littlejsengine 1.16.1 → 1.17.1

package/src/engineMath.js

@@ -0,0 +1,1112 @@
+/**
+ * LittleJS Math Classes and Functions
+ * - General purpose math library
+ * - RandomGenerator - seeded random number generator
+ * - Vector2 - fast, simple, easy 2D vector class
+ * - Color - holds a rgba color with math functions
+ * @namespace Math
+ */
+
+'use strict';
+
+/** The value of PI
+ *  @type {number}
+ *  @default Math.PI
+ *  @memberof Math */
+const PI = Math.PI;
+
+/** Returns absolute value of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const abs = Math.abs;
+
+/** Returns floored value of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const floor = Math.floor;
+
+/** Returns ceiled value of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const ceil = Math.ceil;
+
+/** Returns rounded value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const round = Math.round;
+
+/** Returns lowest value passed in
+ *  @param {...number} values
+ *  @return {number}
+ *  @memberof Math */
+const min = Math.min;
+
+/** Returns highest value passed in
+ *  @param {...number} values
+ *  @return {number}
+ *  @memberof Math */
+const max = Math.max;
+
+/** Returns the sign of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const sign = Math.sign;
+
+/** Returns hypotenuse of values passed in
+ *  @param {...number} values
+ *  @return {number}
+ *  @memberof Math */
+const hypot = Math.hypot;
+
+/** Returns log2 of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const log2 = Math.log2;
+
+/** Returns sin of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const sin = Math.sin;
+
+/** Returns cos of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const cos = Math.cos;
+
+/** Returns tan of value passed in
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+const tan = Math.tan;
+
+/** Returns atan2 of values passed in
+ *  @param {number} y
+ *  @param {number} x
+ *  @return {number}
+ *  @memberof Math */
+const atan2 = Math.atan2;
+
+/** Returns first parm modulo the second param, but adjusted so negative numbers work as expected
+ *  @param {number} dividend
+ *  @param {number} [divisor]
+ *  @return {number}
+ *  @memberof Math */
+function mod(dividend, divisor=1) { return ((dividend % divisor) + divisor) % divisor; }
+
+/** Clamps the value between max and min
+ *  @param {number} value
+ *  @param {number} [min]
+ *  @param {number} [max]
+ *  @return {number}
+ *  @memberof Math */
+function clamp(value, min=0, max=1) { return value < min ? min : value > max ? max : value; }
+
+/** Returns what percentage the value is between valueA and valueB
+ *  @param {number} value
+ *  @param {number} valueA
+ *  @param {number} valueB
+ *  @return {number}
+ *  @memberof Math */
+function percent(value, valueA, valueB)
+{ return (valueB-=valueA) ? clamp((value-valueA)/valueB) : 0; }
+
+/** Linearly interpolates between values passed in using percent
+ *  @param {number} valueA
+ *  @param {number} valueB
+ *  @param {number} percent
+ *  @return {number}
+ *  @memberof Math */
+function lerp(valueA, valueB, percent)
+{ return valueA + clamp(percent) * (valueB-valueA); }
+
+/** Gets percent between percentA and percentB and linearly interpolates between lerpA and lerpB
+ *  A shortcut for lerp(lerpA, lerpB, percent(value, percentA, percentB))
+ *  @param {number} value
+ *  @param {number} percentA
+ *  @param {number} percentB
+ *  @param {number} lerpA
+ *  @param {number} lerpB
+ *  @return {number}
+ *  @memberof Math */
+function percentLerp(value, percentA, percentB, lerpA, lerpB)
+{ return lerp(lerpA, lerpB, percent(value, percentA, percentB)); }
+
+/** Returns signed wrapped distance between the two values passed in
+ *  @param {number} valueA
+ *  @param {number} valueB
+ *  @param {number} [wrapSize]
+ *  @return {number}
+ *  @memberof Math */
+function distanceWrap(valueA, valueB, wrapSize=1)
+{ const d = (valueA - valueB) % wrapSize; return d*2 % wrapSize - d; }
+
+/** Linearly interpolates between values passed in with wrapping
+ *  @param {number} valueA
+ *  @param {number} valueB
+ *  @param {number} percent
+ *  @param {number} [wrapSize]
+ *  @return {number}
+ *  @memberof Math */
+function lerpWrap(valueA, valueB, percent, wrapSize=1)
+{ return valueA + clamp(percent) * distanceWrap(valueB, valueA, wrapSize); }
+
+/** Returns signed wrapped distance between the two angles passed in
+ *  @param {number} angleA
+ *  @param {number} angleB
+ *  @return {number}
+ *  @memberof Math */
+function distanceAngle(angleA, angleB) { return distanceWrap(angleA, angleB, 2*PI); }
