kiwiengine 0.0.1-alpha → 0.5.2

package/lib/collision/check-collision.js.map

@@ -0,0 +1 @@
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{ WorldTransform } from '../node/core/transform'\nimport { CircleCollider, Collider, ColliderType, EllipseCollider, PolygonCollider, RectangleCollider } from './colliders'\n\n// =====================================================================================\n// Utilities (scalar-only, no allocations at runtime)\n// =====================================================================================\n\nconst abs = (v: number) => (v < 0 ? -v : v)\n\n// =====================================================================================\n// OBB helpers (scalar-only)\n// =====================================================================================\n\nfunction obbRadiusOnAxis(\n  Lx: number, Ly: number,\n  ux: number, uy: number, vx: number, vy: number, hx: number, hy: number\n) {\n  // hx, hy must be >= 0; project axis onto OBB's local axes and scale by half extents.\n  const Lu = Lx * ux + Ly * uy\n  const Lv = Lx * vx + Ly * vy\n  const a = hx * (Lu < 0 ? -Lu : Lu)\n  const b = hy * (Lv < 0 ? -Lv : Lv)\n  return a + b\n}\n\nfunction axisSeparates(\n  Lx: number, Ly: number, dx: number, dy: number,\n  aux: number, auy: number, avx: number, avy: number, ahx: number, ahy: number,\n  bux: number, buy: number, bvx: number, bvy: number, bhx: number, bhy: number\n) {\n  const dist = dx * Lx + dy * Ly\n  const ad = dist < 0 ? -dist : dist\n  const rA = obbRadiusOnAxis(Lx, Ly, aux, auy, avx, avy, ahx, ahy)\n  const rB = obbRadiusOnAxis(Lx, Ly, bux, buy, bvx, bvy, bhx, bhy)\n  return ad > (rA + rB)\n}\n\n// =====================================================================================\n// Rectangle–Rectangle (OBB–OBB) — SAT with 4 axes (no allocations)\n// =====================================================================================\n\nfunction checkRectRectCollision(\n  ca: RectangleCollider, ta: WorldTransform,\n  cb: RectangleCollider, tb: WorldTransform\n): boolean {\n  // A frame (half extents must be non-negative)\n  const asx = ta.scaleX.v, asy = ta.scaleY.v\n  const ahx = abs(ca.width * asx) * 0.5\n  const ahy = abs(ca.height * asy) * 0.5\n  const cA = ta.rotation.cos, sA = ta.rotation.sin\n  const aux = cA, auy = sA\n  const avx = -sA, avy = cA\n  // apply rotated local offset for center\n  const aox = (ca.x || 0) * asx\n  const aoy = (ca.y || 0) * asy\n  const ax = ta.x.v + aux * aox + avx * aoy\n  const ay = ta.y.v + auy * aox + avy * aoy\n\n  // B frame\n  const bsx = tb.scaleX.v, bsy = tb.scaleY.v\n  const bhx = abs(cb.width * bsx) * 0.5\n  const bhy = abs(cb.height * bsy) * 0.5\n  const cB = tb.rotation.cos, sB = tb.rotation.sin\n  const bux = cB, buy = sB\n  const bvx = -sB, bvy = cB\n  const box = (cb.x || 0) * bsx\n  const boy = (cb.y || 0) * bsy\n  const bx = tb.x.v + bux * box + bvx * boy\n  const by = tb.y.v + buy * box + bvy * boy\n\n  // Fast axis-aligned branch if both rotations are zero\n  const rotA = ta.rotation.v, rotB = tb.rotation.v\n  if ((rotA === 0 || rotA === 0.0) && (rotB === 0 || rotB === 0.0)) {\n    const dx0 = bx - ax; const adx0 = dx0 < 0 ? -dx0 : dx0\n    const dy0 = by - ay; const ady0 = dy0 < 0 ? -dy0 : dy0\n    return (adx0 <= ahx + bhx) && (ady0 <= ahy + bhy)\n  }\n\n  const dx = bx - ax\n  const dy = by - ay\n\n  if (axisSeparates(aux, auy, dx, dy, aux, auy, avx, avy, ahx, ahy, bux, buy, bvx, bvy, bhx, bhy)) return false\n  if (axisSeparates(avx, avy, dx, dy, aux, auy, avx, avy, ahx, ahy, bux, buy, bvx, bvy, bhx, bhy)) return false\n  if (axisSeparates(bux, buy, dx, dy, aux, auy, avx, avy, ahx, ahy, bux, buy, bvx, bvy, bhx, bhy)) return false\n  if (axisSeparates(bvx, bvy, dx, dy, aux, auy, avx, avy, ahx, ahy, bux, buy, bvx, bvy, bhx, bhy)) return false\n\n  return true\n}\n\n// =====================================================================================\n// Circle tools (no allocations)\n// =====================================================================================\n\n// scratch for circle center computations (reused everywhere; no runtime object creation)\nlet _ccx = 0, _ccy = 0\n\n// Writes the world-space center into (_ccx, _ccy).\nfunction circleCenterScratch(c: CircleCollider, t: WorldTransform): void {\n  // No object/array allocation; scalar math only\n  const sx = t.scaleX.v, sy = t.scaleY.v\n  const cos = t.rotation.cos, sin = t.rotation.sin\n  // local axes\n  const ux = cos, uy = sin\n  const vx = -sin, vy = cos\n  // scaled local offset\n  const ox = (c.x || 0) * sx\n  const oy = (c.y || 0) * sy\n  _ccx = t.x.v + ux * ox + vx * oy\n  _ccy = t.y.v + uy * ox + vy * oy\n}\n\nfunction circleScaledRadius(c: CircleCollider, t: WorldTransform) {\n  const sx = abs(t.scaleX.v), sy = abs(t.scaleY.v)\n  return c.radius * (sx > sy ? sx : sy) // conservative\n}\n\nfunction checkCircleCircleCollision(\n  ca: CircleCollider, ta: WorldTransform, cb: CircleCollider, tb: WorldTransform\n): boolean {\n  circleCenterScratch(ca, ta); const ax = _ccx, ay = _ccy\n  circleCenterScratch(cb, tb); const bx = _ccx, by = _ccy\n  const ra = circleScaledRadius(ca, ta)\n  const rb = circleScaledRadius(cb, tb)\n  const dx = bx - ax, dy = by - ay\n  const r = ra + rb\n  return (dx * dx + dy * dy) <= r * r\n}\n\n// =====================================================================================\n// Rect–Circle (no allocations)\n// =====================================================================================\n\nfunction checkRectCircleCollision(\n  r: RectangleCollider, tr: WorldTransform,\n  c: CircleCollider, tc: WorldTransform\n): boolean {\n  // Rect frame\n  const rsx = tr.scaleX.v, rsy = tr.scaleY.v\n  const rhx = abs(r.width * rsx) * 0.5\n  const rhy = abs(r.height * rsy) * 0.5\n  const rc = tr.rotation.cos, rs = tr.rotation.sin\n  const rux = rc, ruy = rs\n  const rvx = -rs, rvy = rc\n  const rox = (r.x || 0) * rsx\n  const roy = (r.y || 0) * rsy\n  const rcx = tr.x.v + rux * rox + rvx * roy\n  const rcy = tr.y.v + ruy * rox + rvy * roy\n\n  // Circle center + radius (into scratch scalars)\n  circleCenterScratch(c, tc)\n  const rr = circleScaledRadius(c, tc)\n\n  // Project center delta onto rect local axes and clamp\n  const dx = _ccx - rcx, dy = _ccy - rcy\n  const qx = dx * rux + dy * ruy\n  const qy = dx * rvx + dy * rvy\n  const clx = qx < -rhx ? -rhx : (qx > rhx ? rhx : qx)\n  const cly = qy < -rhy ? -rhy : (qy > rhy ? rhy : qy)\n  const ddx = qx - clx\n  const ddy = qy - cly\n  return (ddx * ddx + ddy * ddy) <= rr * rr\n}\n\n// =====================================================================================\n// Polygon helpers — SAT (no allocations; polygons are in LOCAL space + Transform)\n// =====================================================================================\n\n/*\n  Notes:\n  - Polygons are stored in LOCAL space. We never allocate world-space copies.\n  - For any world axis N = (nx, ny), projection of a local vertex (vx, vy) is:\n      dot(N, C) + dot(N, U)*sx*vx + dot(N, V)*sy*vy\n    where C is world center, U/V are world unit axes of the polygon frame,\n    and sx/sy are scale on those local axes.