littlejsengine 1.19.3 → 1.20.0

package/src/engineMath.js

@@ -1,1253 +1,1275 @@
-/**
- * LittleJS Math Classes and Functions
- * - Comprehensive math utilities for game development
- * - Vector2 class for 2D positions, directions, and math operations
- * - Color class for RGBA colors with interpolation and manipulation
- * - RandomGenerator for seeded pseudo-random number generation
- * - Math shortcuts (PI, abs, floor, ceil, min, max, sin, cos, etc.)
- * - Interpolation functions (lerp, smoothStep, percent)
- * - Clamping, wrapping, and modulo operations
- * - Angle utilities with wrap-around support
- * - Collision detection (overlapping, intersection, line tests)
- * - Random number generation and seeding
- * - Type checking utilities
- * @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} x
- *  @return {number}
- *  @memberof Math */
-const abs = Math.abs;
-
-/** Returns floored value of value passed in
- *  @param {number} x
- *  @return {number}
- *  @memberof Math */
-const floor = Math.floor;
-
-/** Returns ceiled value of value passed in
- *  @param {number} x
- *  @return {number}
- *  @memberof Math */
-const ceil = Math.ceil;
-
-/** Returns rounded value passed in
- *  @param {number} x
- *  @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} x
- *  @return {number}
- *  @memberof Math */
-const sign = (x) => Math.sign(x);
-
-/** Returns hypotenuse of values passed in
- *  @param {...number} values
- *  @return {number}
- *  @memberof Math */
-const hypot = (...values) => Math.hypot(...values);
-
-/** Returns log2 of value passed in
- *  @param {number} x
- *  @return {number}
- *  @memberof Math */
-const log2 = (x) => Math.log2(x);
-
-/** Returns sin of value passed in
- *  @param {number} x
- *  @return {number}
- *  @memberof Math */
-const sin = Math.sin;
-
-/** Returns cos of value passed in
- *  @param {number} x
- *  @return {number}
- *  @memberof Math */
-const cos = Math.cos;
-
-/** Returns tan of value passed in
- *  @param {number} x
- *  @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)
-{
-    ASSERT(wrapSize > 0, 'distanceWrap wrapSize must be > 0');
-    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 > 0 && !(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;
-    // symmetric so isOverlapping(A,B) === isOverlapping(B,A) at touching edges
-    return abs(dx) < sx && abs(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;
-}
-
-///////////////////////////////////////////////////////////////////////////////
-// Collision helpers, none of them change anything that is passed in
-// Boxes are axis aligned and centered on pos with a full size, like drawRect
-// Each returns how far to move the first shape to get it clear, or undefined when they are not touching
-// isOverlapping answers whether two boxes touch, these answer how far out
-
-/** Returns the vector to move circle A by so it no longer overlaps circle B, or undefined
- *  @param {Vector2} posA - Center of circle A
- *  @param {number} radiusA
- *  @param {Vector2} posB - Center of circle B
- *  @param {number} radiusB
- *  @return {Vector2|undefined}
- *  @memberof Math */
-function collideCircleCircle(posA, radiusA, posB, radiusB)
-{
-    const d = posA.subtract(posB);
-    const r = radiusA + radiusB;
-    const dist = d.length();
-    if (dist >= r)
-        return undefined;
-    return d.normalize(r - dist); // coincident centers normalize to straight up
-}
-
-/** Returns the vector to move a circle out of an axis aligned box, or undefined
- *  @param {Vector2} pos - Center of the circle
- *  @param {number} radius
- *  @param {Vector2} boxPos - Center of the box
- *  @param {Vector2} boxSize - Full size of the box
- *  @return {Vector2|undefined}
- *  @memberof Math */
-function collideCircleBox(pos, radius, boxPos, boxSize)
-{
-    const h = boxSize.scale(.5);
-    const closest = vec2(clamp(pos.x, boxPos.x - h.x, boxPos.x + h.x), clamp(pos.y, boxPos.y - h.y, boxPos.y + h.y));
-    const d = pos.subtract(closest), distSq = d.lengthSquared();
-    if (distSq)
-        return distSq >= radius*radius ? undefined : d.normalize(radius - distSq**.5);
-
-    // center is inside the box, push out along the axis of least penetration
-    const offset = pos.subtract(boxPos);
