excalibur 0.28.3 → 0.28.4

package/build/dist/Collision/ColliderComponent.js

@@ -0,0 +1,202 @@
+import { Vector } from '../Math/vector';
+import { TransformComponent } from '../EntityComponentSystem';
+import { Component } from '../EntityComponentSystem/Component';
+import { CollisionEndEvent, CollisionStartEvent, PostCollisionEvent, PreCollisionEvent } from '../Events';
+import { Observable } from '../Util/Observable';
+import { BoundingBox } from './BoundingBox';
+import { CompositeCollider } from './Colliders/CompositeCollider';
+import { Shape } from './Colliders/Shape';
+import { EventEmitter } from '../EventEmitter';
+export class ColliderComponent extends Component {
+    constructor(collider) {
+        super();
+        this.type = 'ex.collider';
+        this.events = new EventEmitter();
+        /**
+         * Observable that notifies when a collider is added to the body
+         */
+        this.$colliderAdded = new Observable();
+        /**
+         * Observable that notifies when a collider is removed from the body
+         */
+        this.$colliderRemoved = new Observable();
+        this.set(collider);
+    }
+    /**
+     * Get the current collider geometry
+     */
+    get() {
+        return this._collider;
+    }
+    /**
+     * Set the collider geometry
+     * @param collider
+     * @returns the collider you set
+     */
+    set(collider) {
+        this.clear();
+        if (collider) {
+            this._collider = collider;
+            this._collider.owner = this.owner;
+            collider.events.pipe(this.events);
+            this.$colliderAdded.notifyAll(collider);
+            this.update();
+        }
+        return collider;
+    }
+    /**
+     * Remove collider geometry from collider component
+     */
+    clear() {
+        if (this._collider) {
+            this._collider.events.unpipe(this.events);
+            this.$colliderRemoved.notifyAll(this._collider);
+            this._collider.owner = null;
+            this._collider = null;
+        }
+    }
+    clone() {
+        const clone = new ColliderComponent(this._collider.clone());
+        return clone;
+    }
+    /**
+     * Return world space bounds
+     */
+    get bounds() {
+        var _a, _b;
+        return (_b = (_a = this._collider) === null || _a === void 0 ? void 0 : _a.bounds) !== null && _b !== void 0 ? _b : new BoundingBox();
+    }
+    /**
+     * Return local space bounds
+     */
+    get localBounds() {
+        var _a, _b;
+        return (_b = (_a = this._collider) === null || _a === void 0 ? void 0 : _a.localBounds) !== null && _b !== void 0 ? _b : new BoundingBox();
+    }
+    /**
+     * Update the collider's transformed geometry
+     */
+    update() {
+        var _a;
+        const tx = (_a = this.owner) === null || _a === void 0 ? void 0 : _a.get(TransformComponent);
+        if (this._collider) {
+            this._collider.owner = this.owner;
+            if (tx) {
+                this._collider.update(tx.get());
+            }
+        }
+    }
+    /**
+     * Collide component with another
+     * @param other
+     */
+    collide(other) {
+        let colliderA = this._collider;
+        let colliderB = other._collider;
+        if (!colliderA || !colliderB) {
+            return [];
+        }
+        // If we have a composite lefthand side :(
+        // Might bite us, but to avoid updating all the handlers make composite always left side
+        let flipped = false;
+        if (colliderB instanceof CompositeCollider) {
+            colliderA = colliderB;
+            colliderB = this._collider;
+            flipped = true;
+        }
+        if (this._collider) {
+            const contacts = colliderA.collide(colliderB);
+            if (contacts) {
+                if (flipped) {
+                    contacts.forEach((contact) => {
+                        contact.mtv = contact.mtv.negate();
+                        contact.normal = contact.normal.negate();
+                        contact.tangent = contact.normal.perpendicular();
+                        contact.colliderA = this._collider;
+                        contact.colliderB = other._collider;
+                    });
+                }
+                return contacts;
+            }
+            return [];
+        }
+        return [];
+    }
+    onAdd(entity) {
+        if (this._collider) {
+            this.update();
+        }
+        // Wire up the collider events to the owning entity
+        this.events.on('precollision', (evt) => {
+            const precollision = evt;
+            entity.events.emit('precollision', new PreCollisionEvent(precollision.target.owner, precollision.other.owner, precollision.side, precollision.intersection));
+        });
+        this.events.on('postcollision', (evt) => {
+            const postcollision = evt;
+            entity.events.emit('postcollision', new PostCollisionEvent(postcollision.target.owner, postcollision.other.owner, postcollision.side, postcollision.intersection));
+        });
+        this.events.on('collisionstart', (evt) => {
+            const start = evt;
+            entity.events.emit('collisionstart', new CollisionStartEvent(start.target.owner, start.other.owner, start.contact));
+        });
+        this.events.on('collisionend', (evt) => {
+            const end = evt;
+            entity.events.emit('collisionend', new CollisionEndEvent(end.target.owner, end.other.owner));
+        });
+    }
+    onRemove() {
+        this.events.clear();
+        this.$colliderRemoved.notifyAll(this._collider);
+    }
+    /**
+     * Sets up a box geometry based on the current bounds of the associated actor of this physics body.
+     *
+     * If no width/height are specified the body will attempt to use the associated actor's width/height.
+     *
+     * By default, the box is center is at (0, 0) which means it is centered around the actors anchor.
+     */
+    useBoxCollider(width, height, anchor = Vector.Half, center = Vector.Zero) {
+        const collider = Shape.Box(width, height, anchor, center);
+        return (this.set(collider));
+    }
+    /**
+     * Sets up a [[PolygonCollider|polygon]] collision geometry based on a list of of points relative
+     *  to the anchor of the associated actor
+     * of this physics body.
+     *
+     * Only [convex polygon](https://en.wikipedia.org/wiki/Convex_polygon) definitions are supported.
+     *
+     * By default, the box is center is at (0, 0) which means it is centered around the actors anchor.
+     */
+    usePolygonCollider(points, center = Vector.Zero) {
+        const poly = Shape.Polygon(points, center);
+        return (this.set(poly));
+    }
+    /**
+     * Sets up a [[Circle|circle collision geometry]] as the only collider with a specified radius in pixels.
+     *
+     * By default, the box is center is at (0, 0) which means it is centered around the actors anchor.