+
+/** Linearly interpolates between the angles passed in with wrapping
+ *  @param {number} angleA
+ *  @param {number} angleB
+ *  @param {number} percent
+ *  @return {number}
+ *  @memberof Math */
+function lerpAngle(angleA, angleB, percent) { return lerpWrap(angleA, angleB, percent, 2*PI); }
+
+/** Applies smoothstep function to the percentage value
+ *  @param {number} percent
+ *  @return {number}
+ *  @memberof Math */
+function smoothStep(percent) { return percent * percent * (3 - 2 * percent); }
+
+/** Checks if the value passed in is a power of two
+ *  @param {number} value
+ *  @return {boolean}
+ *  @memberof Math */
+function isPowerOfTwo(value) { return !(value & (value - 1)); }
+
+/** Returns the nearest power of two not less than the value
+ *  @param {number} value
+ *  @return {number}
+ *  @memberof Math */
+function nearestPowerOfTwo(value) { return 2**ceil(log2(value)); }
+
+/** Returns true if two axis aligned bounding boxes are overlapping
+ *  this can be used for simple collision detection between objects
+ *  @param {Vector2} posA - Center of box A
+ *  @param {Vector2} sizeA - Size of box A
+ *  @param {Vector2} posB - Center of box B
+ *  @param {Vector2} [sizeB=vec2()] - Size of box B, uses a point if undefined
+ *  @return {boolean} - True if overlapping
+ *  @memberof Math */
+function isOverlapping(posA, sizeA, posB, sizeB=vec2())
+{
+    const dx = (posA.x - posB.x)*2;
+    const dy = (posA.y - posB.y)*2;
+    const sx = sizeA.x + sizeB.x;
+    const sy = sizeA.y + sizeB.y;
+    return dx >= -sx && dx < sx && dy >= -sy && dy < sy;
+}
+
+/** Returns true if a line segment is intersecting an axis aligned box
+ *  @param {Vector2} start - Start of raycast
+ *  @param {Vector2} end   - End of raycast
+ *  @param {Vector2} pos   - Center of box
+ *  @param {Vector2} size  - Size of box
+ *  @return {boolean}      - True if intersecting
+ *  @memberof Math */
+function isIntersecting(start, end, pos, size)
+{
+    // Liang-Barsky algorithm
+    const boxMin = pos.subtract(size.scale(.5));
+    const boxMax = boxMin.add(size);
+    const delta = end.subtract(start);
+    const a = start.subtract(boxMin);
+    const b = start.subtract(boxMax);
+    const p = [-delta.x, delta.x, -delta.y, delta.y];
+    const q = [a.x, -b.x, a.y, -b.y];
+    let tMin = 0, tMax = 1;
+    for (let i = 4; i--;)
+    {
+        if (p[i])
+        {
+            const t = q[i] / p[i];
+            if (p[i] < 0)
+            {
+                if (t > tMax) return false;
+                tMin = max(t, tMin);
+            }
+            else
+            {
+                if (t < tMin) return false;
+                tMax = min(t, tMax);
+            }
+        }
+        else if (q[i] < 0)
+            return false;
+    }
+
+    return true;
+}
+
+/** Returns an oscillating wave between 0 and amplitude with frequency of 1 Hz by default
+ *  @param {number} [frequency] - Frequency of the wave in Hz
+ *  @param {number} [amplitude] - Amplitude (max height) of the wave
+ *  @param {number} [t=time]    - Value to use for time of the wave
+ *  @param {number} [offset]    - Value to use for time offset of the wave
+ *  @return {number}            - Value waving between 0 and amplitude
+ *  @memberof Math */
+function wave(frequency=1, amplitude=1, t=time, offset=0)
+{ return amplitude/2 * (1 - cos(offset + t*frequency*2*PI)); }
+
+/**
+ * Check if object is a valid number, not NaN or undefined, but it may be infinite
+ * @param {any} n
+ * @return {boolean}
+ * @memberof Math */
+function isNumber(n) { return typeof n === 'number' && !isNaN(n); }
+
+/**
+ * Check if object is a valid string or can be converted to one
+ * @param {any} s
+ * @return {boolean}
+ * @memberof Math */
+function isString(s) { return s != null && typeof s?.toString() === 'string'; }
+
+/**
+ * Check if object is an array
+ * @param {any} a
+ * @return {boolean}
+ * @memberof Math */
+function isArray(a) { return Array.isArray(a); }
+
+/**
+ * @callback LineTestFunction - Checks if a position is colliding
+ * @param {Vector2} pos
+ * @memberof Draw
+ */
+
+/**
+ * Casts a ray and returns position of the first collision found, or undefined if none are found
+ * @param {Vector2} posStart
+ * @param {Vector2} posEnd
+ * @param {LineTestFunction} testFunction - Check if colliding
+ * @param {Vector2} [normal] - Optional vector to store the normal
+ * @return {Vector2|undefined} - Position of the collision or undefined if none found
+ * @memberof Math */
+function lineTest(posStart, posEnd, testFunction, normal)
+{