-    return pushOutAxis(offset, h.x - abs(offset.x), h.y - abs(offset.y), radius);
-}
-
-/** Returns the vector to move box A by so it no longer overlaps box B, the shortest way out, or undefined
- *  - isOverlapping is the yes or no version of this
- *  @param {Vector2} posA - Center of box A
- *  @param {Vector2} sizeA - Full size of box A
- *  @param {Vector2} posB - Center of box B
- *  @param {Vector2} sizeB - Full size of box B
- *  @return {Vector2|undefined}
- *  @memberof Math */
-function collideBoxBox(posA, sizeA, posB, sizeB)
-{
-    const d = posA.subtract(posB);
-    const overlapX = (sizeA.x + sizeB.x)/2 - abs(d.x);
-    const overlapY = (sizeA.y + sizeB.y)/2 - abs(d.y);
-    if (overlapX <= 0 || overlapY <= 0)
-        return undefined;
-    return pushOutAxis(d, overlapX, overlapY);
-}
-
-// the axis with the smallest penetration, pointing the way d does, with extra distance added
-function pushOutAxis(d, penX, penY, extra=0)
-{
-    const s = (v)=> v >= 0 ? 1 : -1; // sign() gives 0 on a tie, which would be no push
-    return penX <= penY ? vec2(s(d.x)*(penX + extra), 0) : vec2(0, s(d.y)*(penY + extra));
-}
-
-/** 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
- *  @param {number} [type]      - Wave type: 0=sine, 1=triangle, 2=square, 3=sawtooth
- *  @return {number}            - Value waving between 0 and amplitude
- *  @memberof Math */
-function oscillate(frequency=1, amplitude=1, t=time, offset=0, type=0)
-{
-    const phase = mod(offset + t*frequency, 1);
-    let value;
-    
-    if (type === 1) // triangle
-        value = 2 * abs(2 * phase - 1) - 1;
-    else if (type === 2) // square
-        value = phase < .5 ? -1 : 1;
-    else if (type === 3) // sawtooth
-        value = 2 * phase - 1;
-    else // sine
-        value = -cos(phase * 2*PI);
-    return amplitude/2 * (value + 1);
-}
-
-/**
- * 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 a value is stringifiable — i.e. it has a toString that returns
- * a string. Use this for ASSERTs and inputs that will be coerced to text;
- * use `typeof x === 'string'` inline if you need strict-string semantics.
- * - Returns true for strings, numbers, and most objects
- * - Returns false for null and undefined
- * @param {any} s
- * @return {boolean}
- * @memberof Math */
-function isStringLike(s) { return s != null && typeof s?.toString() === 'string'; }
-
-/**
- * Check if object is an array
- * @param {any} a
- * @return {a is Array<any>}
- * @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 = (dx*dx + dy*dy)**.5;
-    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);
-
-            // ensure result is inside the tile
-            const e = 1e-9;
-            const hitPosFloor = hitPos.floor();
-            if (hitPosFloor.x < pos.x)
-                hitPos.x = pos.x;
-            else if (hitPosFloor.x > pos.x)
-                hitPos.x = pos.x + 1 - e;
-            if (hitPosFloor.y < pos.y)
-                hitPos.y = pos.y;
-            else if (hitPosFloor.y > pos.y) 
-                hitPos.y = pos.y + 1 - 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)
-{
-    // r is uniform in area ⇒ r² uniform in [minRadius², radius²]
-    // (the squared inner bound is what makes minRadius the actual exclusion edge)
-    if (radius <= 0) return new Vector2;
-    const ratio = clamp(minRadius / radius);
-    return randVec2(radius * rand(ratio*ratio, 1)**.5);
-}
-
-/** 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)
-    {
-        ASSERT(seed !== 0, 'RandomGenerator seed must be non-zero (xorshift is fixed at 0)');
-        /** @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)
-    {
-        const lo = min(valueA, valueB);
-        const hi = max(valueA, valueB);
-        const d = hi - lo;
-        const e = this.float(d*2);
-        return e < d ? lo + e : d - lo - e;
-    }
-
-    /** 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
-     * - A zero vector has no direction, so it normalizes to straight up
-     * @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 a copy of this vector snapped to a grid. Note that `grid` is
-     *  the number of snap steps per unit (so `grid=2` snaps to halves and
-     *  `grid=0.5` snaps to twos), not the cell size.