+     */
+    useCircleCollider(radius, center = Vector.Zero) {
+        const collider = Shape.Circle(radius, center);
+        return (this.set(collider));
+    }
+    /**
+     * Sets up an [[Edge|edge collision geometry]] with a start point and an end point relative to the anchor of the associated actor
+     * of this physics body.
+     *
+     * By default, the box is center is at (0, 0) which means it is centered around the actors anchor.
+     */
+    useEdgeCollider(begin, end) {
+        const collider = Shape.Edge(begin, end);
+        return (this.set(collider));
+    }
+    /**
+     * Setups up a [[CompositeCollider]] which can define any arbitrary set of excalibur colliders
+     * @param colliders
+     */
+    useCompositeCollider(colliders) {
+        return (this.set(new CompositeCollider(colliders)));
+    }
+}
+//# sourceMappingURL=ColliderComponent.js.map

package/build/dist/Collision/ColliderComponent.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"ColliderComponent.js","sourceRoot":"","sources":["../../../src/engine/Collision/ColliderComponent.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,MAAM,EAAE,MAAM,gBAAgB,CAAC;AACxC,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EAAE,SAAS,EAAE,MAAM,oCAAoC,CAAC;AAE/D,OAAO,EAAE,iBAAiB,EAAE,mBAAmB,EAAE,kBAAkB,EAAE,iBAAiB,EAAE,MAAM,WAAW,CAAC;AAC1G,OAAO,EAAE,UAAU,EAAE,MAAM,oBAAoB,CAAC;AAChD,OAAO,EAAE,WAAW,EAAE,MAAM,eAAe,CAAC;AAI5C,OAAO,EAAE,iBAAiB,EAAE,MAAM,+BAA+B,CAAC;AAGlE,OAAO,EAAE,KAAK,EAAE,MAAM,mBAAmB,CAAC;AAC1C,OAAO,EAAE,YAAY,EAAE,MAAM,iBAAiB,CAAC;AAE/C,MAAM,OAAO,iBAAkB,SAAQ,SAAwB;IAc7D,YAAY,QAAmB;QAC7B,KAAK,EAAE,CAAC;QAdM,SAAI,GAAG,aAAa,CAAC;QAE9B,WAAM,GAAG,IAAI,YAAY,EAAE,CAAC;QACnC;;WAEG;QACI,mBAAc,GAAG,IAAI,UAAU,EAAY,CAAC;QAEnD;;WAEG;QACI,qBAAgB,GAAG,IAAI,UAAU,EAAY,CAAC;QAInD,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IACrB,CAAC;IAGD;;OAEG;IACI,GAAG;QACR,OAAO,IAAI,CAAC,SAAS,CAAC;IACxB,CAAC;IAED;;;;OAIG;IACI,GAAG,CAAqB,QAAW;QACxC,IAAI,CAAC,KAAK,EAAE,CAAC;QACb,IAAI,QAAQ,EAAE,CAAC;YACb,IAAI,CAAC,SAAS,GAAG,QAAQ,CAAC;YAC1B,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;YAClC,QAAQ,CAAC,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;YAClC,IAAI,CAAC,cAAc,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC;YACxC,IAAI,CAAC,MAAM,EAAE,CAAC;QAChB,CAAC;QACD,OAAO,QAAQ,CAAC;IAClB,CAAC;IAED;;OAEG;IACI,KAAK;QACV,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;YACnB,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;YAC1C,IAAI,CAAC,gBAAgB,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;YAChD,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,IAAI,CAAC;YAC5B,IAAI,CAAC,SAAS,GAAG,IAAI,CAAC;QACxB,CAAC;IACH,CAAC;IAEM,KAAK;QACV,MAAM,KAAK,GAAG,IAAI,iBAAiB,CAAC,IAAI,CAAC,SAAS,CAAC,KAAK,EAAE,CAAC,CAAC;QAE5D,OAAO,KAAK,CAAC;IACf,CAAC;IAED;;OAEG;IACH,IAAW,MAAM;;QACf,OAAO,MAAA,MAAA,IAAI,CAAC,SAAS,0CAAE,MAAM,mCAAI,IAAI,WAAW,EAAE,CAAC;IACrD,CAAC;IAED;;OAEG;IACH,IAAW,WAAW;;QACpB,OAAO,MAAA,MAAA,IAAI,CAAC,SAAS,0CAAE,WAAW,mCAAI,IAAI,WAAW,EAAE,CAAC;IAC1D,CAAC;IAED;;OAEG;IACI,MAAM;;QACX,MAAM,EAAE,GAAG,MAAA,IAAI,CAAC,KAAK,0CAAE,GAAG,CAAC,kBAAkB,CAAC,CAAC;QAC/C,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;YACnB,IAAI,CAAC,SAAS,CAAC,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC;YAClC,IAAI,EAAE,EAAE,CAAC;gBACP,IAAI,CAAC,SAAS,CAAC,MAAM,CAAC,EAAE,CAAC,GAAG,EAAE,CAAC,CAAC;YAClC,CAAC;QACH,CAAC;IACH,CAAC;IAED;;;OAGG;IACH,OAAO,CAAC,KAAwB;QAC9B,IAAI,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;QAC/B,IAAI,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC;QAChC,IAAI,CAAC,SAAS,IAAI,CAAC,SAAS,EAAE,CAAC;YAC7B,OAAO,EAAE,CAAC;QACZ,CAAC;QAED,0CAA0C;QAC1C,wFAAwF;QACxF,IAAI,OAAO,GAAG,KAAK,CAAC;QACpB,IAAI,SAAS,YAAY,iBAAiB,EAAE,CAAC;YAC3C,SAAS,GAAG,SAAS,CAAC;YACtB,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;YAC3B,OAAO,GAAG,IAAI,CAAC;QACjB,CAAC;QAED,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;YACnB,MAAM,QAAQ,GAAG,SAAS,CAAC,OAAO,CAAC,SAAS,CAAC,CAAC;YAC9C,IAAI,QAAQ,EAAE,CAAC;gBACb,IAAI,OAAO,EAAE,CAAC;oBACZ,QAAQ,CAAC,OAAO,CAAC,CAAC,OAAO,EAAE,EAAE;wBAC3B,OAAO,CAAC,GAAG,GAAG,OAAO,CAAC,GAAG,CAAC,MAAM,EAAE,CAAC;wBACnC,OAAO,CAAC,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC,MAAM,EAAE,CAAC;wBACzC,OAAO,CAAC,OAAO,GAAG,OAAO,CAAC,MAAM,CAAC,aAAa,EAAE,CAAC;wBACjD,OAAO,CAAC,SAAS,GAAG,IAAI,CAAC,SAAS,CAAC;wBACnC,OAAO,CAAC,SAAS,GAAG,KAAK,CAAC,SAAS,CAAC;oBACtC,CAAC,CAAC,CAAC;gBACL,CAAC;gBACD,OAAO,QAAQ,CAAC;YAClB,CAAC;YACD,