\n  - No objects/arrays are created at runtime. Only scalar computations and loops.\n*/\n\n// Poly–Poly (LOCAL + Transform)\nfunction checkPolyPolyCollision(\n  a: PolygonCollider, ta: WorldTransform,\n  b: PolygonCollider, tb: WorldTransform\n): boolean {\n  const av = a.vertices, bv = b.vertices\n  const na = av.length, nb = bv.length\n  if (na === 0 || nb === 0) return false\n\n  // Frame A\n  const asx = ta.scaleX.v, asy = ta.scaleY.v\n  const acs = ta.rotation.cos, asn = ta.rotation.sin\n  const aux = acs, auy = asn\n  const avx = -asn, avy = acs\n  const aox = ((a as any).x || 0) * asx\n  const aoy = ((a as any).y || 0) * asy\n  const acx = ta.x.v + aux * aox + avx * aoy\n  const acy = ta.y.v + auy * aox + avy * aoy\n\n  // Frame B\n  const bsx = tb.scaleX.v, bsy = tb.scaleY.v\n  const bcs = tb.rotation.cos, bsn = tb.rotation.sin\n  const bux = bcs, buy = bsn\n  const bvx = -bsn, bvy = bcs\n  const box = ((b as any).x || 0) * bsx\n  const boy = ((b as any).y || 0) * bsy\n  const bcx = tb.x.v + bux * box + bvx * boy\n  const bcy = tb.y.v + buy * box + bvy * boy\n\n  let i = 0, j = 0, k = 0\n\n  // A's edge axes\n  for (i = 0; i < na; i++) {\n    j = (i + 1) % na\n    const adx = av[j].x - av[i].x\n    const ady = av[j].y - av[i].y\n    // edge in world: Ew = U*(sx*dx) + V*(sy*dy)\n    const ewx = aux * (asx * adx) + avx * (asy * ady)\n    const ewy = auy * (asx * adx) + avy * (asy * ady)\n    const nx = -ewy, ny = ewx // world normal (no normalization)\n\n    // project A on (nx,ny)\n    const kUa = (nx * aux + ny * auy) * asx\n    const kVa = (nx * avx + ny * avy) * asy\n    const baseA = nx * acx + ny * acy\n    let minA = Infinity, maxA = -Infinity\n    for (k = 0; k < na; k++) {\n      const s = baseA + kUa * av[k].x + kVa * av[k].y\n      if (s < minA) minA = s\n      if (s > maxA) maxA = s\n    }\n\n    // project B on (nx,ny)\n    const kUb = (nx * bux + ny * buy) * bsx\n    const kVb = (nx * bvx + ny * bvy) * bsy\n    const baseB = nx * bcx + ny * bcy\n    let minB = Infinity, maxB = -Infinity\n    for (k = 0; k < nb; k++) {\n      const s = baseB + kUb * bv[k].x + kVb * bv[k].y\n      if (s < minB) minB = s\n      if (s > maxB) maxB = s\n    }\n\n    if (maxA < minB || maxB < minA) return false\n  }\n\n  // B's edge axes\n  for (i = 0; i < nb; i++) {\n    j = (i + 1) % nb\n    const bdx = bv[j].x - bv[i].x\n    const bdy = bv[j].y - bv[i].y\n    const ewx = bux * (bsx * bdx) + bvx * (bsy * bdy)\n    const ewy = buy * (bsx * bdx) + bvy * (bsy * bdy)\n    const nx = -ewy, ny = ewx\n\n    // project A\n    const kUa = (nx * aux + ny * auy) * asx\n    const kVa = (nx * avx + ny * avy) * asy\n    const baseA = nx * acx + ny * acy\n    let minA = Infinity, maxA = -Infinity\n    for (k = 0; k < na; k++) {\n      const s = baseA + kUa * av[k].x + kVa * av[k].y\n      if (s < minA) minA = s\n      if (s > maxA) maxA = s\n    }\n\n    // project B\n    const kUb = (nx * bux + ny * buy) * bsx\n    const kVb = (nx * bvx + ny * bvy) * bsy\n    const baseB = nx * bcx + ny * bcy\n    let minB = Infinity, maxB = -Infinity\n    for (k = 0; k < nb; k++) {\n      const s = baseB + kUb * bv[k].x + kVb * bv[k].y\n      if (s < minB) minB = s\n      if (s > maxB) maxB = s\n    }\n\n    if (maxA < minB || maxB < minA) return false\n  }\n\n  return true\n}\n\n// Poly–Circle (LOCAL + Transform)\nfunction checkPolyCircleCollision(poly: PolygonCollider, tp: WorldTransform, c: CircleCollider, tc: WorldTransform): boolean {\n  const v = poly.vertices; const n = v.length; if (n === 0) return false\n\n  // Poly frame\n  const psx = tp.scaleX.v, psy = tp.scaleY.v\n  const pcs = tp.rotation.cos, psn = tp.rotation.sin\n  const pux = pcs, puy = psn\n  const pvx = -psn, pvy = pcs\n  const pox = ((poly as any).x || 0) * psx\n  const poy = ((poly as any).y || 0) * psy\n  const pcx = tp.x.v + pux * pox + pvx * poy\n  const pcy = tp.y.v + puy * pox + pvy * poy\n\n  // Circle center + radius\n  circleCenterScratch(c, tc)\n  const CCx = _ccx, CCy = _ccy\n  const rr = circleScaledRadius(c, tc)\n\n  let i = 0, j = 0, k = 0\n\n  // (A) Polygon edge axes\n  for (i = 0; i < n; i++) {\n    j = (i + 1) % n\n    const dx = v[j].x - v[i].x\n    const dy = v[j].y - v[i].y\n    const ewx = pux * (psx * dx) + pvx * (psy * dy)\n    const ewy = puy * (psx * dx) + pvy * (psy * dy)\n    const nx = -ewy, ny = ewx\n    const kUp = (nx * pux + ny * puy) * psx\n    const kVp = (nx * pvx + ny * pvy) * psy\n    const baseP = nx * pcx + ny * pcy\n    let minP = Infinity, maxP = -Infinity\n    for (k = 0; k < n; k++) {\n      const s = baseP + kUp * v[k].x + kVp * v[k].y\n      if (s < minP) minP = s\n      if (s > maxP) maxP = s\n    }\n    const nlen = Math.hypot(nx, ny)\n    const cProj = nx * CCx + ny * CCy\n    const minC = cProj - rr * nlen\n    const maxC = cProj + rr * nlen\n    if (maxP < minC || maxC < minP) return false\n  }\n\n  // (B) Closest-vertex axis\n  let bestDx = 0, bestDy = 0, bestD2 = Infinity\n  for (i = 0; i < n; i++) {\n    const wx = pcx + pux * (psx * v[i].x) + pvx * (psy * v[i].y)\n    const wy = pcy + puy * (psx * v[i].x) + pvy * (psy * v[i].y)\n    const dx = CCx - wx\n    const dy = CCy - wy\n    const d2 = dx * dx + dy * dy\n    if (d2 < bestD2) { bestD2 = d2; bestDx = dx; bestDy = dy }\n  }\n  if (bestD2 === 0) return true\n  {\n    const nx = bestDx, ny = bestDy\n    const kUp = (nx * pux + ny * puy) * psx\n    const kVp = (nx * pvx + ny * pvy) * psy\n    const baseP = nx * pcx + ny * pcy\n    let minP = Infinity, maxP = -Infinity\n    for (i = 0; i < n; i++) {\n      const s = baseP + kUp * v[i].x + kVp * v[i].y\n      if (s < minP) minP = s\n      if (s > maxP) maxP = s\n    }\n    const nlen = Math.hypot(nx, ny)\n    const cProj = nx * CCx + ny * CCy\n    const minC = cProj - rr * nlen\n    const maxC = cProj + rr * nlen\n    if (maxP < minC || maxC < minP) return false\n  }\n\n  return true\n}\n\n// Poly–Rect (LOCAL + Transform)\nfunction checkPolyRectCollision(poly: PolygonCollider, tp: WorldTransform, r: RectangleCollider, tr: WorldTransform): boolean {\n  const v = poly.vertices; const n = v.length; if (n === 0) return false\n\n  // Poly frame\n  const psx = tp.scaleX.v, psy = tp.scaleY.v\n  const pcs = tp.rotation.cos, psn = tp.rotation.sin\n  const pux = pcs, puy = psn\n  const pvx = -psn, pvy = pcs\n  const pox = ((poly as any).x || 0) * psx\n  const poy = ((poly as any).y || 0) * psy\n  const pcx = tp.x.v + pux * pox + pvx * poy\n  const pcy = tp.y.v + puy * pox + pvy * poy\n\n  // Rect frame\n  const rsx = tr.scaleX.v, rsy = tr.scaleY.v\n  const rhx = abs(r.width * rsx) * 0.5\n  const rhy = abs(r.height * rsy) * 0.5\n  const rc = tr.rotation.cos, rs = tr.rotation.sin\n  const rux = rc, ruy = rs\n  const rvx = -rs, rvy = rc\n  const rox = (r.x || 0) * rsx, roy = (r.y || 0) * rsy\n  const rcx = tr.x.v + rux * rox + rvx * roy\n  const rcy = tr.y.v + ruy * rox + rvy * roy\n\n  let i = 0, j = 0, k = 0\n\n  // (A) polygon edge axes\n  for (i = 0; i < n; i++) {\n    j = (i + 1) % n\n    const dx = v[j].x - v[i].x\n    const dy = v[j].y - v[i].y\n    const ewx = pux * (psx * dx) + pvx * (psy * dy)\n    const ewy = puy * (psx * dx) + pvy * (psy * dy)\n    const nx = -ewy, ny = ewx\n\n    // poly projection\n    const kUp = (nx * pux + ny * puy) * psx\n    const kVp = (nx * pvx + ny * pvy) * psy\n    const baseP = nx * pcx + ny * pcy\n    let minP = Infinity, maxP = -Infinity\n    for (k = 0; k < n; k++) {\n      const s = baseP + kUp * v[k].x + kVp * v[k].y\n      if (s < minP) minP = s\n      if (s > maxP) maxP = s\n    }\n\n    // rect projection radius on axis\n    const nu = nx * rux + ny * ruy\n    const nv = nx * rvx + ny * rvy\n    const rRad = rhx * (nu < 0 ? -nu : nu) + rhy * (nv < 0 ? -nv : nv)\n    const cProj = nx * rcx + ny * rcy\n    const minR = cProj - rRad\n    const maxR = cProj + rRad\n    if (maxP < minR || maxR < minP) return false\n  }\n\n  // (B) rect axis u\n  {\n    const nx = rux, ny = ruy\n    const kUp = (nx * pux + ny * puy) * psx\n    const kVp = (nx * pvx + ny * pvy) * psy\n    const baseP = nx * pcx + ny * pcy\n    let minP = Infinity, maxP = -Infinity\n    for (i = 0; i < n; i++) {\n      const s = baseP + kUp * v[i].x + kVp * v[i].y\n      if (s < minP) minP = s\n      if (s > maxP) maxP = s\n    }\n    const cProj = nx * rcx + ny * rcy\n    const minR = cProj - rhx\n    const maxR = cProj + rhx\n    if (maxP < minR || maxR < minP) return false\n  }\n  // (C) rect axis v\n  {\n    const nx = rvx, ny = rvy\n    const kUp = (nx * pux + ny * puy) * psx\n    const kVp = (nx * pvx + ny * pvy) * psy\n    const baseP = nx * pcx + ny * pcy\n    let minP = Infinity, maxP = -Infinity\n    for (i = 0; i < n; i++) {\n      const s = baseP + kUp * v[i].x + kVp * v[i].y\n      if (s < minP) minP = s\n      if (s > maxP) maxP = s\n    }\n    const cProj = nx * rcx + ny * rcy\n    const minR = cProj - rhy\n    const maxR = cProj + rhy\n    if (maxP < minR || maxR < minP) return false\n  }\n\n  return true\n}\n\n// =====================================================================================\n// GJK (no allocations: global scratch + selectable supports) — FIXED/ROBUST\n// =====================================================================================\n\n// Global scratch for support result\nlet _sx = 0, _sy = 0\n\n// Support selectors\nconst enum SupportType { None = 0, Ellipse = 1, OBB = 2, Circle = 3, Poly = 4, PolyLocal = 5 }\nlet _supportAType = SupportType.None\nlet _supportBType = SupportType.None\n\n// A-shape params\nlet _Acx = 0, _Acy = 0, _Aux = 0, _Auy = 0, _Avx = 0, _Avy = 0, _Arx = 0, _Ary = 0, _Ahx = 0, _Ahy = 0, _Arr = 0\nlet _Apoly: { x: number, y: number }[] | null = null\n\n// B-shape params\nlet _Bcx = 0, _Bcy = 0, _Bux = 0, _Buy = 0, _Bvx = 0, _Bvy = 0, _Brx = 0, _Bry = 0, _Bhx = 0, _Bhy = 0, _Brr = 0\nlet _Bpoly: { x: number, y: number }[] | null = null\n\nfunction setSupportCircle(dx: number, dy: number, cx: number, cy: number, r: number) {\n  const len = Math.hypot(dx, dy)\n  if (len === 0) { _sx = cx; _sy = cy; return }\n  const inv = 1 / len\n  _sx = cx + dx * inv * r\n  _sy = cy + dy * inv * r\n}\n\nfunction setSupportOBB(\n  dx: number, dy: number,\n  cx: number, cy: number, ux: number, uy: number, vx: number, vy: number, hx: number, hy: number\n) {\n  const du = dx * ux + dy * uy\n  const dv = dx * vx + dy * vy\n  const sx = du >= 0 ? 1 : -1\n  const sy = dv >= 0 ? 1 : -1\n  _sx = cx + ux * hx * sx + vx * hy * sy\n  _sy = cy + uy * hx * sx + vy * hy * sy\n}\n\nfunction dvDy(dy: number, a: number) { return dy * a } // tiny inline helper (prevents temp vars)\n\nfunction setSupportEllipse(\n  dx: number, dy: number,\n  cx: number, cy: number, ux: number, uy: number, vx: number, vy: number, rx: number, ry: number\n) {\n  const du = dx * ux + dvDy(dy, uy)\n  const dv = dx * vx + dvDy(dy, vy)\n  const denom = Math.hypot(rx * du, ry * dv)\n  if (denom === 0) { _sx = cx; _sy = cy; return }\n  const kU = (rx * rx * du) / denom\n  const kV = (ry * ry * dv) / denom\n  _sx = cx + kU * ux + kV * vx\n  _sy = cy + kU * uy + kV * vy\n}\n\nfunction setSupportPoly(dx: number, dy: number, verts: { x: number, y: number }[]) {\n  let best = 0, bestDot = -Infinity\n  for (let i = 0, n = verts.length; i < n; i++) {\n    const vx = verts[i].x, vy = verts[i].y\n    const d = dx * vx + dy * vy\n    if (d > bestDot) { bestDot = d; best = i }\n  }\n  _sx = verts[best].x\n  _sy = verts[best].y\n}\n\n// PolyLocal support: verts in LOCAL, with frame (cx,cy, U/V, sx/sy)\nfunction setSupportPolyLocal(\n  dx: number, dy: number,\n  verts: { x: number, y: number }[],\n  cx: number, cy: number, ux: number, uy: number, vx: number, vy: number, sx: number, sy: number\n) {\n  const kU = (dx * ux + dy * uy) * sx\n  const kV = (dx * vx + dy * vy) * sy\n  let best = 0, bestDot = -Infinity\n  for (let i = 0, n = verts.length; i < n; i++) {\n    const s = kU * verts[i].x + kV * verts[i].y\n    if (s > bestDot) { bestDot = s; best = i }\n  }\n  const lx = verts[best].x, ly = verts[best].y\n  _sx = cx + ux * (sx * lx) + vx * (sy * ly)\n  _sy = cy + uy * (sx * lx) + vy * (sy * ly)\n}\n\nfunction supportA(dx: number, dy: number) {\n  if (_supportAType === SupportType.Ellipse) setSupportEllipse(dx, dy, _Acx, _Acy, _Aux, _Auy, _Avx, _Avy, _Arx, _Ary)\n  else if (_supportAType === SupportType.OBB) setSupportOBB(dx, dy, _Acx, _Acy, _Aux, _Auy, _Avx, _Avy, _Ahx, _Ahy)\n  else if (_supportAType === SupportType.Circle) setSupportCircle(dx, dy, _Acx, _Acy, _Arr)\n  else if (_supportAType === SupportType.Poly) setSupportPoly(dx, dy, _Apoly!)\n  else if (_supportAType === SupportType.PolyLocal) setSupportPolyLocal(dx, dy, _Apoly!, _Acx, _Acy, _Aux, _Auy, _Avx, _Avy, _Arx, _Ary)\n  else { _sx = 0; _sy = 0 }\n}\nfunction supportB(dx: number, dy: number) {\n  if (_supportBType === SupportType.Ellipse) setSupportEllipse(dx, dy, _Bcx, _Bcy, _Bux, _Buy, _Bvx, _Bvy, _Brx, _Bry)\n  else if (_supportBType === SupportType.OBB) setSupportOBB(dx, dy, _Bcx, _Bcy, _Bux, _Buy, _Bvx, _Bvy, _Bhx, _Bhy)\n  else if (_supportBType === SupportType.Circle) setSupportCircle(dx, dy, _Bcx, _Bcy, _Brr)\n  else if (_supportBType === SupportType.Poly) setSupportPoly(dx, dy, _Bpoly!)