2.ts"
 import type { Vec2 } from "./Vec2.ts"
 
 /**
@@ -40,11 +43,27 @@ import type { Vec2 } from "./Vec2.ts"
 export interface Hit {
   /** Fraction of the displacement travelled before contact, in [0, 1]. */
   readonly time: number
-  /** Unit contact normal, pointing away from the box. */
+  /** Unit contact normal, pointing away from the wall. */
   readonly nx: number
   readonly ny: number
 }
 
+/**
+ * The static walls a circle collides with: axis-aligned `boxes`, line
+ * `segments`, or both. A missing list is no walls of that kind.
+ *
+ * @category Collision Types
+ */
+export interface Walls {
+  readonly boxes?: ReadonlyArray<Box2>
+  readonly segments?: ReadonlyArray<Segment2>
+  /** Not a setting: an array of walls is passed by kind. */
+  readonly length?: "pass walls by kind: { boxes: walls } or { segments: walls }"
+}
+
+const noBoxes: ReadonlyArray<Box2> = []
+const noSegments: ReadonlyArray<Segment2> = []
+
 /**
  * Where a moved circle ended up.
  *
@@ -170,7 +189,61 @@ export const sweepCircleBox = (origin: Vec2, delta: Vec2, radius: number, box: B
 }
 
 /**
- * First contact of a moving circle with any of `boxes`, or `undefined`.
+ * First contact of a circle of `radius` at `origin` moving by `delta` with
+ * `segment`, or `undefined`. Contact is computed against the segment
+ * thickened by the radius with round ends (the exact Minkowski sum), so the
+ * circle slides along it and around its ends. A circle that starts exactly
+ * touching it and moves into it hits at time 0. A circle that starts
+ * overlapping the segment is not reported; resolve it with `pushOut` first.
+ *
+ * @category Queries
+ */
+export const sweepCircleSegment = (origin: Vec2, delta: Vec2, radius: number, segment: Segment2): Hit | undefined => {
+  const ex = segment.bx - segment.ax
+  const ey = segment.by - segment.ay
+  const lengthSquared = ex * ex + ey * ey
+  if (lengthSquared > 1e-12) {
+    // The flat side facing the circle, `radius` away from the segment's line.
+    const length = Math.sqrt(lengthSquared)
+    let nx = -ey / length
+    let ny = ex / length
+    let side = (origin.x - segment.ax) * nx + (origin.y - segment.ay) * ny
+    if (side < 0) {
+      nx = -nx
+      ny = -ny
+      side = -side
+    }
+    if (side < radius) {
+      // Beside the line: overlapping when level with the segment, otherwise
+      // only its ends are in the way.
+      const along = ((origin.x - segment.ax) * ex + (origin.y - segment.ay) * ey) / lengthSquared
+      if (along >= 0 && along <= 1) return undefined
+    } else {
+      const into = delta.x * nx + delta.y * ny
+      if (into < 0) {
+        // `0 +` turns a -0 (touching at the start) into 0.
+        const time = 0 + (radius - side) / into
+        if (time <= 1) {
+          const along = ((origin.x + delta.x * time - segment.ax) * ex + (origin.y + delta.y * time - segment.ay) * ey) / lengthSquared
+          // The thickened segment is convex, so entering through its flat side is the first contact.
+          if (along >= 0 && along <= 1) return { time, nx, ny }
+        }
+      }
+    }
+  }
+  const atA = rayCircle(origin.x, origin.y, delta.x, delta.y, segment.ax, segment.ay, radius)
+  const atB = lengthSquared > 1e-12 ? rayCircle(origin.x, origin.y, delta.x, delta.y, segment.bx, segment.by, radius) : undefined
+  if (atA === undefined && atB === undefined) return undefined
+  const fromA = atB === undefined || (atA !== undefined && atA <= atB)
+  const time = fromA ? atA! : atB
+  const cx = origin.x + delta.x * time - (fromA ? segment.ax : segment.bx)
+  const cy = origin.y + delta.y * time - (fromA ? segment.ay : segment.by)
+  const length = Ops.hypot(cx, cy) || 1
+  return { time, nx: cx / length, ny: cy / length }
+}
+
+/**
+ * First contact of a moving circle with any of `walls`, or `undefined`.
  *
  * With a `radius` of 0 the circle is a point and the sweep is a segment, so
  * this is also line of sight: `undefined` means nothing blocks the line from
@@ -179,17 +252,21 @@ export const sweepCircleBox = (origin: Vec2, delta: Vec2, radius: number, box: B
  *
  * @example
  * ```ts
- * const sees = Collide2.sweepCircleBoxes(eye, Vec2.subtract(target, eye), 0, walls) === undefined
+ * const sees = Collide2.sweepCircle(eye, Vec2.subtract(target, eye), 0, { boxes: walls }) === undefined
  * ```
  *
  * @category Queries
  */
-export const sweepCircleBoxes = (origin: Vec2, delta: Vec2, radius: number, boxes: ReadonlyArray<Box2>): Hit | undefined => {
+export const sweepCircle = (origin: Vec2, delta: Vec2, radius: number, walls: Walls): Hit | undefined => {
   let first: Hit | undefined
-  for (const box of boxes) {
+  for (const box of walls.boxes ?? noBoxes) {
     const hit = sweepCircleBox(origin, delta, radius, box)
     if (hit !== undefined && (first === undefined || hit.time < first.time)) first = hit
   }
+  for (const segment of walls.segments ?? noSegments) {
+    const hit = sweepCircleSegment(origin, delta, radius, segment)
+    if (hit !== undefined && (first === undefined || hit.time < first.time)) first = hit
+  }
   return first
 }
 