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,OAAO,EAAE,CAAC;IACZ,CAAC;IAED,KAAK,CAAC,MAAc;QAClB,IAAI,IAAI,CAAC,SAAS,EAAE,CAAC;YACnB,IAAI,CAAC,MAAM,EAAE,CAAC;QAChB,CAAC;QACD,mDAAmD;QACnD,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,cAAc,EAAE,CAAC,GAAQ,EAAE,EAAE;YAC1C,MAAM,YAAY,GAAG,GAAkC,CAAC;YACxD,MAAM,CAAC,MAAM,CAAC,IAAI,CAChB,cAAc,EACd,IAAI,iBAAiB,CAAC,YAAY,CAAC,MAAM,CAAC,KAAK,EAAE,YAAY,CAAC,KAAK,CAAC,KAAK,EAAE,YAAY,CAAC,IAAI,EAAE,YAAY,CAAC,YAAY,CAAC,CACzH,CAAC;QACJ,CAAC,CAAC,CAAC;QACH,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,eAAe,EAAE,CAAC,GAAQ,EAAE,EAAE;YAC3C,MAAM,aAAa,GAAG,GAAmC,CAAC;YAC1D,MAAM,CAAC,MAAM,CAAC,IAAI,CAChB,eAAe,EACf,IAAI,kBAAkB,CAAC,aAAa,CAAC,MAAM,CAAC,KAAK,EAAE,aAAa,CAAC,KAAK,CAAC,KAAK,EAAE,aAAa,CAAC,IAAI,EAAE,aAAa,CAAC,YAAY,CAAC,CAC9H,CAAC;QACJ,CAAC,CAAC,CAAC;QACH,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,gBAAgB,EAAE,CAAC,GAAQ,EAAE,EAAE;YAC5C,MAAM,KAAK,GAAG,GAAoC,CAAC;YACnD,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,gBAAgB,EAAE,IAAI,mBAAmB,CAAC,KAAK,CAAC,MAAM,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,CAAC,KAAK,EAAE,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC;QACtH,CAAC,CAAC,CAAC;QACH,IAAI,CAAC,MAAM,CAAC,EAAE,CAAC,cAAc,EAAE,CAAC,GAAQ,EAAE,EAAE;YAC1C,MAAM,GAAG,GAAG,GAAkC,CAAC;YAC/C,MAAM,CAAC,MAAM,CAAC,IAAI,CAAC,cAAc,EAAE,IAAI,iBAAiB,CAAC,GAAG,CAAC,MAAM,CAAC,KAAK,EAAE,GAAG,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC;QAC/F,CAAC,CAAC,CAAC;IACL,CAAC;IAED,QAAQ;QACN,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;QACpB,IAAI,CAAC,gBAAgB,CAAC,SAAS,CAAC,IAAI,CAAC,SAAS,CAAC,CAAC;IAClD,CAAC;IAED;;;;;;OAMG;IACH,cAAc,CAAC,KAAa,EAAE,MAAc,EAAE,SAAiB,MAAM,CAAC,IAAI,EAAE,SAAiB,MAAM,CAAC,IAAI;QACtG,MAAM,QAAQ,GAAG,KAAK,CAAC,GAAG,CAAC,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAC;QAC1D,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,CAAC;IAC9B,CAAC;IAED;;;;;;;;OAQG;IACH,kBAAkB,CAAC,MAAgB,EAAE,SAAiB,MAAM,CAAC,IAAI;QAC/D,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC3C,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC,CAAC;IAC1B,CAAC;IAED;;;;OAIG;IACH,iBAAiB,CAAC,MAAc,EAAE,SAAiB,MAAM,CAAC,IAAI;QAC5D,MAAM,QAAQ,GAAG,KAAK,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC;QAC9C,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,CAAC;IAC9B,CAAC;IAED;;;;;OAKG;IACH,eAAe,CAAC,KAAa,EAAE,GAAW;QACxC,MAAM,QAAQ,GAAG,KAAK,CAAC,IAAI,CAAC,KAAK,EAAE,GAAG,CAAC,CAAC;QACxC,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC,CAAC;IAC9B,CAAC;IAED;;;OAGG;IACH,oBAAoB,CAAC,SAAqB;QACxC,OAAO,CAAC,IAAI,CAAC,GAAG,CAAC,IAAI,iBAAiB,CAAC,SAAS,CAAC,CAAC,CAAC,CAAC;IACtD,CAAC;CACF"}

package/build/dist/Collision/Colliders/CircleCollider.js

@@ -0,0 +1,226 @@
+import { BoundingBox } from '../BoundingBox';
+import { CollisionJumpTable } from './CollisionJumpTable';
+import { PolygonCollider } from './PolygonCollider';
+import { EdgeCollider } from './EdgeCollider';
+import { Projection } from '../../Math/projection';
+import { Vector } from '../../Math/vector';
+import { Color } from '../../Color';
+import { Collider } from './Collider';
+import { ClosestLineJumpTable } from './ClosestLineJumpTable';
+import { AffineMatrix } from '../../Math/affine-matrix';
+/**
+ * This is a circle collider for the excalibur rigid body physics simulation
+ */
+export class CircleCollider extends Collider {
+    get worldPos() {
+        return this._globalMatrix.getPosition();
+    }
+    /**
+     * Get the radius of the circle
+     */
+    get radius() {
+        var _a;
+        const tx = this._transform;
+        const scale = (_a = tx === null || tx === void 0 ? void 0 : tx.globalScale) !== null && _a !== void 0 ? _a : Vector.One;
+        // This is a trade off, the alternative is retooling circles to support ellipse collisions
+        return this._naturalRadius * Math.min(scale.x, scale.y);
+    }
+    /**
+     * Set the radius of the circle
+     */
+    set radius(val) {
+        var _a;
+        const tx = this._transform;
+        const scale = (_a = tx === null || tx === void 0 ? void 0 : tx.globalScale) !== null && _a !== void 0 ? _a : Vector.One;
+        // This is a trade off, the alternative is retooling circles to support ellipse collisions
+        this._naturalRadius = val / Math.min(scale.x, scale.y);
+    }
+    constructor(options) {
+        super();
+        /**
+         * Position of the circle relative to the collider, by default (0, 0).