\n  else if (_supportBType === SupportType.PolyLocal) setSupportPolyLocal(dx, dy, _Bpoly!, _Bcx, _Bcy, _Bux, _Buy, _Bvx, _Bvy, _Brx, _Bry)\n  else { _sx = 0; _sy = 0 }\n}\n\n// GJK core — returns true if intersection (robust; no allocations)\nfunction gjkIntersectsNoAlloc(): boolean {\n  // EPS guards degenerate directions/points\n  const EPS = 1e-9\n  const EPS2 = EPS * EPS\n\n  // simplex points (A = most recently added)\n  let ax = 0, ay = 0, bx = 0, by = 0, cx = 0, cy = 0\n  let n = 0\n\n  // search direction\n  let dx = 1, dy = 0\n\n  // Adds a new support point as A and shifts previous (C<-B, B<-A)\n  function addPointAsA() {\n    supportA(dx, dy); const pax = _sx, pay = _sy\n    supportB(-dx, -dy); const pbx = _sx, pby = _sy\n    const px = pax - pbx, py = pay - pby\n    cx = bx; cy = by\n    bx = ax; by = ay\n    ax = px; ay = py\n    if (n < 3) n++\n  }\n\n  addPointAsA()\n  if (ax * ax + ay * ay <= EPS2) return true // origin exactly (or ~) hit\n  dx = -ax; dy = -ay\n\n  for (let iter = 0; iter < 32; iter++) {\n    const dLen2 = dx * dx + dy * dy\n    if (dLen2 <= EPS2) return true // direction collapsed → enclosed\n\n    addPointAsA()\n\n    // If new point A does not pass beyond origin along d, shapes are separated\n    const Ad = ax * dx + ay * dy\n    if (Ad <= 0) return false\n    if (ax * ax + ay * ay <= EPS2) return true\n\n    if (n === 2) {\n      // Segment (B-A). Use triple product to get perpendicular toward origin: d = triple(AB, AO, AB)\n      const abx = bx - ax, aby = by - ay\n      const aox = -ax, aoy = -ay\n      const ac = abx * abx + aby * aby                  // (AB·AB)\n      const bc = aox * abx + aoy * aby                  // (AO·AB)\n      dx = aox * ac - abx * bc                          // AO*(AB·AB) - AB*(AO·AB)\n      dy = aoy * ac - aby * bc\n      continue\n    }\n\n    // Triangle (C-B-A), A is the latest point\n    const abx = bx - ax, aby = by - ay\n    const acx = cx - ax, acy = cy - ay\n    const aox = -ax, aoy = -ay\n\n    // abPerp = triple(AC, AO, AB)\n    const ac_ab = acx * abx + acy * aby                 // (AC·AB)\n    const ao_ab = aox * abx + aoy * aby                 // (AO·AB)\n    let t1x = aox * ac_ab - acx * ao_ab\n    let t1y = aoy * ac_ab - acy * ao_ab\n    if (t1x * aox + t1y * aoy > 0) {\n      // Origin is in the AB region: drop C -> segment(B-A)\n      cx = bx; cy = by; n = 2\n      dx = t1x; dy = t1y\n      continue\n    }\n\n    // acPerp = triple(AB, AO, AC)\n    const ab_ac = abx * acx + aby * acy                 // (AB·AC)\n    const ao_ac = aox * acx + aoy * acy                 // (AO·AC)\n    let t2x = aox * ab_ac - abx * ao_ac\n    let t2y = aoy * ab_ac - aby * ao_ac\n    if (t2x * aox + t2y * aoy > 0) {\n      // Origin is in the AC region: drop B -> segment(C-A)\n      bx = cx; by = cy; n = 2\n      dx = t2x; dy = t2y\n      continue\n    }\n\n    // Origin is inside triangle\n    return true\n  }\n\n  // Conservative fallback\n  return false\n}\n\n// =====================================================================================\n// Ellipse interactions via GJK (no allocations)\n// =====================================================================================\n\nfunction checkEllipseRectCollision(\n  e: EllipseCollider, te: WorldTransform,\n  r: RectangleCollider, tr: WorldTransform\n): boolean {\n  // A = Ellipse\n  const esx = te.scaleX.v, esy = te.scaleY.v\n  _Arx = abs(e.width * esx) * 0.5\n  _Ary = abs(e.height * esy) * 0.5\n  const ecs = te.rotation.cos, esn = te.rotation.sin\n  _Aux = ecs; _Auy = esn; _Avx = -esn; _Avy = ecs\n  const eox = (e.x || 0) * esx, eoy = (e.y || 0) * esy\n  _Acx = te.x.v + _Aux * eox + _Avx * eoy\n  _Acy = te.y.v + _Auy * eox + _Avy * eoy\n  _supportAType = SupportType.Ellipse\n  _Apoly = null\n\n  // B = OBB (rect)\n  const rsx = tr.scaleX.v, rsy = tr.scaleY.v\n  _Bhx = abs(r.width * rsx) * 0.5\n  _Bhy = abs(r.height * rsy) * 0.5\n  const rcs = tr.rotation.cos, rsn = tr.rotation.sin\n  _Bux = rcs; _Buy = rsn; _Bvx = -rsn; _Bvy = rcs\n  const rox = (r.x || 0) * rsx, roy = (r.y || 0) * rsy\n  _Bcx = tr.x.v + _Bux * rox + _Bvx * roy\n  _Bcy = tr.y.v + _Buy * rox + _Bvy * roy\n  _supportBType = SupportType.OBB\n  _Bpoly = null\n\n  return gjkIntersectsNoAlloc()\n}\n\nfunction checkEllipseCircleCollision(\n  e: EllipseCollider, te: WorldTransform,\n  c: CircleCollider, tc: WorldTransform\n): boolean {\n  // A = Ellipse\n  const esx = te.scaleX.v, esy = te.scaleY.v\n  _Arx = abs(e.width * esx) * 0.5\n  _Ary = abs(e.height * esy) * 0.5\n  const ecs = te.rotation.cos, esn = te.rotation.sin\n  _Aux = ecs; _Auy = esn; _Avx = -esn; _Avy = ecs\n  const eox = (e.x || 0) * esx, eoy = (e.y || 0) * esy\n  _Acx = te.x.v + _Aux * eox + _Avx * eoy\n  _Acy = te.y.v + _Auy * eox + _Avy * eoy\n  _supportAType = SupportType.Ellipse\n  _Apoly = null\n\n  // B = Circle\n  circleCenterScratch(c, tc)\n  _Bcx = _ccx; _Bcy = _ccy\n  _Brr = circleScaledRadius(c, tc)\n  _supportBType = SupportType.Circle\n  _Bpoly = null\n\n  return gjkIntersectsNoAlloc()\n}\n\nfunction checkEllipseEllipseCollision(\n  a: EllipseCollider, ta: WorldTransform,\n  b: EllipseCollider, tb: WorldTransform\n): boolean {\n  // A\n  const asx = ta.scaleX.v, asy = ta.scaleY.v\n  _Arx = abs(a.width * asx) * 0.5\n  _Ary = abs(a.height * asy) * 0.5\n  const acs = ta.rotation.cos, asn = ta.rotation.sin\n  _Aux = acs; _Auy = asn; _Avx = -asn; _Avy = acs\n  const aox = (a.x || 0) * asx, aoy = (a.y || 0) * asy\n  _Acx = ta.x.v + _Aux * aox + _Avx * aoy\n  _Acy = ta.y.v + _Auy * aox + _Avy * aoy\n  _supportAType = SupportType.Ellipse\n  _Apoly = null\n\n  // B\n  const bsx = tb.scaleX.v, bsy = tb.scaleY.v\n  _Brx = abs(b.width * bsx) * 0.5\n  _Bry = abs(b.height * bsy) * 0.5\n  const bcs = tb.rotation.cos, bsn = tb.rotation.sin\n  _Bux = bcs; _Buy = bsn; _Bvx = -bsn; _Bvy = bcs\n  const box = (b.x || 0) * bsx, boy = (b.y || 0) * bsy\n  _Bcx = tb.x.v + _Bux * box + _Bvx * boy\n  _Bcy = tb.y.v + _Buy * box + _Bvy * boy\n  _supportBType = SupportType.Ellipse\n  _Bpoly = null\n\n  return gjkIntersectsNoAlloc()\n}\n\n// Poly–Ellipse via GJK (Poly in LOCAL + Transform, Ellipse in LOCAL + Transform)\nfunction checkPolyEllipseCollision(poly: PolygonCollider, tp: WorldTransform, e: EllipseCollider, te: WorldTransform): boolean {\n  // A = Poly (LOCAL + Transform) → use PolyLocal support; reuse A scratch slots\n  const psx = tp.scaleX.v, psy = tp.scaleY.v\n  const pcs = tp.rotation.cos, psn = tp.rotation.sin\n  const pux = pcs, puy = psn\n  const pvx = -psn, pvy = pcs\n  const pox = ((poly as any).x || 0) * psx\n  const poy = ((poly as any).y || 0) * psy\n  _Acx = tp.x.v + pux * pox + pvx * poy\n  _Acy = tp.y.v + puy * pox + pvy * poy\n  _Aux = pux; _Auy = puy; _Avx = pvx; _Avy = pvy\n  _Arx = psx; _Ary = psy\n  _Apoly = poly.vertices\n  _supportAType = SupportType.PolyLocal\n\n  // B = Ellipse\n  const esx = te.scaleX.v, esy = te.scaleY.v\n  _Brx = abs(e.width * esx) * 0.5\n  _Bry = abs(e.height * esy) * 0.5\n  const ecs = te.rotation.cos, esn = te.rotation.sin\n  _Bux = ecs; _Buy = esn; _Bvx = -esn; _Bvy = ecs\n  const eox = (e.x || 0) * esx, eoy = (e.y || 0) * esy\n  _Bcx = te.x.v + _Bux * eox + _Bvx * eoy\n  _Bcy = te.y.v + _Buy * eox + _Bvy * eoy\n  _Bpoly = null\n  _supportBType = SupportType.Ellipse\n\n  return gjkIntersectsNoAlloc()\n}\n\n// =====================================================================================\n// Dispatcher (no allocations)\n// =====================================================================================\n\nexport function checkCollision(ca: Collider, ta: WorldTransform, cb: Collider, tb: WorldTransform): boolean {\n  // Rectangle–Rectangle\n  if (ca.type === ColliderType.Rectangle && cb.type === ColliderType.Rectangle)\n    return checkRectRectCollision(ca, ta, cb, tb)\n\n  // Circle–Circle\n  if (ca.type === ColliderType.Circle && cb.type === ColliderType.Circle)\n    return checkCircleCircleCollision(ca, ta, cb, tb)\n\n  // Rect–Circle (both orders)\n  if (ca.type === ColliderType.Rectangle && cb.type === ColliderType.Circle)\n    return checkRectCircleCollision(ca, ta, cb, tb)\n  if (ca.type === ColliderType.Circle && cb.type === ColliderType.Rectangle)\n    return checkRectCircleCollision(cb, tb, ca, ta)\n\n  // Polygon–Polygon (LOCAL + Transform)\n  if (ca.type === ColliderType.Polygon && cb.type === ColliderType.Polygon)\n    return checkPolyPolyCollision(ca, ta, cb, tb)\n\n  // Polygon–Circle (both orders; LOCAL + Transform for polygon)\n  if (ca.type === ColliderType.Polygon && cb.type === ColliderType.Circle)\n    return checkPolyCircleCollision(ca, ta, cb, tb)\n  if (ca.type === ColliderType.Circle && cb.type === ColliderType.Polygon)\n    return checkPolyCircleCollision(cb, tb, ca, ta)\n\n  // Polygon–Rect (both orders; LOCAL + Transform for polygon)\n  if (ca.type === ColliderType.Polygon && cb.type === ColliderType.Rectangle)\n    return checkPolyRectCollision(ca, ta, cb, tb)\n  if (ca.type === ColliderType.Rectangle && cb.type === ColliderType.Polygon)\n    return checkPolyRectCollision(cb, tb, ca, ta)\n\n  // Ellipse interactions via GJK\n  if (ca.type === ColliderType.Ellipse && cb.type === ColliderType.Rectangle)\n    return checkEllipseRectCollision(ca, ta, cb, tb)\n  if (ca.type === ColliderType.Rectangle && cb.type === ColliderType.Ellipse)\n    return checkEllipseRectCollision(cb, tb, ca, ta)\n\n  if (ca.type === ColliderType.Ellipse && cb.type === ColliderType.Circle)\n    return checkEllipseCircleCollision(ca, ta, cb, tb)\n  if (ca.type === ColliderType.Circle && cb.type === ColliderType.Ellipse)\n    return checkEllipseCircleCollision(cb, tb, ca, ta)\n\n  if (ca.type === ColliderType.Ellipse && cb.type === ColliderType.Ellipse)\n    return checkEllipseEllipseCollision(ca, ta, cb, tb)\n\n  // Polygon–Ellipse (both orders; polygon is LOCAL + Transform via PolyLocal support)\n  if (ca.type === ColliderType.Polygon && cb.type === ColliderType.Ellipse)\n    return checkPolyEllipseCollision(ca, ta, cb, tb)\n  if (ca.type === ColliderType.Ellipse && cb.type === ColliderType.Polygon)\n    return checkPolyEllipseCollision(cb, tb, ca, ta)\n\n  return false\n}\n"]}

package/lib/collision/check-collision.test.js

@@ -0,0 +1,300 @@
+import { checkCollision } from './check-collision';
+import { ColliderType } from './colliders';
+// ===== Builders ====================================================================================
+const rad = (deg) => (deg * Math.PI) / 180;
+function T(x = 0, y = 0, rotDeg = 0, sx = 1, sy = 1) {
+    const v = rad(rotDeg);
+    return {
+        x: { v: x },
+        y: { v: y },
+        scaleX: { v: sx },
+        scaleY: { v: sy },
+        rotation: { v, sin: Math.sin(v), cos: Math.cos(v) },
+    };
+}
+function R(width, height, ox = 0, oy = 0) {
+    return { type: ColliderType.Rectangle, width, height, x: ox, y: oy };
+}
+function C(radius, ox = 0, oy = 0) {
+    return { type: ColliderType.Circle, radius, x: ox, y: oy };
+}
+function E(width, height, ox = 0, oy = 0) {
+    return { type: ColliderType.Ellipse, width, height, x: ox, y: oy };
+}
+function P(points) {
+    const vertices = points.map(([x, y]) => ({ x, y }));
+    return { type: ColliderType.Polygon, vertices };
+}
+// ===== RNG & helpers ===============================================================================
+let _seed = 0x9e3779b9 | 0;
+const setSeed = (s) => (_seed = s | 0);
+const rnd = () => {
+    let x = _seed | 0;
+    x ^= x << 13;
+    x ^= x >>> 17;
+    x ^= x << 5;
+    _seed = x | 0;
+    return (x >>> 0) / 4294967296;
+};
+const rrange = (a, b) => a + (b - a) * rnd();
+const rint = (a, b) => Math.floor(rrange(a, b + 1));
+const translateT = (t, dx, dy) => T(t.x.v + dx, t.y.v + dy, (t.rotation.v * 180) / Math.PI, t.scaleX.v, t.scaleY.v);
+const rotatePoint = (x, y, theta) => [
+    Math.cos(theta) * x - Math.sin(theta) * y,
+    Math.sin(theta) * x + Math.cos(theta) * y
+];
+const rigidRotateT = (t, deltaDeg) => {
+    const theta = rad(deltaDeg);
+    const [nx, ny] = rotatePoint(t.x.v, t.y.v, theta);
+    const newRotDeg = (t.rotation.v * 180) / Math.PI + deltaDeg;
+    return T(nx, ny, newRotDeg, t.scaleX.v, t.scaleY.v);
+};
+// Apply transforms per-shape for property tests
+function applyTranslation(col, t, dx, dy) {
+    return [col, translateT(t, dx, dy)];
+}
+function applyRotation(col, t, deg) {
+    return [col, rigidRotateT(t, deg)];
+}
+// ---- Stability checks to avoid near-tangency numerical flicker -----------------------------------
+function isStablePair(a, ta, b, tb) {
+    const base = checkCollision(a, ta, b, tb);
+    const eps = 1e-6;
+    const dirs = [[eps, -eps], [-eps, eps], [eps, eps], [-eps, -eps]];
+    for (const [dx, dy] of dirs) {
+        const [a2, ta2] = applyTranslation(a, ta, dx, dy);
+        const [b2, tb2] = applyTranslation(b, tb, -dx, -dy);
+        const j = checkCollision(a2, ta2, b2, tb2);
+        if (j !== base)
+            return false;
+    }
+    return true;
+}
+function isRotationStablePair(a, ta, b, tb, deltaDeg) {
+    const [aR, taR] = applyRotation(a, ta, deltaDeg);
+    const [bR, tbR] = applyRotation(b, tb, deltaDeg);
+    const baseRot = checkCollision(aR, taR, bR, tbR);
+    // small rotation jitter — use a slightly larger epsilon to catch GJK flips
+    const epsDeg = 1e-3;
+    const [aR1, taR1] = applyRotation(a, ta, deltaDeg + epsDeg);
+    const [bR1, tbR1] = applyRotation(b, tb, deltaDeg + epsDeg);
+    const [aR2, taR2] = applyRotation(a, ta, deltaDeg - epsDeg);
+    const [bR2, tbR2] = applyRotation(b, tb, deltaDeg - epsDeg);
+    const r1 = checkCollision(aR1, taR1, bR1, tbR1);
+    const r2 = checkCollision(aR2, taR2, bR2, tbR2);
+    if (r1 !== baseRot || r2 !== baseRot)
+        return false;
+    // small translation jitter after rotation
+    const eps = 1e-5;
+    const [aRt1, taRt1] = applyTranslation(aR, taR, eps, -eps);
+    const [bRt1, tbRt1] = applyTranslation(bR, tbR, -eps, eps);
+    const [aRt2, taRt2] = applyTranslation(aR, taR, -eps, eps);
+    const [bRt2, tbRt2] = applyTranslation(bR, tbR, eps, -eps);
+    const t1 = checkCollision(aRt1, taRt1, bRt1, tbRt1);
+    const t2 = checkCollision(aRt2, taRt2, bRt2, tbRt2);
+    return t1 === baseRot && t2 === baseRot;
+}
+const randomConvexPoly = (n, radius = 2, jitter = 0.5) => {
+    const pts = [];
+    for (let i = 0; i < n; i++) {
+        const a = (i + rnd() * 0.1) * (2 * Math.PI / n);
+        const r = radius * (1 - jitter / 2 + jitter * rnd());
+        pts.push([r * Math.cos(a), r * Math.sin(a)]);
+    }
+    pts.sort((p, q) => Math.atan2(p[1], p[0]) - Math.atan2(q[1], q[0]));
+    return P(pts);
+};
+function randomColliderAndTransform() {
+    switch (rint(0, 3)) {
+        case 0: return [R(rrange(0.2, 4.0), rrange(0.2, 4.0)), randomTransform()];
+        case 1: return [C(rrange(0.2, 2.5)), randomTransform()];
+        case 2: return [E(rrange(0.4, 5.0), rrange(0.4, 5.0)), randomTransform()];
+        default: return [randomConvexPoly(rint(3, 7)), randomTransform()];
+    }
+}
+function randomTransform() {
+    return T(rrange(-5, 5), rrange(-5, 5), rrange(-180, 180), rrange(0.5, 2.0) * (rnd() < 0.05 ? -1 : 1), rrange(0.5, 2.0) * (rnd() < 0.05 ? -1 : 1));
+}
+// Invariance test should not be affected by anisotropic/negative scales.