+    ASSERT(isVector2(posStart), 'posStart must be a vec2');
+    ASSERT(isVector2(posEnd), 'posEnd must be a vec2');
+    ASSERT(typeof testFunction === 'function', 'testFunction must be a function');
+    ASSERT(!normal || isVector2(normal), 'normal must be a vec2');
+
+    // get ray direction and length
+    const dx = posEnd.x - posStart.x;
+    const dy = posEnd.y - posStart.y;
+    const totalLength = hypot(dx, dy);
+    if (!totalLength) return;
+
+    // current integer cell we are in
+    const pos = posStart.floor();
+
+    // normalize ray direction
+    const dirX = dx / totalLength;
+    const dirY = dy / totalLength;
+
+    // step direction in grid
+    const stepX = sign(dirX);
+    const stepY = sign(dirY);
+
+    // distance along the ray to cross one full cell in X or Y
+    const tDeltaX = dirX ? abs(1 / dirX) : Infinity;
+    const tDeltaY = dirY ? abs(1 / dirY) : Infinity;
+
+    // distance along the ray from start to the first grid boundary
+    const nextGridX = stepX > 0 ? pos.x + 1 : pos.x;
+    const nextGridY = stepY > 0 ? pos.y + 1 : pos.y;
+    const tMaxX = dirX ? (nextGridX - posStart.x) / dirX : Infinity;
+    const tMaxY = dirY ? (nextGridY - posStart.y) / dirY : Infinity;
+
+    // use line drawing algorithm to test for collisions
+    let t = 0, tX = tMaxX, tY = tMaxY, wasX = tDeltaX < tDeltaY;
+    while (t < totalLength)
+    {
+        if (testFunction(pos))
+        {
+            // set hit point
+            const hitPos = vec2(posStart.x + dirX*t, posStart.y + dirY*t);
+
+            // move inside of tile if on positive edge
+            const e = 1e-9;
+            if (wasX)
+            {
+                if (stepX < 0)
+                    hitPos.x -= e;
+            }
+            if (stepY < 0)
+                hitPos.y -= e;
+
+            // set normal
+            if (normal)
+                wasX ? normal.set(-stepX,0) : normal.set(0,-stepY);
+            return hitPos;
+        }
+
+        // advance to the next grid boundary
+        if (wasX = tX < tY)
+        {
+            pos.x += stepX;
+            t = tX;
+            tX += tDeltaX;
+        }
+        else
+        {
+            pos.y += stepY;
+            t = tY;
+            tY += tDeltaY;
+        }
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+/** Random global functions
+ *  @namespace Random */
+
+/** Returns a random value between the two values passed in
+ *  @param {number} [valueA]
+ *  @param {number} [valueB]
+ *  @return {number}
+ *  @memberof Random */
+function rand(valueA=1, valueB=0) { return valueB + Math.random() * (valueA-valueB); }
+
+/** Returns a floored random value between the two values passed in
+ *  The upper bound is exclusive. (If 2 is passed in, result will be 0 or 1)
+ *  @param {number} valueA
+ *  @param {number} [valueB]
+ *  @return {number}
+ *  @memberof Random */
+function randInt(valueA, valueB=0) { return floor(rand(valueA,valueB)); }
+
+/** Randomly returns true or false given the chance of true passed in
+ *  @param {number} [chance]
+ *  @return {boolean}
+ *  @memberof Random */
+function randBool(chance=.5) { return rand() < chance; }
+
+/** Randomly returns either -1 or 1
+ *  @return {number}
+ *  @memberof Random */
+function randSign() { return randInt(2) * 2 - 1; }
+
+/** Returns a random Vector2 with the passed in length
+ *  @param {number} [length]
+ *  @return {Vector2}
+ *  @memberof Random */
+function randVec2(length=1) { return new Vector2().setAngle(rand(2*PI), length); }
+
+/** Returns a random Vector2 within a circular shape
+ *  @param {number} [radius]
+ *  @param {number} [minRadius]
+ *  @return {Vector2}
+ *  @memberof Random */
+function randInCircle(radius=1, minRadius=0)
+{ return radius > 0 ? randVec2(radius * rand(minRadius / radius, 1)**.5) : new Vector2; }
+
+/** Returns a random color between the two passed in colors, combine components if linear
+ *  @param {Color}   [colorA=WHITE]
+ *  @param {Color}   [colorB=BLACK]
+ *  @param {boolean} [linear]
+ *  @return {Color}
+ *  @memberof Random */
+function randColor(colorA=new Color, colorB=new Color(0,0,0,1), linear=false)
+{
+    return linear ? colorA.lerp(colorB, rand()) :
+        new Color(rand(colorA.r,colorB.r), rand(colorA.g,colorB.g), rand(colorA.b,colorB.b), rand(colorA.a,colorB.a));
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Seeded random number generator
+ * - Can be used to create a deterministic random number sequence
+ * @memberof Engine
+ * @example
+ * let r = new RandomGenerator(123); // random number generator with seed 123