+         */
+        this.offset = Vector.Zero;
+        this._globalMatrix = AffineMatrix.identity();
+        this.offset = options.offset || Vector.Zero;
+        this.radius = options.radius || 0;
+        this._globalMatrix.translate(this.offset.x, this.offset.y);
+    }
+    /**
+     * Returns a clone of this shape, not associated with any collider
+     */
+    clone() {
+        return new CircleCollider({
+            offset: this.offset.clone(),
+            radius: this.radius
+        });
+    }
+    /**
+     * Get the center of the collider in world coordinates
+     */
+    get center() {
+        return this._globalMatrix.getPosition();
+    }
+    /**
+     * Tests if a point is contained in this collider
+     */
+    contains(point) {
+        var _a, _b;
+        const pos = (_b = (_a = this._transform) === null || _a === void 0 ? void 0 : _a.pos) !== null && _b !== void 0 ? _b : this.offset;
+        const distance = pos.distance(point);
+        if (distance <= this.radius) {
+            return true;
+        }
+        return false;
+    }
+    /**
+     * Casts a ray at the Circle collider and returns the nearest point of collision
+     * @param ray
+     */
+    rayCast(ray, max = Infinity) {
+        //https://en.wikipedia.org/wiki/Line%E2%80%93sphere_intersection
+        const c = this.center;
+        const dir = ray.dir;
+        const orig = ray.pos;
+        const discriminant = Math.sqrt(Math.pow(dir.dot(orig.sub(c)), 2) - Math.pow(orig.sub(c).distance(), 2) + Math.pow(this.radius, 2));
+        if (discriminant < 0) {
+            // no intersection
+            return null;
+        }
+        else {
+            let toi = 0;
+            if (discriminant === 0) {
+                toi = -dir.dot(orig.sub(c));
+                if (toi > 0 && toi < max) {
+                    return ray.getPoint(toi);
+                }
+                return null;
+            }
+            else {
+                const toi1 = -dir.dot(orig.sub(c)) + discriminant;
+                const toi2 = -dir.dot(orig.sub(c)) - discriminant;
+                const positiveToi = [];
+                if (toi1 >= 0) {
+                    positiveToi.push(toi1);
+                }
+                if (toi2 >= 0) {
+                    positiveToi.push(toi2);
+                }
+                const mintoi = Math.min(...positiveToi);
+                if (mintoi <= max) {
+                    return ray.getPoint(mintoi);
+                }
+                return null;
+            }
+        }
+    }
+    getClosestLineBetween(shape) {
+        if (shape instanceof CircleCollider) {
+            return ClosestLineJumpTable.CircleCircleClosestLine(this, shape);
+        }
+        else if (shape instanceof PolygonCollider) {
+            return ClosestLineJumpTable.PolygonCircleClosestLine(shape, this).flip();
+        }
+        else if (shape instanceof EdgeCollider) {
+            return ClosestLineJumpTable.CircleEdgeClosestLine(this, shape).flip();
+        }
+        else {
+            throw new Error(`Polygon could not collide with unknown CollisionShape ${typeof shape}`);
+        }
+    }
+    /**
+     * @inheritdoc
+     */
+    collide(collider) {
+        if (collider instanceof CircleCollider) {
+            return CollisionJumpTable.CollideCircleCircle(this, collider);
+        }
+        else if (collider instanceof PolygonCollider) {
+            return CollisionJumpTable.CollideCirclePolygon(this, collider);
+        }
+        else if (collider instanceof EdgeCollider) {
+            return CollisionJumpTable.CollideCircleEdge(this, collider);
+        }
+        else {
+            throw new Error(`Circle could not collide with unknown CollisionShape ${typeof collider}`);
+        }
+    }
+    /**
+     * Find the point on the collider furthest in the direction specified
+     */
+    getFurthestPoint(direction) {
+        return this.center.add(direction.normalize().scale(this.radius));
+    }
+    /**
+     * Find the local point on the shape in the direction specified
+     * @param direction
+     */
+    getFurthestLocalPoint(direction) {
+        const dir = direction.normalize();
+        return dir.scale(this.radius);
+    }
+    /**
+     * Get the axis aligned bounding box for the circle collider in world coordinates
+     */
+    get bounds() {
+        var _a, _b, _c;
+        const tx = this._transform;
+        const scale = (_a = tx === null || tx === void 0 ? void 0 : tx.globalScale) !== null && _a !== void 0 ? _a : Vector.One;
+        const rotation = (_b = tx === null || tx === void 0 ? void 0 : tx.globalRotation) !== null && _b !== void 0 ? _b : 0;
+        const pos = ((_c = tx === null || tx === void 0 ? void 0 : tx.globalPos) !== null && _c !== void 0 ? _c : Vector.Zero);
+        return new BoundingBox(this.offset.x - this._naturalRadius, this.offset.y - this._naturalRadius, this.offset.x + this._naturalRadius, this.offset.y + this._naturalRadius).rotate(rotation).scale(scale).translate(pos);