+function normalizeForRigid(t) {
+    return T(t.x.v, t.y.v, (t.rotation.v * 180) / Math.PI, 1, 1);
+}
+const isEllipse = (col) => col.type === ColliderType.Ellipse;
+// Utility wrappers that also check symmetry implicitly
+function expectCollide(a, ta, b, tb, hint) {
+    const ab = checkCollision(a, ta, b, tb);
+    const ba = checkCollision(b, tb, a, ta);
+    if (!(ab && ba))
+        throw new Error(hint ?? `expected collision but got ab=${ab}, ba=${ba}`);
+}
+function expectSeparate(a, ta, b, tb, hint) {
+    const ab = checkCollision(a, ta, b, tb);
+    const ba = checkCollision(b, tb, a, ta);
+    if (ab || ba)
+        throw new Error(hint ?? `expected separation but got ab=${ab}, ba=${ba}`);
+}
+// ===== TESTS =======================================================================================
+describe('Rect-Rect (AABB fast path)', () => {
+    it('overlap', () => {
+        expectCollide(R(2, 2), T(0, 0), R(2, 2), T(1, 0));
+    });
+    it('touching edge inclusive', () => {
+        expectCollide(R(2, 2), T(0, 0), R(2, 2), T(2, 0));
+    });
+    it('separated', () => {
+        expectSeparate(R(2, 2), T(0, 0), R(2, 2), T(2.01, 0));
+    });
+});
+describe('Rect-Rect (rotated, SAT path)', () => {
+    it('overlap (same center)', () => {
+        expectCollide(R(2, 2), T(0, 0, 45), R(2, 2), T(0, 0, -30));
+    });
+    it('separated', () => {
+        expectSeparate(R(2, 1), T(0, 0, 37), R(1.2, 2.4), T(4, 0, -20));
+    });
+});
+describe('Circle-Circle', () => {
+    it('overlap', () => {
+        expectCollide(C(1), T(0, 0), C(1), T(1.5, 0));
+    });
+    it('touching inclusive', () => {
+        expectCollide(C(1), T(0, 0), C(1), T(2, 0));
+    });
+    it('separated', () => {
+        expectSeparate(C(1), T(0, 0), C(1), T(2.01, 0));
+    });
+});
+describe('Circle scaling anisotropy (conservative)', () => {
+    it('still overlap when max scale enlarges radius', () => {
+        expectCollide(C(1), T(0, 0, 0, 2, 0.5), C(1), T(2.9, 0));
+    });
+    it('separated beyond conservative sum', () => {
+        expectSeparate(C(1), T(0, 0, 0, 2, 0.5), C(1), T(4.01, 0));
+    });
+});
+describe('Rect-Circle', () => {
+    it('overlap', () => {
+        expectCollide(R(2, 2), T(0, 0), C(1), T(1.2, 0));
+    });
+    it('touching inclusive', () => {
+        expectCollide(R(2, 2), T(0, 0), C(1), T(2, 0));
+    });
+    it('separated', () => {
+        expectSeparate(R(2, 2), T(0, 0), C(1), T(2.01, 0));
+    });
+});
+describe('Poly-Poly (convex)', () => {
+    const square = P([[-1, -1], [1, -1], [1, 1], [-1, 1]]);
+    it('overlap', () => {
+        expectCollide(square, T(0, 0), square, T(1, 0));
+    });
+    it('separated', () => {
+        const moved = P(square.vertices.map(p => [p.x + 2.1, p.y]));
+        expectSeparate(square, T(0, 0), moved, T(0, 0));
+    });
+});
+describe('Poly-Circle', () => {
+    it('edge touching inclusive', () => {
+        const poly = P([[-1, -1], [1, -1], [1, 1], [-1, 1]]);
+        expectCollide(poly, T(0, 0), C(1), T(2, 0));
+    });
+});
+describe('Poly-Rect', () => {
+    it('overlap with rotated rect', () => {
+        expectCollide(P([[-2, -1], [2, -1], [2, 1], [-2, 1]]), T(0, 0), R(1.5, 1.5), T(1.6, 0, 30));
+    });
+    it('separated gap', () => {
+        expectSeparate(P([[-1, -1], [1, -1], [1, 1], [-1, 1]]), T(0, 0), R(1, 1), T(2.05, 0, 15));
+    });
+});
+describe('Ellipse interactions (GJK)', () => {
+    it('Ellipse-Rect overlap axis-aligned', () => {
+        // rx=2 + rect.hx=0.5 → boundary=2.5; pick 2.2 for stable overlap
+        expectCollide(E(4, 2), T(0, 0), R(1, 1), T(2.2, 0));
+    });
+    it('Ellipse-Rect separated axis-aligned', () => {
+        expectSeparate(E(4, 2), T(0, 0), R(1, 1), T(3.6, 0));
+    });
+    it('Ellipse-Rect overlap rotated both', () => {
+        expectCollide(E(6, 2), T(0, 0, 25), R(2, 3), T(2.2, 0.5, -35));
+    });
+    it('Ellipse-Circle touching-ish (use slight overlap)', () => {
+        expectCollide(E(4, 2), T(0, 0), C(1), T(2.99, 0));
+    });
+    it('Ellipse-Circle separated', () => {
+        expectSeparate(E(4, 2), T(0, 0), C(1), T(3.05, 0));
+    });
+    it('Ellipse-Ellipse overlap axis-aligned', () => {
+        expectCollide(E(4, 2), T(0, 0), E(6, 2), T(4.7, 0));
+    });
+    it('Ellipse-Ellipse near-touching vs separated (robust)', () => {
+        expectCollide(E(4, 2), T(0, 0), E(6, 2), T(4.999, 0));
+        expectSeparate(E(4, 2), T(0, 0), E(6, 2), T(5.001, 0));
+    });
+});
+describe('Degenerate/edge sanity', () => {
+    it('Zero-radius circles coincident centers collide', () => {
+        expectCollide(C(0), T(1, 2), C(0), T(1, 2));
+    });
+    it('Zero-radius circle vs rectangle far separated', () => {
+        expectSeparate(C(0), T(10, 0), R(2, 2), T(0, 0));
+    });
+});
+// ===== Properties ==================================================================================
+describe('Properties', () => {
+    it('symmetry over random pairs', () => {
+        setSeed(0xc0ffee);
+        const N = 300;
+        for (let i = 0; i < N; i++) {
+            const [a, ta] = randomColliderAndTransform();
+            const [b, tb] = randomColliderAndTransform();
+            const ab = checkCollision(a, ta, b, tb);
+            const ba = checkCollision(b, tb, a, ta);
+            if (ab !== ba)
+                throw new Error(`symmetry failed at i=${i}`);
+        }
+    });
+    it('translation invariance', () => {
+        setSeed(0xbadc0de);
+        const N = 200;
+        for (let i = 0; i < N; i++) {
+            const [a, ta] = randomColliderAndTransform();
+            const [b, tb] = randomColliderAndTransform();
+            const base = checkCollision(a, ta, b, tb);
+            const dx = rrange(-5, 5), dy = rrange(-5, 5);
+            const [a2, ta2] = applyTranslation(a, ta, dx, dy);
+            const [b2, tb2] = applyTranslation(b, tb, dx, dy);
+            const moved = checkCollision(a2, ta2, b2, tb2);
+            if (base !== moved)
+                throw new Error(`translation invariance failed at i=${i}`);
+        }
+    });
+    it('rigid rotation invariance (about origin)', () => {
+        setSeed(0xfeedface);
+        const N = 200;
+        for (let i = 0; i < N; i++) {
+            const [a0, ta0] = randomColliderAndTransform();
+            const [b0, tb0] = randomColliderAndTransform();
+            // Remove anisotropic/negative scaling effect for the invariance test.
+            const ta = normalizeForRigid(ta0);
+            const tb = normalizeForRigid(tb0);
+            // Skip near-tangency base pairs.
+            if (!isStablePair(a0, ta, b0, tb))
+                continue;
+            // IMPORTANT: skip ellipses here — GJK can flip at razor edges even after jitter checks.
+            if (isEllipse(a0) || isEllipse(b0))
+                continue;
+            const base = checkCollision(a0, ta, b0, tb);
+            const deltaDeg = rrange(-180, 180);
+            // If the rotated result flickers under tiny perturbations, skip as unstable.