+ * let a = r.float();                // random value between 0 and 1
+ * let b = r.int(10);                // random integer between 0 and 9
+ * r.seed = 123;                     // reset the seed
+ * let c = r.float();                // the same value as a
+ */
+class RandomGenerator
+{
+    /** Create a random number generator with the seed passed in
+     *  @param {number} [seed] - Starting seed or engine default seed */
+    constructor(seed = 123456789)
+    {
+        /** @property {number} - random seed */
+        this.seed = seed;
+    }
+
+    /** Returns a seeded random value between the two values passed in
+    *  @param {number} [valueA]
+    *  @param {number} [valueB]
+    *  @return {number} */
+    float(valueA=1, valueB=0)
+    {
+        // xorshift algorithm
+        this.seed ^= this.seed << 13;
+        this.seed ^= this.seed >>> 17;
+        this.seed ^= this.seed << 5;
+        return valueB + (valueA - valueB) * ((this.seed >>> 0) / 2**32);
+    }
+
+    /** Returns a floored seeded random value the two values passed in
+    *  @param {number} valueA
+    *  @param {number} [valueB]
+    *  @return {number} */
+    int(valueA, valueB=0) { return floor(this.float(valueA, valueB)); }
+
+    /** Randomly returns true or false given the chance of true passed in
+    *  @param {number} [chance]
+    *  @return {boolean} */
+    bool(chance=.5) { return this.float() < chance; }
+
+    /** Randomly returns either -1 or 1 deterministically
+    *  @return {number} */
+    sign() { return this.float() > .5 ? 1 : -1; }
+
+    /** Returns a seeded random value between the two values passed in with a random sign
+    *  @param {number} [valueA]
+    *  @param {number} [valueB]
+    *  @return {number} */
+    floatSign(valueA=1, valueB=0) { return this.float(valueA, valueB) * this.sign(); }
+
+    /** Returns a random angle between -PI and PI
+    *  @return {number} */
+    angle() { return this.float(-PI, PI); }
+
+    /** Returns a seeded vec2 with size between the two values passed in
+    *  @param {number} valueA
+    *  @param {number} [valueB]
+    *  @return {Vector2} */
+    vec2(valueA=1, valueB=0)
+    { return vec2(this.float(valueA, valueB), this.float(valueA, valueB)); }
+
+    /** Returns a random color between the two passed in colors, combine components if linear
+    *  @param {Color}   [colorA=WHITE]
+    *  @param {Color}   [colorB=BLACK]
+    *  @param {boolean} [linear]
+    *  @return {Color} */
+    randColor(colorA=new Color, colorB=new Color(0,0,0,1), linear=false)
+    {
+        return linear ? colorA.lerp(colorB, this.float()) :
+            new Color(
+                this.float(colorA.r,colorB.r), 
+                this.float(colorA.g,colorB.g), 
+                this.float(colorA.b,colorB.b), 
+                this.float(colorA.a,colorB.a));
+    }
+
+    /** Returns a new color that has each component randomly adjusted
+     * @param {Color} color
+     * @param {number} [amount]
+     * @param {number} [alphaAmount]
+     * @return {Color} */
+    mutateColor(color, amount=.05, alphaAmount=0)
+    {
+        ASSERT_NUMBER_VALID(amount);
+        ASSERT_NUMBER_VALID(alphaAmount);
+        return new Color
+        (
+            color.r + this.float(amount, -amount),
+            color.g + this.float(amount, -amount),
+            color.b + this.float(amount, -amount),
+            color.a + this.float(alphaAmount, -alphaAmount)
+        ).clamp();
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Create a 2d vector, can take 1 or 2 scalar values
+ * @param {number} [x]
+ * @param {number} [y] - if y is undefined, x is used for both
+ * @return {Vector2}
+ * @example
+ * let a = vec2(0, 1); // vector with coordinates (0, 1)
+ * a = vec2(5);        // set a to (5, 5)
+ * b = vec2();         // set b to (0, 0)
+ * @memberof Math */
+function vec2(x=0, y) { return new Vector2(x, y ?? x); }
+
+/**
+ * Check if object is a valid Vector2
+ * @param {any} v
+ * @return {boolean}
+ * @memberof Math */
+function isVector2(v) { return v instanceof Vector2 && v.isValid(); }
+
+// vector2 asserts
+function ASSERT_VECTOR2_VALID(v) { ASSERT(isVector2(v), 'Vector2 is invalid.', v); }
+function ASSERT_NUMBER_VALID(n) { ASSERT(isNumber(n), 'Number is invalid.', n); }
+function ASSERT_VECTOR2_NORMAL(v)
+{
+    ASSERT_VECTOR2_VALID(v);
+    ASSERT(abs(v.lengthSquared()-1) < .01, 'Vector2 is not normal.', v);
+}
+
+/**
+ * 2D Vector object with vector math library
+ * - Functions do not change this so they can be chained together
+ * @memberof Engine
+ * @example
+ * let a = new Vector2(2, 3); // vector with coordinates (2, 3)