+    }
+    /**
+     * Get the axis aligned bounding box for the circle collider in local coordinates
+     */
+    get localBounds() {
+        return new BoundingBox(this.offset.x - this._naturalRadius, this.offset.y - this._naturalRadius, this.offset.x + this._naturalRadius, this.offset.y + this._naturalRadius);
+    }
+    /**
+     * Get axis not implemented on circles, since there are infinite axis in a circle
+     */
+    get axes() {
+        return [];
+    }
+    /**
+     * Returns the moment of inertia of a circle given it's mass
+     * https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+     */
+    getInertia(mass) {
+        return (mass * this.radius * this.radius) / 2;
+    }
+    /* istanbul ignore next */
+    update(transform) {
+        var _a;
+        this._transform = transform;
+        const globalMat = (_a = transform.matrix) !== null && _a !== void 0 ? _a : this._globalMatrix;
+        globalMat.clone(this._globalMatrix);
+        this._globalMatrix.translate(this.offset.x, this.offset.y);
+    }
+    /**
+     * Project the circle along a specified axis
+     */
+    project(axis) {
+        const scalars = [];
+        const point = this.center;
+        const dotProduct = point.dot(axis);
+        scalars.push(dotProduct);
+        scalars.push(dotProduct + this.radius);
+        scalars.push(dotProduct - this.radius);
+        return new Projection(Math.min.apply(Math, scalars), Math.max.apply(Math, scalars));
+    }
+    debug(ex, color) {
+        var _a, _b, _c, _d;
+        const tx = this._transform;
+        const scale = (_a = tx === null || tx === void 0 ? void 0 : tx.globalScale) !== null && _a !== void 0 ? _a : Vector.One;
+        const rotation = (_b = tx === null || tx === void 0 ? void 0 : tx.globalRotation) !== null && _b !== void 0 ? _b : 0;
+        const pos = ((_c = tx === null || tx === void 0 ? void 0 : tx.globalPos) !== null && _c !== void 0 ? _c : Vector.Zero);
+        ex.save();
+        ex.translate(pos.x, pos.y);
+        ex.rotate(rotation);
+        ex.scale(scale.x, scale.y);
+        ex.drawCircle(((_d = this.offset) !== null && _d !== void 0 ? _d : Vector.Zero), this._naturalRadius, Color.Transparent, color, 2);
+        ex.restore();
+    }
+}
+//# sourceMappingURL=CircleCollider.js.map

package/build/dist/Collision/Colliders/CircleCollider.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"CircleCollider.js","sourceRoot":"","sources":["../../../../src/engine/Collision/Colliders/CircleCollider.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,WAAW,EAAE,MAAM,gBAAgB,CAAC;AAC7C,OAAO,EAAE,kBAAkB,EAAE,MAAM,sBAAsB,CAAC;AAE1D,OAAO,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACpD,OAAO,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAE9C,OAAO,EAAE,UAAU,EAAE,MAAM,uBAAuB,CAAC;AAEnD,OAAO,EAAE,MAAM,EAAE,MAAM,mBAAmB,CAAC;AAE3C,OAAO,EAAE,KAAK,EAAE,MAAM,aAAa,CAAC;AACpC,OAAO,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AAEtC,OAAO,EAAE,oBAAoB,EAAE,MAAM,wBAAwB,CAAC;AAG9D,OAAO,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAaxD;;GAEG;AACH,MAAM,OAAO,cAAe,SAAQ,QAAQ;IAQ1C,IAAW,QAAQ;QACjB,OAAO,IAAI,CAAC,aAAa,CAAC,WAAW,EAAE,CAAC;IAC1C,CAAC;IAGD;;OAEG;IACH,IAAW,MAAM;;QACf,MAAM,EAAE,GAAG,IAAI,CAAC,UAAU,CAAC;QAC3B,MAAM,KAAK,GAAG,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,WAAW,mCAAI,MAAM,CAAC,GAAG,CAAC;QAC5C,0FAA0F;QAC1F,OAAO,IAAI,CAAC,cAAc,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC;IAC1D,CAAC;IAED;;OAEG;IACH,IAAW,MAAM,CAAC,GAAW;;QAC3B,MAAM,EAAE,GAAG,IAAI,CAAC,UAAU,CAAC;QAC3B,MAAM,KAAK,GAAG,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,WAAW,mCAAI,MAAM,CAAC,GAAG,CAAC;QAC5C,0FAA0F;QAC1F,IAAI,CAAC,cAAc,GAAG,GAAG,GAAG,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC;IACzD,CAAC;IAID,YAAY,OAA8B;QACxC,KAAK,EAAE,CAAC;QAnCV;;WAEG;QACI,WAAM,GAAW,MAAM,CAAC,IAAI,CAAC;QAE5B,kBAAa,GAAiB,YAAY,CAAC,QAAQ,EAAE,CAAC;QA+B5D,IAAI,CAAC,MAAM,GAAG,OAAO,CAAC,MAAM,IAAI,MAAM,CAAC,IAAI,CAAC;QAC5C,IAAI,CAAC,MAAM,GAAG,OAAO,CAAC,MAAM,IAAI,CAAC,CAAC;QAClC,IAAI,CAAC,aAAa,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;IAC7D,CAAC;IAED;;OAEG;IACI,KAAK;QACV,OAAO,IAAI,cAAc,CAAC;YACxB,MAAM,EAAE,IAAI,CAAC,MAAM,CAAC,KAAK,EAAE;YAC3B,MAAM,EAAE,IAAI,CAAC,MAAM;SACpB,CAAC,CAAC;IACL,CAAC;IAED;;OAEG;IACH,IAAW,MAAM;QACf,OAAO,IAAI,CAAC,aAAa,CAAC,WAAW,EAAE,CAAC;IAC1C,CAAC;IAED;;OAEG;IACI,QAAQ,CAAC,KAAa;;QAC3B,MAAM,GAAG,GAAG,MAAA,MAAA,IAAI,CAAC,UAAU,0CAAE,GAAG,mCAAI,IAAI,CAAC,MAAM,CAAC;QAChD,MAAM,QAAQ,GAAG,GAAG,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;QACrC,IAAI,QAAQ,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAC5B,OAAO,IAAI,CAAC;QACd,CAAC;QACD,OAAO,KAAK,CAAC;IACf,CAAC;IAED;;;OAGG;IACI,OAAO,CAAC,GAAQ,EAAE,MAAc,QAAQ;QAC7C,gEAAgE;QAChE,MAAM,CAAC,GAAG,IAAI,CAAC,MAAM,CAAC;QACtB,MAAM,GAAG,GAAG,GAAG,CAAC,GAAG,CAAC;QACpB,MAAM,IAAI,GAAG,GAAG,CAAC,GAAG,CAAC;QAErB,MAAM,YAAY,GAAG,IAAI,CAAC,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,EAAE,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,QAAQ,EAAE,EAAE,CAAC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