-     *  @param {number} grid - snap steps per unit
-     *  @return {Vector2} */
-    snap(grid)
-    {
-        ASSERT_NUMBER_VALID(grid);
-        return new Vector2(floor(this.x*grid)/grid, floor(this.y*grid)/grid);
-    }
-
-    /** 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); }
-
-    /** Sets the alpha of this color and returns self
-     *  @param {number} [a] - alpha
-     *  @return {Color} */
-    setAlpha(a=1)
-    {
-        this.a = a;
-        ASSERT_COLOR_VALID(this);
-        return this;
-    }
-
-    /** 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 with the alpha set
-     *  @param {number} [a] - alpha
-     *  @return {Color} */
-    withAlpha(a=1) { return new Color(this.r, this.g, this.b, 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(isStringLike(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 #ffffff00 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 #00000000 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 */
+/**
+ * LittleJS Math Classes and Functions
+ * - Comprehensive math utilities for game development
+ * - Vector2 class for 2D positions, directions, and math operations
+ * - Color class for RGBA colors with interpolation and manipulation
+ * - RandomGenerator for seeded pseudo-random number generation
+ * - Math shortcuts (PI, abs, floor, ceil, min, max, sin, cos, etc.)
+ * - Interpolation functions (lerp, smoothStep, percent)
+ * - Clamping, wrapping, and modulo operations
+ * - Angle utilities with wrap-around support
+ * - Collision detection (overlapping, intersection, line tests)
+ * - Random number generation and seeding
+ * - Type checking utilities
+ * @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} x
+ *  @return {number}
+ *  @memberof Math */
+const abs = Math.abs;
+
+/** Returns floored value of value passed in
+ *  @param {number} x
+ *  @return {number}
+ *  @memberof Math */
+const floor = Math.floor;
+
+/** Returns ceiled value of value passed in
+ *  @param {number} x
+ *  @return {number}
+ *  @memberof Math */
+const ceil = Math.ceil;
+
+/** Returns rounded value passed in
+ *  @param {number} x
+ *  @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} x
+ *  @return {number}
+ *  @memberof Math */
+const sign = (x) => Math.sign(x);
+
+/** Returns hypotenuse of values passed in
+ *  @param {...number} values
+ *  @return {number}
+ *  @memberof Math */
+const hypot = (...values) => Math.hypot(...values);
+
+/** Returns log2 of value passed in
+ *  @param {number} x
+ *  @return {number}
+ *  @memberof Math */
+const log2 = (x) => Math.log2(x);
+
+/** Returns sin of value passed in
+ *  @param {number} x
+ *  @return {number}
+ *  @memberof Math */
+const sin = Math.sin;
+
+/** Returns cos of value passed in
+ *  @param {number} x
+ *  @return {number}
+ *  @memberof Math */
+const cos = Math.cos;
+
+/** Returns tan of value passed in
+ *  @param {number} x
+ *  @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 param 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, clamped to 0-1
+ *  @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, percent is clamped to 0-1
+ *  @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)
+{
+    ASSERT(wrapSize > 0, 'distanceWrap wrapSize must be > 0');
+    const d = (valueA - valueB) % wrapSize;
+    return d*2 % wrapSize - d;
+}
+
+/** Linearly interpolates between values passed in with wrapping, percent is clamped to 0-1
+ *  @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, percent is clamped to 0-1
+ *  @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, clamped between 0 and 1
+ *  @param {number} percent
+ *  @return {number}
+ *  @memberof Math */
+function smoothStep(percent)
+{