+ * let b = new Vector2;       // vector with coordinates (0, 0)
+ * let c = vec2(4, 2);        // use the vec2 function to make a Vector2
+ * let d = a.add(b).scale(5); // operators can be chained
+ */
+class Vector2
+{
+    /** Create a 2D vector with the x and y passed in, can also be created with vec2()
+     *  @param {number} [x] - X axis location
+     *  @param {number} [y] - Y axis location */
+    constructor(x=0, y=0)
+    {
+        /** @property {number} - X axis location */
+        this.x = x;
+        /** @property {number} - Y axis location */
+        this.y = y;
+        ASSERT(this.isValid(), 'Constructed Vector2 is invalid.', this);
+    }
+
+    /** Sets values of this vector and returns self
+     *  @param {number} [x] - X axis location
+     *  @param {number} [y] - Y axis location
+     *  @return {Vector2} */
+    set(x=0, y=0)
+    {
+        this.x = x;
+        this.y = y;
+        ASSERT_VECTOR2_VALID(this);
+        return this;
+    }
+
+    /** Sets this vector from another vector and returns self
+     *  @param {Vector2} v - other vector
+     *  @return {Vector2} */
+    setFrom(v) { return this.set(v.x, v.y); }
+
+    /** Returns a new vector that is a copy of this
+     *  @return {Vector2} */
+    copy() { return new Vector2(this.x, this.y); }
+
+    /** Returns a copy of this vector plus the vector passed in
+     *  @param {Vector2} v - other vector
+     *  @return {Vector2} */
+    add(v) { return new Vector2(this.x + v.x, this.y + v.y);}
+
+    /** Returns a copy of this vector minus the vector passed in
+     *  @param {Vector2} v - other vector
+     *  @return {Vector2} */
+    subtract(v) { return new Vector2(this.x - v.x, this.y - v.y); }
+
+    /** Returns a copy of this vector times the vector passed in
+     *  @param {Vector2} v - other vector
+     *  @return {Vector2} */
+    multiply(v) { return new Vector2(this.x * v.x, this.y * v.y); }
+
+    /** Returns a copy of this vector divided by the vector passed in
+     *  @param {Vector2} v - other vector
+     *  @return {Vector2} */
+    divide(v) { return new Vector2(this.x / v.x, this.y / v.y); }
+
+    /** Returns a copy of this vector scaled by the vector passed in
+     *  @param {number} s - scale
+     *  @return {Vector2} */
+    scale(s) { return new Vector2(this.x * s, this.y * s); }
+
+    /** Returns the length of this vector
+     * @return {number} */
+    length() { return this.lengthSquared()**.5; }
+
+    /** Returns the length of this vector squared
+     * @return {number} */
+    lengthSquared() { return this.x**2 + this.y**2; }
+
+    /** Returns the distance from this vector to vector passed in
+     * @param {Vector2} v - other vector
+     * @return {number} */
+    distance(v) { return this.distanceSquared(v)**.5; }
+
+    /** Returns the distance squared from this vector to vector passed in
+     * @param {Vector2} v - other vector
+     * @return {number} */
+    distanceSquared(v) { return (this.x - v.x)**2 + (this.y - v.y)**2; }
+
+    /** Returns a new vector in same direction as this one with the length passed in
+     * @param {number} [length]
+     * @return {Vector2} */
+    normalize(length=1)
+    {
+        const l = this.length();
+        return l ? this.scale(length/l) : new Vector2(0, length);
+    }
+
+    /** Returns a new vector clamped to length passed in
+     * @param {number} [length]
+     * @return {Vector2} */
+    clampLength(length=1)
+    {
+        const l = this.length();
+        return l > length ? this.scale(length/l) : this.copy();
+    }
+
+    /** Returns the dot product of this and the vector passed in
+     * @param {Vector2} v - other vector
+     * @return {number} */
+    dot(v) { return this.x*v.x + this.y*v.y; }
+
+    /** Returns the cross product of this and the vector passed in
+     * @param {Vector2} v - other vector
+     * @return {number} */
+    cross(v) { return this.x*v.y - this.y*v.x; }
+
+    /** Returns a copy this vector reflected by the surface normal
+     * @param {Vector2} normal - surface normal (should be normalized)
+     * @param {number} restitution - how much to bounce, 1 is perfect bounce, 0 is no bounce
+     * @return {Vector2} */
+    reflect(normal, restitution=1)
+    { return this.subtract(normal.scale((1+restitution)*this.dot(normal))); }
+
+    /** Returns the clockwise angle of this vector, up is angle 0
+     * @return {number} */
+    angle() { return atan2(this.x, this.y); }
+
+    /** Sets this vector with clockwise angle and length passed in
+     * @param {number} [angle]