,IAAI,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC,CAAC;QAEnI,IAAI,YAAY,GAAG,CAAC,EAAE,CAAC;YACrB,kBAAkB;YAClB,OAAO,IAAI,CAAC;QACd,CAAC;aAAM,CAAC;YACN,IAAI,GAAG,GAAG,CAAC,CAAC;YACZ,IAAI,YAAY,KAAK,CAAC,EAAE,CAAC;gBACvB,GAAG,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC;gBAC5B,IAAI,GAAG,GAAG,CAAC,IAAI,GAAG,GAAG,GAAG,EAAE,CAAC;oBACzB,OAAO,GAAG,CAAC,QAAQ,CAAC,GAAG,CAAC,CAAC;gBAC3B,CAAC;gBACD,OAAO,IAAI,CAAC;YACd,CAAC;iBAAM,CAAC;gBACN,MAAM,IAAI,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,YAAY,CAAC;gBAClD,MAAM,IAAI,GAAG,CAAC,GAAG,CAAC,GAAG,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,GAAG,YAAY,CAAC;gBAElD,MAAM,WAAW,GAAa,EAAE,CAAC;gBACjC,IAAI,IAAI,IAAI,CAAC,EAAE,CAAC;oBACd,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;gBACzB,CAAC;gBAED,IAAI,IAAI,IAAI,CAAC,EAAE,CAAC;oBACd,WAAW,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;gBACzB,CAAC;gBAED,MAAM,MAAM,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,WAAW,CAAC,CAAC;gBACxC,IAAI,MAAM,IAAI,GAAG,EAAE,CAAC;oBAClB,OAAO,GAAG,CAAC,QAAQ,CAAC,MAAM,CAAC,CAAC;gBAC9B,CAAC;gBACD,OAAO,IAAI,CAAC;YACd,CAAC;QACH,CAAC;IACH,CAAC;IAEM,qBAAqB,CAAC,KAAe;QAC1C,IAAI,KAAK,YAAY,cAAc,EAAE,CAAC;YACpC,OAAO,oBAAoB,CAAC,uBAAuB,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC;QACnE,CAAC;aAAM,IAAI,KAAK,YAAY,eAAe,EAAE,CAAC;YAC5C,OAAO,oBAAoB,CAAC,wBAAwB,CAAC,KAAK,EAAE,IAAI,CAAC,CAAC,IAAI,EAAE,CAAC;QAC3E,CAAC;aAAM,IAAI,KAAK,YAAY,YAAY,EAAE,CAAC;YACzC,OAAO,oBAAoB,CAAC,qBAAqB,CAAC,IAAI,EAAE,KAAK,CAAC,CAAC,IAAI,EAAE,CAAC;QACxE,CAAC;aAAM,CAAC;YACN,MAAM,IAAI,KAAK,CAAC,yDAAyD,OAAO,KAAK,EAAE,CAAC,CAAC;QAC3F,CAAC;IACH,CAAC;IAED;;OAEG;IACI,OAAO,CAAC,QAAkB;QAC/B,IAAI,QAAQ,YAAY,cAAc,EAAE,CAAC;YACvC,OAAO,kBAAkB,CAAC,mBAAmB,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;QAChE,CAAC;aAAM,IAAI,QAAQ,YAAY,eAAe,EAAE,CAAC;YAC/C,OAAO,kBAAkB,CAAC,oBAAoB,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;QACjE,CAAC;aAAM,IAAI,QAAQ,YAAY,YAAY,EAAE,CAAC;YAC5C,OAAO,kBAAkB,CAAC,iBAAiB,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;QAC9D,CAAC;aAAM,CAAC;YACN,MAAM,IAAI,KAAK,CAAC,wDAAwD,OAAO,QAAQ,EAAE,CAAC,CAAC;QAC7F,CAAC;IACH,CAAC;IAED;;OAEG;IACI,gBAAgB,CAAC,SAAiB;QACvC,OAAO,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,SAAS,CAAC,SAAS,EAAE,CAAC,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC;IACnE,CAAC;IAED;;;OAGG;IACI,qBAAqB,CAAC,SAAiB;QAC5C,MAAM,GAAG,GAAG,SAAS,CAAC,SAAS,EAAE,CAAC;QAClC,OAAO,GAAG,CAAC,KAAK,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAChC,CAAC;IAED;;OAEG;IACH,IAAW,MAAM;;QACf,MAAM,EAAE,GAAG,IAAI,CAAC,UAAU,CAAC;QAC3B,MAAM,KAAK,GAAG,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,WAAW,mCAAI,MAAM,CAAC,GAAG,CAAC;QAC5C,MAAM,QAAQ,GAAG,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,cAAc,mCAAI,CAAC,CAAC;QACzC,MAAM,GAAG,GAAG,CAAC,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,SAAS,mCAAI,MAAM,CAAC,IAAI,CAAC,CAAC;QAC3C,OAAO,IAAI,WAAW,CACpB,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EACnC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EACnC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EACnC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,CACpC,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC;IACjD,CAAC;IAED;;OAEG;IACH,IAAW,WAAW;QACpB,OAAO,IAAI,WAAW,CACpB,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EACnC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EACnC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EACnC,IAAI,CAAC,MAAM,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,CACpC,CAAC;IACJ,CAAC;IAED;;OAEG;IACH,IAAW,IAAI;QACb,OAAO,EAAE,CAAC;IACZ,CAAC;IAED;;;OAGG;IACI,UAAU,CAAC,IAAY;QAC5B,OAAO,CAAC,IAAI,GAAG,IAAI,CAAC,MAAM,GAAG,IAAI,CAAC,MAAM,CAAC,GAAG,CAAC,CAAC;IAChD,CAAC;IAED,0BAA0B;IACnB,MAAM,CAAC,SAAoB;;QAChC,IAAI,CAAC,UAAU,GAAG,SAAS,CAAC;QAC5B,MAAM,SAAS,GAAG,MAAA,SAAS,CAAC,MAAM,mCAAI,IAAI,CAAC,aAAa,CAAC;QACzD,SAAS,CAAC,KAAK,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC;QACpC,IAAI,CAAC,aAAa,CAAC,SAAS,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC,EAAE,IAAI,CAAC,MAAM,CAAC,CAAC,CAAC,CAAC;IAC7D,CAAC;IAED;;OAEG;IACI,OAAO,CAAC,IAAY;QACzB,MAAM,OAAO,GAAG,EAAE,CAAC;QACnB,MAAM,KAAK,GAAG,IAAI,CAAC,MAAM,CAAC;QAC1B,MAAM,UAAU,GAAG,KAAK,CAAC,GAAG,CAAC,IAAI,CAAC,CAAC;QACnC,OAAO,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;QACzB,OAAO,CAAC,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC;QACvC,OAAO,CAAC,IAAI,CAAC,UAAU,GAAG,IAAI,CAAC,MAAM,CAAC,CAAC;QACvC,OAAO,IAAI,UAAU,CAAC,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,OAAO,CAAC,EAAE,IAAI,CAAC,GAAG,CAAC,KAAK,CAAC,IAAI,EAAE,OAAO,CAAC,CAAC,CAAC;IACtF,CAAC;IAEM,KAAK,CAAC,EAA4B,EAAE,KAAY;;QACrD,MAAM,EAAE,GAAG,IAAI,CAAC,UAAU,CAAC;QAC3B,MAAM,KAAK,GAAG,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,WAAW,mCAAI,MAAM,CAAC,GAAG,CAAC;QAC5C,MAAM,QAAQ,GAAG,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,cAAc,mCAAI,CAAC,CAAC;QACzC,MAAM,GAAG,GAAG,CAAC,MAAA,EAAE,aAAF,EAAE,uBAAF,EAAE,CAAE,SAAS,mCAAI,MAAM,CAAC,IAAI,CAAC,CAAC;QAC3C,EAAE,CAAC,IAAI,EAAE,CAAC;QACV,EAAE,CAAC,SAAS,CAAC,GAAG,CAAC,CAAC,EAAE,GAAG,CAAC,CAAC,CAAC,CAAC;QAC3B,EAAE,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;QACpB,EAAE,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC,EAAE,KAAK,CAAC,CAAC,CAAC,CAAC;QAC3B,EAAE,CAAC,UAAU,CAAC,CAAC,MAAA,IAAI,CAAC,MAAM,mCAAI,MAAM,CAAC,IAAI,CAAC,EAAE,IAAI,CAAC,cAAc,EAAE,KAAK,CAAC,WAAW,EAAE,KAAK,EAAE,CAAC,CAAC,CAAC;QAC9F,EAAE,CAAC,OAAO,EAAE,CAAC;IACf,CAAC;CACF"}