@@ -215,15 +292,17 @@ export const sweepCircleCircle = (
 }
 
 /**
- * Pushes a circle out of every box it overlaps, in order, leaving `skin`
- * between it and each wall. Returns the corrected center.
+ * Pushes a circle out of every wall it overlaps, boxes first and then
+ * segments, each in order, leaving `skin` between it and each wall. Returns
+ * the corrected center. A center inside a box leaves through the nearest
+ * side; a center exactly on a segment leaves along the segment's left normal.
  *
  * @category Movement
  */
-export const pushOut = (center: Vec2, radius: number, boxes: ReadonlyArray<Box2>, skin: number = defaultSkin): Vec2 => {
+export const pushOut = (center: Vec2, radius: number, walls: Walls, skin: number = defaultSkin): Vec2 => {
   let x = center.x
   let y = center.y
-  for (const box of boxes) {
+  for (const box of walls.boxes ?? noBoxes) {
     const closestX = Math.max(box.minX, Math.min(x, box.maxX))
     const closestY = Math.max(box.minY, Math.min(y, box.maxY))
     const dx = x - closestX
@@ -247,6 +326,31 @@ export const pushOut = (center: Vec2, radius: number, boxes: ReadonlyArray<Box2>
       else y = box.maxY + radius + skin
     }
   }
+  for (const segment of walls.segments ?? noSegments) {
+    const ex = segment.bx - segment.ax
+    const ey = segment.by - segment.ay
+    const lengthSquared = ex * ex + ey * ey
+    const along = lengthSquared > 1e-12 ? Math.max(0, Math.min(1, ((x - segment.ax) * ex + (y - segment.ay) * ey) / lengthSquared)) : 0
+    const closestX = segment.ax + ex * along
+    const closestY = segment.ay + ey * along
+    const dx = x - closestX
+    const dy = y - closestY
+    const distanceSquared = dx * dx + dy * dy
+    if (distanceSquared >= radius * radius) continue
+    if (distanceSquared > 1e-12) {
+      const distance = Math.sqrt(distanceSquared)
+      x = closestX + (dx / distance) * (radius + skin)
+      y = closestY + (dy / distance) * (radius + skin)
+    } else if (lengthSquared > 1e-12) {
+      // Center on the segment: leave along its left normal.
+      const length = Math.sqrt(lengthSquared)
+      x = closestX - (ey / length) * (radius + skin)
+      y = closestY + (ex / length) * (radius + skin)
+    } else {
+      // Center on a round post: leave along +x.
+      x = closestX + radius + skin
+    }
+  }
   return { x, y }
 }
 