+     * @param {number} [length]
+     * @return {Vector2} */
+    setAngle(angle=0, length=1)
+    {
+        ASSERT_NUMBER_VALID(angle);
+        ASSERT_NUMBER_VALID(length);
+        this.x = length*sin(angle);
+        this.y = length*cos(angle);
+        return this;
+    }
+
+    /** Returns copy of this vector rotated by the clockwise angle passed in
+     * @param {number} angle
+     * @return {Vector2} */
+    rotate(angle)
+    {
+        ASSERT_NUMBER_VALID(angle);
+        const c = cos(-angle), s = sin(-angle);
+        return new Vector2(this.x*c - this.y*s, this.x*s + this.y*c);
+    }
+
+    /** Sets this this vector to point in the specified integer direction (0-3), corresponding to multiples of 90 degree rotation
+     * @param {number} [direction]
+     * @param {number} [length]
+     * @return {Vector2} */
+    setDirection(direction, length=1)
+    {
+        ASSERT_NUMBER_VALID(direction);
+        ASSERT_NUMBER_VALID(length);
+        direction = mod(direction, 4);
+        ASSERT(direction===0 || direction===1 || direction===2 || direction===3,
+            'Vector2.setDirection() direction must be an integer between 0 and 3.');
+        
+        this.x = direction%2 ? direction-1 ? -length : length : 0;
+        this.y = direction%2 ? 0 : direction ? -length : length;
+        return this;
+    }
+
+    /** Returns the integer direction of this vector, corresponding to multiples of 90 degree rotation (0-3)
+     * @return {number} */
+    direction()
+    { return abs(this.x) > abs(this.y) ? this.x < 0 ? 3 : 1 : this.y < 0 ? 2 : 0; }
+
+    /** Returns a copy of this vector with absolute values
+     * @return {Vector2} */
+    abs() { return new Vector2(abs(this.x), abs(this.y)); }
+
+    /** Returns a copy of this vector with each axis floored
+     * @return {Vector2} */
+    floor() { return new Vector2(floor(this.x), floor(this.y)); }
+
+    /** Returns new vec2 with modded values
+    *  @param {number} [divisor]
+    *  @return {Vector2} */
+    mod(divisor=1)
+    { return new Vector2(mod(this.x, divisor), mod(this.y, divisor)); }
+
+    /** Returns the area this vector covers as a rectangle
+     * @return {number} */
+    area() { return abs(this.x * this.y); }
+
+    /** Returns a new vector that is p percent between this and the vector passed in
+     * @param {Vector2} v - other vector
+     * @param {number}  percent
+     * @return {Vector2} */
+    lerp(v, percent)
+    {
+        ASSERT_VECTOR2_VALID(v);
+        ASSERT_NUMBER_VALID(percent);
+        const p = clamp(percent);
+        return new Vector2(v.x*p + this.x*(1-p), v.y*p + this.y*(1-p));
+    }
+
+    /** Returns true if this vector is within the bounds of an array size passed in
+     * @param {Vector2} arraySize
+     * @return {boolean} */
+    arrayCheck(arraySize)
+    { return this.x >= 0 && this.y >= 0 && this.x < arraySize.x && this.y < arraySize.y; }
+
+    /** Returns this vector expressed as a string
+     * @param {number} digits - precision to display
+     * @return {string} */
+    toString(digits=3)
+    {
+        ASSERT_NUMBER_VALID(digits);
+        if (this.isValid())
+            return `(${(this.x<0?'':' ') + this.x.toFixed(digits)},${(this.y<0?'':' ') + this.y.toFixed(digits)} )`;
+        else
+            return `(${this.x}, ${this.y})`;
+    }
+
+    /** Checks if this is a valid vector
+     * @return {boolean} */
+    isValid() { return isNumber(this.x) && isNumber(this.y); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Create a color object with RGBA values, white by default
+ * @param {number} [r=1] - red
+ * @param {number} [g=1] - green
+ * @param {number} [b=1] - blue
+ * @param {number} [a=1] - alpha
+ * @return {Color}
+ * @memberof Math
+ */
+function rgb(r, g, b, a) { return new Color(r, g, b, a); }
+
+/**
+ * Create a color object with HSLA values, white by default
+ * @param {number} [h=0] - hue
+ * @param {number} [s=0] - saturation
+ * @param {number} [l=1] - lightness
+ * @param {number} [a=1] - alpha
+ * @return {Color}
+ * @memberof Math */
+function hsl(h, s, l, a) { return new Color().setHSLA(h, s, l, a); }
+
+/**
+ * Check if object is a valid Color
+ * @param {any} c
+ * @return {boolean}
+ * @memberof Math */
+function isColor(c) { return c instanceof Color && c.isValid(); }
+
+// color asserts
+function ASSERT_COLOR_VALID(c) { ASSERT(isColor(c), 'Color is invalid.', c); }
+
+/**
+ * Color object (red, green, blue, alpha) with some helpful functions
+ * @memberof Engine
+ * @example
+ * let a = new Color;              // white