package/build/dist/Collision/Colliders/ClosestLineJumpTable.js

@@ -0,0 +1,211 @@
+import { LineSegment } from '../../Math/line-segment';
+import { Vector } from '../../Math/vector';
+import { Ray } from '../../Math/ray';
+/**
+ * Finds the closes line between 2 line segments, were the magnitude of u, v are the lengths of each segment
+ * L1 = P(s) = p0 + s * u, where s is time and p0 is the start of the line
+ * L2 = Q(t) = q0 + t * v, where t is time and q0 is the start of the line
+ * @param p0 Point where L1 begins
+ * @param u Direction and length of L1
+ * @param q0 Point were L2 begins
+ * @param v Direction and length of L2
+ */
+export function ClosestLine(p0, u, q0, v) {
+    // Distance between 2 lines http://geomalgorithms.com/a07-_distance.html
+    // w(s, t) = P(s) - Q(t)
+    // The w(s, t) that has the minimum distance we will say is w(sClosest, tClosest) = wClosest
+    //
+    // wClosest is the vector that is uniquely perpendicular to the 2 line directions u & v.
+    // wClosest = w0 + sClosest * u - tClosest * v, where w0 is p0 - q0
+    //
+    // The closest point between 2 lines then satisfies this pair of equations
+    // 1: u * wClosest = 0
+    // 2: v * wClosest = 0
+    //
+    // Substituting wClosest into the equations we get
+    //
+    // 1: (u * u) * sClosest - (u * v) tClosest = -u * w0
+    // 2: (v * u) * sClosest - (v * v) tClosest = -v * w0
+    // simplify w0
+    const w0 = p0.sub(q0);
+    // simplify (u * u);
+    const a = u.dot(u);
+    // simplify (u * v);
+    const b = u.dot(v);
+    // simplify (v * v)
+    const c = v.dot(v);
+    // simplify (u * w0)
+    const d = u.dot(w0);
+    // simplify (v * w0)
+    const e = v.dot(w0);
+    // denominator ac - b^2
+    const denom = a * c - b * b;
+    let sDenom = denom;
+    let tDenom = denom;
+    // if denom is 0 they are parallel, use any point from either as the start in this case p0
+    if (denom === 0 || denom <= 0.01) {
+        const tClosestParallel = d / b;
+        return new LineSegment(p0, q0.add(v.scale(tClosestParallel)));
+    }
+    // Solve for sClosest for infinite line
+    let sClosest = b * e - c * d; // / denom;
+    // Solve for tClosest for infinite line
+    let tClosest = a * e - b * d; // / denom;
+    // Solve for segments candidate edges, if sClosest and tClosest are outside their segments
+    if (sClosest < 0) {
+        sClosest = 0;
+        tClosest = e;
+        tDenom = c;
+    }
+    else if (sClosest > sDenom) {
+        sClosest = sDenom;
+        tClosest = e + b;
+        tDenom = c;
+    }
+    if (tClosest < 0) {
+        tClosest = 0;
+        if (-d < 0) {
+            sClosest = 0;
+        }
+        else if (-d > a) {
+            sClosest = sDenom;
+        }
+        else {
+            sClosest = -d;
+            sDenom = a;
+        }
+    }
+    else if (tClosest > tDenom) {
+        tClosest = tDenom;
+        if (-d + b < 0) {
+            sClosest = 0;
+        }
+        else if (-d + b > a) {
+            sClosest = sDenom;
+        }
+        else {
+            sClosest = -d + b;
+            sDenom = a;
+        }
+    }
+    sClosest = Math.abs(sClosest) < 0.001 ? 0 : sClosest / sDenom;
+    tClosest = Math.abs(tClosest) < 0.001 ? 0 : tClosest / tDenom;
+    return new LineSegment(p0.add(u.scale(sClosest)), q0.add(v.scale(tClosest)));
+}
+export const ClosestLineJumpTable = {
+    PolygonPolygonClosestLine(polygonA, polygonB) {
+        // Find the 2 closest faces on each polygon
+        const otherWorldPos = polygonB.worldPos;
+        const otherDirection = otherWorldPos.sub(polygonA.worldPos);
+        const thisDirection = otherDirection.negate();
+        const rayTowardsOther = new Ray(polygonA.worldPos, otherDirection);
+        const rayTowardsThis = new Ray(otherWorldPos, thisDirection);
+        const thisPoint = polygonA.rayCast(rayTowardsOther).add(rayTowardsOther.dir.scale(0.1));
+        const otherPoint = polygonB.rayCast(rayTowardsThis).add(rayTowardsThis.dir.scale(0.1));
+        const thisFace = polygonA.getClosestFace(thisPoint);
+        const otherFace = polygonB.getClosestFace(otherPoint);
+        // L1 = P(s) = p0 + s * u, where s is time and p0 is the start of the line
+        const p0 = thisFace.face.begin;
+        const u = thisFace.face.getEdge();
+        // L2 = Q(t) = q0 + t * v, where t is time and q0 is the start of the line
+        const q0 = otherFace.face.begin;
+        const v = otherFace.face.getEdge();
+        return ClosestLine(p0, u, q0, v);
+    },
+    PolygonEdgeClosestLine(polygon, edge) {
+        // Find the 2 closest faces on each polygon
+        const otherWorldPos = edge.worldPos;