@@ -254,19 +358,46 @@ export const pushOut = (center: Vec2, radius: number, boxes: ReadonlyArray<Box2>
  * Moves a circle by `delta`, stopping at walls and sliding along them (up to
  * four contacts per call). The whole path is swept, so no displacement can
  * tunnel through a wall. A circle that starts inside a wall is pushed out
- * first. A circle meeting a box's corner dead-on goes around it rather than
- * stopping against it.
+ * first. A circle meeting a box's corner or a segment's end dead-on goes
+ * around it rather than stopping against it.
+ *
+ * @example
+ * ```ts
+ * // A map traced from survey data: every wall is a segment.
+ * const moved = Collide2.moveCircle(position, delta, radius, { segments: nearbyWalls })
+ * ```
  *
  * @category Movement
  */
-export const moveCircle = (start: Vec2, delta: Vec2, radius: number, boxes: ReadonlyArray<Box2>, skin: number = defaultSkin): MoveResult => {
-  let position = pushOut(start, radius, boxes, skin)
+export const moveCircle = (start: Vec2, delta: Vec2, radius: number, walls: Walls, skin: number = defaultSkin): MoveResult => {
+  let position = pushOut(start, radius, walls, skin)
   let rx = delta.x
   let ry = delta.y
   let blocked = false
   for (let iteration = 0; iteration < 4; iteration++) {
     if (rx * rx + ry * ry < 1e-12) break
-    const hit = sweepCircleBoxes(position, { x: rx, y: ry }, radius, boxes)
+    const step = { x: rx, y: ry }
+    // The first contact, and whether it is round (a box's corner or a
+    // segment's end) rather than a flat side.
+    let hit: Hit | undefined
+    let round = false
+    for (const box of walls.boxes ?? noBoxes) {
+      const found = sweepCircleBox(position, step, radius, box)
+      if (found === undefined || (hit !== undefined && found.time >= hit.time)) continue
+      hit = found
+      round = found.nx !== 0 && found.ny !== 0
+    }
+    for (const segment of walls.segments ?? noSegments) {
+      const found = sweepCircleSegment(position, step, radius, segment)
+      if (found === undefined || (hit !== undefined && found.time >= hit.time)) continue
+      hit = found
+      const ex = segment.bx - segment.ax
+      const ey = segment.by - segment.ay
+      const lengthSquared = ex * ex + ey * ey
+      const along = found.nx * ex + found.ny * ey
+      // A flat side's normal is perpendicular to the segment.
+      round = lengthSquared < 1e-12 || along * along > 1e-18 * lengthSquared
+    }
     if (hit === undefined) {
       position = { x: position.x + rx, y: position.y + ry }
       break
@@ -284,10 +415,10 @@ export const moveCircle = (start: Vec2, delta: Vec2, radius: number, boxes: Read
     if (into < 0) {
       rx -= into * hit.nx
       ry -= into * hit.ny
-      // Dead-on into a rounded corner (as an exact diagonal meets an
-      // axis-aligned box) nothing is left to slide along: go around the
-      // corner instead of stopping against it.
-      if (hit.nx !== 0 && hit.ny !== 0 && rx * rx + ry * ry < 1e-12 * into * into) {
+      // Dead-on into a rounded corner or end (as an exact diagonal meets an
+      // axis-aligned box) nothing is left to slide along: go around it
+      // instead of stopping against it.
+      if (round && rx * rx + ry * ry < 1e-12 * into * into) {
         const side = rx * -hit.ny + ry * hit.nx < 0 ? -1 : 1
         rx = -hit.ny * -into * side
         ry = hit.nx * -into * side