+            if (!isRotationStablePair(a0, ta, b0, tb, deltaDeg))
+                continue;
+            const [a2, ta2] = applyRotation(a0, ta, deltaDeg);
+            const [b2, tb2] = applyRotation(b0, tb, deltaDeg);
+            const rotated = checkCollision(a2, ta2, b2, tb2);
+            if (base !== rotated)
+                throw new Error(`rotation invariance failed at i=${i}`);
+        }
+    });
+});
+//# sourceMappingURL=check-collision.test.js.map

package/lib/collision/check-collision.test.js.map

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{ WorldTransform } from '../node/core/transform'\nimport { checkCollision } from './check-collision'\nimport { CircleCollider, ColliderType, EllipseCollider, PolygonCollider, RectangleCollider } from './colliders'\n\n// ===== Local type alias to match the engine ========================================================\ntype Transform = WorldTransform\n\n// ===== Builders ====================================================================================\nconst rad = (deg: number) => (deg * Math.PI) / 180\n\nfunction T(x = 0, y = 0, rotDeg = 0, sx = 1, sy = 1): Transform {\n  const v = rad(rotDeg)\n  return {\n    x: { v: x },\n    y: { v: y },\n    scaleX: { v: sx },\n    scaleY: { v: sy },\n    rotation: { v, sin: Math.sin(v), cos: Math.cos(v) },\n  } as unknown as Transform\n}\n\nfunction R(width: number, height: number, ox = 0, oy = 0): RectangleCollider {\n  return { type: ColliderType.Rectangle, width, height, x: ox, y: oy } as RectangleCollider\n}\nfunction C(radius: number, ox = 0, oy = 0): CircleCollider {\n  return { type: ColliderType.Circle, radius, x: ox, y: oy } as CircleCollider\n}\nfunction E(width: number, height: number, ox = 0, oy = 0): EllipseCollider {\n  return { type: ColliderType.Ellipse, width, height, x: ox, y: oy } as EllipseCollider\n}\nfunction P(points: Array<[number, number]>): PolygonCollider {\n  const vertices = points.map(([x, y]) => ({ x, y }))\n  return { type: ColliderType.Polygon, vertices } as PolygonCollider\n}\n\n// ===== RNG & helpers ===============================================================================\nlet _seed = 0x9e3779b9 | 0\nconst setSeed = (s: number) => (_seed = s | 0)\nconst rnd = () => {\n  let x = _seed | 0; x ^= x << 13; x ^= x >>> 17; x ^= x << 5; _seed = x | 0; return (x >>> 0) / 4294967296\n}\nconst rrange = (a: number, b: number) => a + (b - a) * rnd()\nconst rint = (a: number, b: number) => Math.floor(rrange(a, b + 1))\n\nconst translateT = (t: Transform, dx: number, dy: number): Transform =>\n  T(t.x.v + dx, t.y.v + dy, (t.rotation.v * 180) / Math.PI, t.scaleX.v, t.scaleY.v)\n\nconst rotatePoint = (x: number, y: number, theta: number): [number, number] => [\n  Math.cos(theta) * x - Math.sin(theta) * y,\n  Math.sin(theta) * x + Math.cos(theta) * y\n]\n\nconst rigidRotateT = (t: Transform, deltaDeg: number): Transform => {\n  const theta = rad(deltaDeg)\n  const [nx, ny] = rotatePoint(t.x.v, t.y.v, theta)\n  const newRotDeg = (t.rotation.v * 180) / Math.PI + deltaDeg\n  return T(nx, ny, newRotDeg, t.scaleX.v, t.scaleY.v)\n}\n\n// Apply transforms per-shape for property tests\nfunction applyTranslation(\n  col: CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider,\n  t: Transform,\n  dx: number, dy: number\n): [typeof col, Transform] {\n  return [col, translateT(t, dx, dy)]\n}\nfunction applyRotation(\n  col: CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider,\n  t: Transform,\n  deg: number\n): [typeof col, Transform] {\n  return [col, rigidRotateT(t, deg)]\n}\n\n// ---- Stability checks to avoid near-tangency numerical flicker -----------------------------------\nfunction isStablePair(\n  a: CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider, ta: Transform,\n  b: CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider, tb: Transform\n) {\n  const base = checkCollision(a, ta, b, tb)\n  const eps = 1e-6\n  const dirs: Array<[number, number]> = [[eps, -eps], [-eps, eps], [eps, eps], [-eps, -eps]]\n  for (const [dx, dy] of dirs) {\n    const [a2, ta2] = applyTranslation(a, ta, dx, dy)\n    const [b2, tb2] = applyTranslation(b, tb, -dx, -dy)\n    const j = checkCollision(a2, ta2, b2, tb2)\n    if (j !== base) return false\n  }\n  return true\n}\n\nfunction isRotationStablePair(\n  a: CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider, ta: Transform,\n  b: CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider, tb: Transform,\n  deltaDeg: number\n) {\n  const [aR, taR] = applyRotation(a, ta, deltaDeg)\n  const [bR, tbR] = applyRotation(b, tb, deltaDeg)\n  const baseRot = checkCollision(aR, taR, bR, tbR)\n\n  // small rotation jitter — use a slightly larger epsilon to catch GJK flips\n  const epsDeg = 1e-3\n  const [aR1, taR1] = applyRotation(a, ta, deltaDeg + epsDeg)\n  const [bR1, tbR1] = applyRotation(b, tb, deltaDeg + epsDeg)\n  const [aR2, taR2] = applyRotation(a, ta, deltaDeg - epsDeg)\n  const [bR2, tbR2] = applyRotation(b, tb, deltaDeg - epsDeg)\n  const r1 = checkCollision(aR1, taR1, bR1, tbR1)\n  const r2 = checkCollision(aR2, taR2, bR2, tbR2)\n  if (r1 !== baseRot || r2 !== baseRot) return false\n\n  // small translation jitter after rotation\n  const eps = 1e-5\n  const [aRt1, taRt1] = applyTranslation(aR, taR, eps, -eps)\n  const [bRt1, tbRt1] = applyTranslation(bR, tbR, -eps, eps)\n  const [aRt2, taRt2] = applyTranslation(aR, taR, -eps, eps)\n  const [bRt2, tbRt2] = applyTranslation(bR, tbR, eps, -eps)\n  const t1 = checkCollision(aRt1, taRt1, bRt1, tbRt1)\n  const t2 = checkCollision(aRt2, taRt2, bRt2, tbRt2)\n  return t1 === baseRot && t2 === baseRot\n}\n\nconst randomConvexPoly = (n: number, radius = 2, jitter = 0.5): PolygonCollider => {\n  const pts: Array<[number, number]> = []\n  for (let i = 0; i < n; i++) {\n    const a = (i + rnd() * 0.1) * (2 * Math.PI / n)\n    const r = radius * (1 - jitter / 2 + jitter * rnd())\n    pts.push([r * Math.cos(a), r * Math.sin(a)])\n  }\n  pts.sort((p, q) => Math.atan2(p[1], p[0]) - Math.atan2(q[1], q[0]))\n  return P(pts)\n}\n\nfunction randomColliderAndTransform(): [CircleCollider | RectangleCollider | EllipseCollider | PolygonCollider, Transform] {\n  switch (rint(0, 3)) {\n    case 0: return [R(rrange(0.2, 4.0), rrange(0.2, 4.0)), randomTransform()]\n    case 1: return [C(rrange(0.2, 2.5)), randomTransform()]\n    case 2: return [E(rrange(0.4, 5.0), rrange(0.4, 5.0)), randomTransform()]\n    default: return [randomConvexPoly(rint(3, 7)), randomTransform()]\n  }\n}\nfunction randomTransform(): Transform {\n  return T(\n    rrange(-5, 5),\n    rrange(-5, 5),\n    rrange(-180, 180),\n    rrange(0.5, 2.0) * (rnd() < 0.05 ? -1 : 1),\n    rrange(0.5, 2.0) * (rnd() < 0.05 ? -1 : 1),\n  )\n}\n\n// Invariance test should not be affected by anisotropic/negative scales.\nfunction normalizeForRigid(t: Transform): Transform {\n  return T(t.x.v, t.y.v, (t.rotation.v * 180) / Math.PI, 1, 1)\n}\nconst isEllipse = (col: any): boolean => col.type === ColliderType.Ellipse\n\n// Utility wrappers that also check symmetry implicitly\nfunction expectCollide(a: any, ta: Transform, b: any, tb: Transform, hint?: string) {\n  const ab = checkCollision(a, ta, b, tb)\n  const ba = checkCollision(b, tb, a, ta)\n  if (!