+        const otherDirection = otherWorldPos.sub(polygon.worldPos);
+        const rayTowardsOther = new Ray(polygon.worldPos, otherDirection);
+        const thisPoint = polygon.rayCast(rayTowardsOther).add(rayTowardsOther.dir.scale(0.1));
+        const thisFace = polygon.getClosestFace(thisPoint);
+        // L1 = P(s) = p0 + s * u, where s is time and p0 is the start of the line
+        const p0 = thisFace.face.begin;
+        const u = thisFace.face.getEdge();
+        // L2 = Q(t) = q0 + t * v, where t is time and q0 is the start of the line
+        const edgeLine = edge.asLine();
+        const edgeStart = edgeLine.begin;
+        const edgeVector = edgeLine.getEdge();
+        const q0 = edgeStart;
+        const v = edgeVector;
+        return ClosestLine(p0, u, q0, v);
+    },
+    PolygonCircleClosestLine(polygon, circle) {
+        // https://math.stackexchange.com/questions/1919177/how-to-find-point-on-line-closest-to-sphere
+        // Find the 2 closest faces on each polygon
+        const otherWorldPos = circle.worldPos;
+        const otherDirection = otherWorldPos.sub(polygon.worldPos);
+        const rayTowardsOther = new Ray(polygon.worldPos, otherDirection.normalize());
+        const thisPoint = polygon.rayCast(rayTowardsOther).add(rayTowardsOther.dir.scale(0.1));
+        const thisFace = polygon.getClosestFace(thisPoint);
+        // L1 = P(s) = p0 + s * u, where s is time and p0 is the start of the line
+        const p0 = thisFace.face.begin;
+        const u = thisFace.face.getEdge();
+        // Time of minimum distance
+        let t = (u.x * (otherWorldPos.x - p0.x) + u.y * (otherWorldPos.y - p0.y)) / (u.x * u.x + u.y * u.y);
+        // If time of minimum is past the edge clamp
+        if (t > 1) {
+            t = 1;
+        }
+        else if (t < 0) {
+            t = 0;
+        }
+        // Minimum distance
+        const d = Math.sqrt(Math.pow(p0.x + u.x * t - otherWorldPos.x, 2) + Math.pow(p0.y + u.y * t - otherWorldPos.y, 2)) - circle.radius;
+        const circlex = ((p0.x + u.x * t - otherWorldPos.x) * circle.radius) / (circle.radius + d);
+        const circley = ((p0.y + u.y * t - otherWorldPos.y) * circle.radius) / (circle.radius + d);
+        return new LineSegment(u.scale(t).add(p0), new Vector(otherWorldPos.x + circlex, otherWorldPos.y + circley));
+    },
+    CircleCircleClosestLine(circleA, circleB) {
+        // Find the 2 closest faces on each polygon
+        const otherWorldPos = circleB.worldPos;
+        const otherDirection = otherWorldPos.sub(circleA.worldPos);
+        const thisWorldPos = circleA.worldPos;
+        const thisDirection = thisWorldPos.sub(circleB.worldPos);
+        const rayTowardsOther = new Ray(circleA.worldPos, otherDirection);
+        const rayTowardsThis = new Ray(circleB.worldPos, thisDirection);
+        const thisPoint = circleA.rayCast(rayTowardsOther);
+        const otherPoint = circleB.rayCast(rayTowardsThis);
+        return new LineSegment(thisPoint, otherPoint);
+    },
+    CircleEdgeClosestLine(circle, edge) {
+        // https://math.stackexchange.com/questions/1919177/how-to-find-point-on-line-closest-to-sphere
+        const circleWorlPos = circle.worldPos;
+        // L1 = P(s) = p0 + s * u, where s is time and p0 is the start of the line
+        const edgeLine = edge.asLine();
+        const edgeStart = edgeLine.begin;
+        const edgeVector = edgeLine.getEdge();
+        const p0 = edgeStart;
+        const u = edgeVector;
+        // Time of minimum distance
+        let t = (u.x * (circleWorlPos.x - p0.x) + u.y * (circleWorlPos.y - p0.y)) / (u.x * u.x + u.y * u.y);
+        // If time of minimum is past the edge clamp to edge
+        if (t > 1) {
+            t = 1;
+        }
+        else if (t < 0) {
+            t = 0;
+        }
+        // Minimum distance
+        const d = Math.sqrt(Math.pow(p0.x + u.x * t - circleWorlPos.x, 2) + Math.pow(p0.y + u.y * t - circleWorlPos.y, 2)) - circle.radius;
+        const circlex = ((p0.x + u.x * t - circleWorlPos.x) * circle.radius) / (circle.radius + d);
+        const circley = ((p0.y + u.y * t - circleWorlPos.y) * circle.radius) / (circle.radius + d);
+        return new LineSegment(u.scale(t).add(p0), new Vector(circleWorlPos.x + circlex, circleWorlPos.y + circley));
+    },
+    EdgeEdgeClosestLine(edgeA, edgeB) {
+        // L1 = P(s) = p0 + s * u, where s is time and p0 is the start of the line
+        const edgeLineA = edgeA.asLine();
+        const edgeStartA = edgeLineA.begin;
+        const edgeVectorA = edgeLineA.getEdge();
+        const p0 = edgeStartA;
+        const u = edgeVectorA;
+        // L2 = Q(t) = q0 + t * v, where t is time and q0 is the start of the line
+        const edgeLineB = edgeB.asLine();
+        const edgeStartB = edgeLineB.begin;
+        const edgeVectorB = edgeLineB.getEdge();
+        const q0 = edgeStartB;
+        const v = edgeVectorB;
+        return ClosestLine(p0, u, q0, v);
+    }
+};
+//# sourceMappingURL=ClosestLineJumpTable.js.map