+ * let b = new Color(1, 0, 0);     // red
+ * let c = new Color(0, 0, 0, 0);  // transparent black
+ * let d = rgb(0, 0, 1);         // blue using rgb color
+ * let e = hsl(.3, 1, .5);         // green using hsl color
+ */
+class Color
+{
+    /** Create a color with the rgba components passed in, white by default
+     *  @param {number} [r] - red
+     *  @param {number} [g] - green
+     *  @param {number} [b] - blue
+     *  @param {number} [a] - alpha*/
+    constructor(r=1, g=1, b=1, a=1)
+    {
+        /** @property {number} - Red */
+        this.r = r;
+        /** @property {number} - Green */
+        this.g = g;
+        /** @property {number} - Blue */
+        this.b = b;
+        /** @property {number} - Alpha */
+        this.a = a;
+        ASSERT(this.isValid(), 'Constructed Color is invalid.', this);
+    }
+
+    /** Sets values of this color and returns self
+     *  @param {number} [r] - red
+     *  @param {number} [g] - green
+     *  @param {number} [b] - blue
+     *  @param {number} [a] - alpha
+     *  @return {Color} */
+    set(r=1, g=1, b=1, a=1)
+    {
+        this.r = r;
+        this.g = g;
+        this.b = b;
+        this.a = a;
+        ASSERT_COLOR_VALID(this);
+        return this;
+    }
+
+    /** Sets this color from another color and returns self
+     * @param {Color} c - other color
+     * @return {Color} */
+    setFrom(c) { return this.set(c.r, c.g, c.b, c.a); }
+
+    /** Returns a new color that is a copy of this
+     * @return {Color} */
+    copy() { return new Color(this.r, this.g, this.b, this.a); }
+
+    /** Returns a copy of this color plus the color passed in
+     * @param {Color} c - other color
+     * @return {Color} */
+    add(c) { return new Color(this.r+c.r, this.g+c.g, this.b+c.b, this.a+c.a); }
+
+    /** Returns a copy of this color minus the color passed in
+     * @param {Color} c - other color
+     * @return {Color} */
+    subtract(c) { return new Color(this.r-c.r, this.g-c.g, this.b-c.b, this.a-c.a); }
+
+    /** Returns a copy of this color times the color passed in
+     * @param {Color} c - other color
+     * @return {Color} */
+    multiply(c) { return new Color(this.r*c.r, this.g*c.g, this.b*c.b, this.a*c.a); }
+
+    /** Returns a copy of this color divided by the color passed in
+     * @param {Color} c - other color
+     * @return {Color} */
+    divide(c) { return new Color(this.r/c.r, this.g/c.g, this.b/c.b, this.a/c.a); }
+
+    /** Returns a copy of this color scaled by the value passed in, alpha can be scaled separately
+     * @param {number} scale
+     * @param {number} [alphaScale=scale]
+     * @return {Color} */
+    scale(scale, alphaScale=scale)
+    { return new Color(this.r*scale, this.g*scale, this.b*scale, this.a*alphaScale); }
+
+    /** Returns a copy of this color clamped to the valid range between 0 and 1
+     * @return {Color} */
+    clamp() { return new Color(clamp(this.r), clamp(this.g), clamp(this.b), clamp(this.a)); }
+
+    /** Returns a new color that is p percent between this and the color passed in
+     * @param {Color}  c - other color
+     * @param {number} percent
+     * @return {Color} */
+    lerp(c, percent)
+    {
+        ASSERT_COLOR_VALID(c);
+        ASSERT_NUMBER_VALID(percent);
+        const p = clamp(percent);
+        return new Color(
+            c.r*p + this.r*(1-p),
+            c.g*p + this.g*(1-p),
+            c.b*p + this.b*(1-p),
+            c.a*p + this.a*(1-p));
+    }
+
+    /** Sets this color given a hue, saturation, lightness, and alpha
+     * @param {number} [h] - hue
+     * @param {number} [s] - saturation
+     * @param {number} [l] - lightness
+     * @param {number} [a] - alpha
+     * @return {Color} */
+    setHSLA(h=0, s=0, l=1, a=1)
+    {
+        h = mod(h,1);
+        s = clamp(s);
+        l = clamp(l);
+        const q = l < .5 ? l*(1+s) : l+s-l*s, p = 2*l-q,
+            f = (p, q, t)=>
+                (t = mod(t,1))*6 < 1 ? p+(q-p)*6*t :
+                t*2 < 1 ? q :
+                t*3 < 2 ? p+(q-p)*(4-t*6) : p;
+        this.r = f(p, q, h + 1/3);
+        this.g = f(p, q, h);
+        this.b = f(p, q, h - 1/3);
+        this.a = a;
+        ASSERT_COLOR_VALID(this);
+        return this;
+    }
+
+    /** Returns this color expressed in hsla format
+     * @return {Array<number>} */
+    HSLA()
+    {
+        const r = clamp(this.r);
+        const g = clamp(this.g);
+        const b = clamp(this.b);
+        const a = clamp(this.a);
+        const maxC = max(r, g, b);
+        const minC = min(r, g, b);
+        const l = (maxC + minC) / 2;