package/src/Segment2.ts

@@ -0,0 +1,71 @@
+/**
+ * Plain line segments stored by their ends, for hot-path collision against
+ * walls that are not axis-aligned (a map traced from survey data, a slanted
+ * fence, a polygon's edges).
+ *
+ * Like `Box2`, it is the plain form the collision helpers (`Collide2`) read
+ * every frame, built once from whatever the game stores. A wall is
+ * two-sided: a circle is kept off it on both sides and around both ends.
+ *
+ * @example
+ * ```ts
+ * const fence = Segment2.between({ x: 0, y: 0 }, { x: 40, y: 30 })
+ * const moved = Collide2.moveCircle(position, delta, radius, { segments: [fence] })
+ * ```
+ *
+ * @module Segment2
+ * @docGroup helpers
+ *
+ * @categoryDescription Segment Types
+ * The structural segment shape.
+ *
+ * @categoryDescription Operations
+ * Building segments and measuring them against points and circles.
+ */
+import type { Vec2 } from "./Vec2.ts"
+
+/**
+ * The segment from (`ax`, `ay`) to (`bx`, `by`). Both ends may be the same
+ * point, which is then a round post.
+ *
+ * @category Segment Types
+ */
+export interface Segment2 {
+  readonly ax: number
+  readonly ay: number
+  readonly bx: number
+  readonly by: number
+}
+
+/**
+ * The segment from `a` to `b`.
+ *
+ * @category Operations
+ */
+export const between = (a: Vec2, b: Vec2): Segment2 => ({ ax: a.x, ay: a.y, bx: b.x, by: b.y })
+
+/**
+ * The point of the segment nearest to `point`.
+ *
+ * @category Operations
+ */
+export const closestPoint = (segment: Segment2, point: Vec2): Vec2 => {
+  const ex = segment.bx - segment.ax
+  const ey = segment.by - segment.ay
+  const lengthSquared = ex * ex + ey * ey
+  if (lengthSquared < 1e-12) return { x: segment.ax, y: segment.ay }
+  const along = Math.max(0, Math.min(1, ((point.x - segment.ax) * ex + (point.y - segment.ay) * ey) / lengthSquared))
+  return { x: segment.ax + ex * along, y: segment.ay + ey * along }
+}
+
+/**
+ * Whether a circle overlaps (or touches) the segment.
+ *
+ * @category Operations
+ */
+export const overlapsCircle = (segment: Segment2, center: Vec2, radius: number): boolean => {
+  const nearest = closestPoint(segment, center)
+  const dx = center.x - nearest.x
+  const dy = center.y - nearest.y
+  return dx * dx + dy * dy <= radius * radius
+}

package/src/index.ts

@@ -7,7 +7,8 @@
  * `ConstructedResource(Random.codec)` and are validated once at the boundary. `InputAxis` normalizes directional input.
  *
  * Hot-path helpers work on plain numbers every frame: `Vec2` arithmetic,
- * `Box2` edges, `Collide2` swept circle collision, a `SpatialGrid` broad
+ * `Box2` edges, `Segment2` walls at any angle, `Collide2` swept circle
+ * collision against both, a `SpatialGrid` broad
  * phase, a `FlowField` for finding the way around walls, and a deterministic
  * `Random` whose state is one integer.
  *
@@ -23,6 +24,7 @@ export * as InputAxis from "./InputAxis.ts"
 export * as Ops from "./Ops.ts"
 export * as Random from "./Random.ts"
 export * as Scalar from "./Scalar.ts"
+export * as Segment2 from "./Segment2.ts"
 export * as Size2 from "./Size2.ts"
 export * as SpatialGrid from "./SpatialGrid.ts"
 export * as Vec2 from "./Vec2.ts"