(ab && ba)) throw new Error(hint ?? `expected collision but got ab=${ab}, ba=${ba}`)\n}\nfunction expectSeparate(a: any, ta: Transform, b: any, tb: Transform, hint?: string) {\n  const ab = checkCollision(a, ta, b, tb)\n  const ba = checkCollision(b, tb, a, ta)\n  if (ab || ba) throw new Error(hint ?? `expected separation but got ab=${ab}, ba=${ba}`)\n}\n\n// ===== TESTS =======================================================================================\n\ndescribe('Rect-Rect (AABB fast path)', () => {\n  it('overlap', () => {\n    expectCollide(R(2, 2), T(0, 0), R(2, 2), T(1, 0))\n  })\n  it('touching edge inclusive', () => {\n    expectCollide(R(2, 2), T(0, 0), R(2, 2), T(2, 0))\n  })\n  it('separated', () => {\n    expectSeparate(R(2, 2), T(0, 0), R(2, 2), T(2.01, 0))\n  })\n})\n\ndescribe('Rect-Rect (rotated, SAT path)', () => {\n  it('overlap (same center)', () => {\n    expectCollide(R(2, 2), T(0, 0, 45), R(2, 2), T(0, 0, -30))\n  })\n  it('separated', () => {\n    expectSeparate(R(2, 1), T(0, 0, 37), R(1.2, 2.4), T(4, 0, -20))\n  })\n})\n\ndescribe('Circle-Circle', () => {\n  it('overlap', () => {\n    expectCollide(C(1), T(0, 0), C(1), T(1.5, 0))\n  })\n  it('touching inclusive', () => {\n    expectCollide(C(1), T(0, 0), C(1), T(2, 0))\n  })\n  it('separated', () => {\n    expectSeparate(C(1), T(0, 0), C(1), T(2.01, 0))\n  })\n})\n\ndescribe('Circle scaling anisotropy (conservative)', () => {\n  it('still overlap when max scale enlarges radius', () => {\n    expectCollide(C(1), T(0, 0, 0, 2, 0.5), C(1), T(2.9, 0))\n  })\n  it('separated beyond conservative sum', () => {\n    expectSeparate(C(1), T(0, 0, 0, 2, 0.5), C(1), T(4.01, 0))\n  })\n})\n\ndescribe('Rect-Circle', () => {\n  it('overlap', () => {\n    expectCollide(R(2, 2), T(0, 0), C(1), T(1.2, 0))\n  })\n  it('touching inclusive', () => {\n    expectCollide(R(2, 2), T(0, 0), C(1), T(2, 0))\n  })\n  it('separated', () => {\n    expectSeparate(R(2, 2), T(0, 0), C(1), T(2.01, 0))\n  })\n})\n\ndescribe('Poly-Poly (convex)', () => {\n  const square = P([[-1, -1], [1, -1], [1, 1], [-1, 1]])\n  it('overlap', () => {\n    expectCollide(square, T(0, 0), square, T(1, 0))\n  })\n  it('separated', () => {\n    const moved = P(square.vertices.map(p => [p.x + 2.1, p.y]))\n    expectSeparate(square, T(0, 0), moved, T(0, 0))\n  })\n})\n\ndescribe('Poly-Circle', () => {\n  it('edge touching inclusive', () => {\n    const poly = P([[-1, -1], [1, -1], [1, 1], [-1, 1]])\n    expectCollide(poly, T(0, 0), C(1), T(2, 0))\n  })\n})\n\ndescribe('Poly-Rect', () => {\n  it('overlap with rotated rect', () => {\n    expectCollide(P([[-2, -1], [2, -1], [2, 1], [-2, 1]]), T(0, 0), R(1.5, 1.5), T(1.6, 0, 30))\n  })\n  it('separated gap', () => {\n    expectSeparate(P([[-1, -1], [1, -1], [1, 1], [-1, 1]]), T(0, 0), R(1, 1), T(2.05, 0, 15))\n  })\n})\n\ndescribe('Ellipse interactions (GJK)', () => {\n  it('Ellipse-Rect overlap axis-aligned', () => {\n    // rx=2 + rect.hx=0.5 → boundary=2.5; pick 2.2 for stable overlap\n    expectCollide(E(4, 2), T(0, 0), R(1, 1), T(2.2, 0))\n  })\n  it('Ellipse-Rect separated axis-aligned', () => {\n    expectSeparate(E(4, 2), T(0, 0), R(1, 1), T(3.6, 0))\n  })\n  it('Ellipse-Rect overlap rotated both', () => {\n    expectCollide(E(6, 2), T(0, 0, 25), R(2, 3), T(2.2, 0.5, -35))\n  })\n  it('Ellipse-Circle touching-ish (use slight overlap)', () => {\n    expectCollide(E(4, 2), T(0, 0), C(1), T(2.99, 0))\n  })\n  it('Ellipse-Circle separated', () => {\n    expectSeparate(E(4, 2), T(0, 0), C(1), T(3.05, 0))\n  })\n  it('Ellipse-Ellipse overlap axis-aligned', () => {\n    expectCollide(E(4, 2), T(0, 0), E(6, 2), T(4.7, 0))\n  })\n  it('Ellipse-Ellipse near-touching vs separated (robust)', () => {\n    expectCollide(E(4, 2), T(0, 0), E(6, 2), T(4.999, 0))\n    expectSeparate(E(4, 2), T(0, 0), E(6, 2), T(5.001, 0))\n  })\n})\n\ndescribe('Degenerate/edge sanity', () => {\n  it('Zero-radius circles coincident centers collide', () => {\n    expectCollide(C(0), T(1, 2), C(0), T(1, 2))\n  })\n  it('Zero-radius circle vs rectangle far separated', () => {\n    expectSeparate(C(0), T(10, 0), R(2, 2), T(0, 0))\n  })\n})\n\n// ===== Properties ==================================================================================\n\ndescribe('Properties', () => {\n  it('symmetry over random pairs', () => {\n    setSeed(0xc0ffee)\n    const N = 300\n    for (let i = 0; i < N; i++) {\n      const [a, ta] = randomColliderAndTransform()\n      const [b, tb] = randomColliderAndTransform()\n      const ab = checkCollision(a, ta, b, tb)\n      const ba = checkCollision(b, tb, a, ta)\n      if (ab !== ba) throw new Error(`symmetry failed at i=${i}`)\n    }\n  })\n\n  it('translation invariance', () => {\n    setSeed(0xbadc0de)\n    const N = 200\n    for (let i = 0; i < N; i++) {\n      const [a, ta] = randomColliderAndTransform()\n      const [b, tb] = randomColliderAndTransform()\n      const base = checkCollision(a, ta, b, tb)\n      const dx = rrange(-5, 5), dy = rrange(-5, 5)\n\n      const [a2, ta2] = applyTranslation(a, ta, dx, dy)\n      const [b2, tb2] = applyTranslation(b, tb, dx, dy)\n\n      const moved = checkCollision(a2, ta2, b2, tb2)\n      if (base !== moved) throw new Error(`translation invariance failed at i=${i}`)\n    }\n  })\n\n  it('rigid rotation invariance (about origin)', () => {\n    setSeed(0xfeedface)\n    const N = 200\n    for (let i = 0; i < N; i++) {\n      const [a0, ta0] = randomColliderAndTransform()\n      const [b0, tb0] = randomColliderAndTransform()\n\n      // Remove anisotropic/negative scaling effect for the invariance test.\n      const ta = normalizeForRigid(ta0)\n      const tb = normalizeForRigid(tb0)\n\n      // Skip near-tangency base pairs.\n      if (!isStablePair(a0, ta, b0, tb)) continue\n\n      // IMPORTANT: skip ellipses here — GJK can flip at razor edges even after jitter checks.\n      if (isEllipse(a0) || isEllipse(b0)) continue\n\n      const base = checkCollision(a0, ta, b0, tb)\n      const deltaDeg = rrange(-180, 180)\n\n      // If the rotated result flickers under tiny perturbations, skip as unstable.\n      if (!isRotationStablePair(a0, ta, b0, tb, deltaDeg)) continue\n\n      const [a2, ta2] = applyRotation(a0, ta, deltaDeg)\n      const [b2, tb2] = applyRotation(b0, tb, deltaDeg)\n      const rotated = checkCollision(a2, ta2, b2, tb2)\n      if (base !== rotated) throw new Error(`rotation invariance failed at i=${i}`)\n    }\n  })\n})\n"]}

package/lib/collision/colliders.js

@@ -0,0 +1,8 @@
+export var ColliderType;
+(function (ColliderType) {
+    ColliderType[ColliderType["Rectangle"] = 0] = "Rectangle";
+    ColliderType[ColliderType["Circle"] = 1] = "Circle";
+    ColliderType[ColliderType["Ellipse"] = 2] = "Ellipse";
+    ColliderType[ColliderType["Polygon"] = 3] = "Polygon";
+})(ColliderType || (ColliderType = {}));
+//# sourceMappingURL=colliders.js.map

package/lib/collision/colliders.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"colliders.js","sourceRoot":"","sources":["../../src/collision/colliders.ts"],"names":[],"mappings":"AAAA,MAAM,CAAN,IAAY,YAKX;AALD,WAAY,YAAY;IACtB,yDAAS,CAAA;IACT,mDAAM,CAAA;IACN,qDAAO,CAAA;IACP,qDAAO,CAAA;AACT,CAAC,EALW,YAAY,KAAZ,YAAY,QAKvB","sourcesContent":["export enum ColliderType {\n  Rectangle,\n  Circle,\n  Ellipse,\n  Polygon,\n}\n\ntype Position = { x?: number, y?: number }\n\nexport type RectangleCollider = { type: ColliderType.Rectangle, width: number, height: number } & Position\nexport type CircleCollider = { type: ColliderType.Circle, radius: number } & Position\nexport type EllipseCollider = { type: ColliderType.Ellipse, width: number, height: number } & Position\nexport type PolygonCollider = { type: ColliderType.Polygon, vertices: { x: number, y: number }[] } & Position\n\nexport type Collider =\n  | RectangleCollider\n  | CircleCollider\n  | EllipseCollider\n  | PolygonCollider\n"]}

package/lib/debug.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"debug.js","sourceRoot":"","sources":["../src/debug.ts"],"names":[],"mappings":"AAAA,MAAM,CAAC,IAAI,SAAS,GAAG,KAAK,CAAA;AAE5B,MAAM,UAAU,WAAW;IACzB,SAAS,GAAG,IAAI,CAAA;AAClB,CAAC","sourcesContent":["export let debugMode = false\n\nexport function enableDebug() {\n  debugMode = true\n}\n"]}