+        let h = 0, s = 0;
+        if (maxC !== minC)
+        {
+            let d = maxC - minC;
+            s = l > .5 ? d / (2 - maxC - minC) : d / (maxC + minC);
+            if (r === maxC)
+                h = (g - b) / d + (g < b ? 6 : 0);
+            else if (g === maxC)
+                h = (b - r) / d + 2;
+            else if (b === maxC)
+                h =  (r - g) / d + 4;
+        }
+        return [h / 6, s, l, a];
+    }
+
+    /** Returns a new color that has each component randomly adjusted
+     * @param {number} [amount]
+     * @param {number} [alphaAmount]
+     * @return {Color} */
+    mutate(amount=.05, alphaAmount=0)
+    {
+        ASSERT_NUMBER_VALID(amount);
+        ASSERT_NUMBER_VALID(alphaAmount);
+        return new Color
+        (
+            this.r + rand(amount, -amount),
+            this.g + rand(amount, -amount),
+            this.b + rand(amount, -amount),
+            this.a + rand(alphaAmount, -alphaAmount)
+        ).clamp();
+    }
+
+    /** Returns this color expressed as a hex color code
+     * @param {boolean} [useAlpha] - if alpha should be included in result
+     * @return {string} */
+    toString(useAlpha = true)
+    {
+        if (debug && !this.isValid())
+            return '#000';
+        const toHex = (c)=> ((c=clamp(c)*255|0)<16 ? '0' : '') + c.toString(16);
+        return '#' + toHex(this.r) + toHex(this.g) + toHex(this.b) + (useAlpha ? toHex(this.a) : '');
+    }
+
+    /** Set this color from a hex code
+     * @param {string} hex - html hex code
+     * @return {Color} */
+    setHex(hex)
+    {
+        ASSERT(isString(hex), 'Color hex code must be a string');
+        ASSERT(hex[0] === '#', 'Color hex code must start with #');
+        ASSERT([4,5,7,9].includes(hex.length), 'Invalid hex');
+
+        if (hex.length < 6)
+        {
+            const fromHex = (c)=> clamp(parseInt(hex[c],16)/15);
+            this.r = fromHex(1);
+            this.g = fromHex(2);
+            this.b = fromHex(3);
+            this.a = hex.length === 5 ? fromHex(4) : 1;
+        }
+        else
+        {
+            const fromHex = (c)=> clamp(parseInt(hex.slice(c,c+2),16)/255);
+            this.r = fromHex(1);
+            this.g = fromHex(3);
+            this.b = fromHex(5);
+            this.a = hex.length === 9 ? fromHex(7) : 1;
+        }
+
+        ASSERT_COLOR_VALID(this);
+        return this;
+    }
+
+    /** Returns this color expressed as 32 bit RGBA value
+     * @return {number} */
+    rgbaInt()
+    {
+        const r = clamp(this.r)*255|0;
+        const g = clamp(this.g)*255<<8;
+        const b = clamp(this.b)*255<<16;
+        const a = clamp(this.a)*255<<24;
+        return r + g + b + a;
+    }
+
+    /** Checks if this is a valid color
+     * @return {boolean} */
+    isValid()
+    { return isNumber(this.r) && isNumber(this.g) && isNumber(this.b) && isNumber(this.a); }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// Default Colors
+
+/** Color - White #ffffff
+ *  @type {Color}
+ *  @memberof Math */
+const WHITE = debugProtectConstant(rgb());
+
+/** Color - Clear White #757474ff with 0 alpha
+ *  @type {Color}
+ *  @memberof Math */
+const CLEAR_WHITE = debugProtectConstant(rgb(1,1,1,0));
+
+/** Color - Black #000000
+ *  @type {Color}
+ *  @memberof Math */
+const BLACK = debugProtectConstant(rgb(0,0,0));
+
+/** Color - Clear Black #000000 with 0 alpha
+ *  @type {Color}
+ *  @memberof Math */
+const CLEAR_BLACK = debugProtectConstant(rgb(0,0,0,0));
+
+/** Color - Gray #808080
+ *  @type {Color}
+ *  @memberof Math */
+const GRAY = debugProtectConstant(rgb(.5,.5,.5));
+
+/** Color - Red #ff0000
+ *  @type {Color}
+ *  @memberof Math */
+const RED = debugProtectConstant(rgb(1,0,0));
+
+/** Color - Orange #ff8000
+ *  @type {Color}
+ *  @memberof Math */
+const ORANGE = debugProtectConstant(rgb(1,.5,0));
+
+/** Color - Yellow #ffff00
+ *  @type {Color}
+ *  @memberof Math */
+const YELLOW = debugProtectConstant(rgb(1,1,0));
+
+/** Color - Green #00ff00
+ *  @type {Color}
+ *  @memberof Math */
+const GREEN = debugProtectConstant(rgb(0,1,0));
+
+/** Color - Cyan #00ffff
+ *  @type {Color}
+ *  @memberof Math */
+const CYAN = debugProtectConstant(rgb(0,1,1));
+
+/** Color - Blue #0000ff
+ *  @type {Color}
+ *  @memberof Math */
+const BLUE = debugProtectConstant(rgb(0,0,1));
+
+/** Color - Purple #8000ff
+ *  @type {Color}
+ *  @memberof Math */
+const PURPLE = debugProtectConstant(rgb(.5,0,1));
+
+/** Color - Magenta #ff00ff
+ *  @type {Color}
+ *  @memberof Math */
+const MAGENTA = debugProtectConstant(rgb(1,0,1));