+    percent = clamp(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 > 0 && value % 1 === 0 && 2**round(log2(value)) === value; } // any size, not only 32 bits
+
+/** 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;
+    // symmetric so isOverlapping(A,B) === isOverlapping(B,A) at touching edges
+    return abs(dx) < sx && abs(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;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+// Collision helpers, none of them change anything that is passed in
+// Boxes are axis aligned and centered on pos with a full size, like drawRect
+// Each returns how far to move the first shape to get it clear, or undefined when they are not touching
+// isOverlapping answers whether two boxes touch, these answer how far out
+
+/** Returns the vector to move circle A by so it no longer overlaps circle B, or undefined
+ *  @param {Vector2} posA - Center of circle A
+ *  @param {number} radiusA
+ *  @param {Vector2} posB - Center of circle B
+ *  @param {number} radiusB
+ *  @return {Vector2|undefined}
+ *  @memberof Math */
+function collideCircleCircle(posA, radiusA, posB, radiusB)
+{
+    const d = posA.subtract(posB);
+    const r = radiusA + radiusB;
+    const dist = d.length();
+    if (dist >= r)
+        return undefined;
+    return d.normalize(r - dist); // coincident centers normalize to straight up
+}
+
+/** Returns the vector to move a circle out of an axis aligned box, or undefined
+ *  @param {Vector2} pos - Center of the circle
+ *  @param {number} radius
+ *  @param {Vector2} boxPos - Center of the box
+ *  @param {Vector2} boxSize - Full size of the box
+ *  @return {Vector2|undefined}
+ *  @memberof Math */
+function collideCircleBox(pos, radius, boxPos, boxSize)
+{
+    const h = boxSize.scale(.5);
+    const closest = vec2(clamp(pos.x, boxPos.x - h.x, boxPos.x + h.x), clamp(pos.y, boxPos.y - h.y, boxPos.y + h.y));
+    const d = pos.subtract(closest), distSq = d.lengthSquared();
+    if (distSq)
+        return distSq >= radius*radius ? undefined : d.normalize(radius - distSq**.5);
+
+    // center is inside the box, push out along the axis of least penetration
+    const offset = pos.subtract(boxPos);
+    return pushOutAxis(offset, h.x - abs(offset.x), h.y - abs(offset.y), radius);
+}
+
+/** Returns the vector to move box A by so it no longer overlaps box B, the shortest way out, or undefined
+ *  - isOverlapping is the yes or no version of this
+ *  @param {Vector2} posA - Center of box A
+ *  @param {Vector2} sizeA - Full size of box A
+ *  @param {Vector2} posB - Center of box B
+ *  @param {Vector2} sizeB - Full size of box B
+ *  @return {Vector2|undefined}
+ *  @memberof Math */
+function collideBoxBox(posA, sizeA, posB, sizeB)
+{
+    const d = posA.subtract(posB);
+    const overlapX = (sizeA.x + sizeB.x)/2 - abs(d.x);
+    const overlapY = (sizeA.y + sizeB.y)/2 - abs(d.y);
+    if (overlapX <= 0 || overlapY <= 0)
+        return undefined;
+    return pushOutAxis(d, overlapX, overlapY);
+}
+
+// the axis with the smallest penetration, pointing the way d does, with extra distance added
+function pushOutAxis(d, penX, penY, extra=0)
+{
+    const s = (v)=> v >= 0 ? 1 : -1; // sign() gives 0 on a tie, which would be no push
+    return penX <= penY ? vec2(s(d.x)*(penX + extra), 0) : vec2(0, s(d.y)*(penY + extra));
+}
+
+/** 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
+ *  @param {number} [type]      - Wave type: 0=sine, 1=triangle, 2=square, 3=sawtooth
+ *  @return {number}            - Value waving between 0 and amplitude
+ *  @memberof Math */
+function oscillate(frequency=1, amplitude=1, t=time, offset=0, type=0)
+{
+    const phase = mod(offset + t*frequency, 1);
+    let value;
+    
+    if (type === 1) // triangle, from 0 up and back like the others
+        value = 1 - 2 * abs(2 * phase - 1);
+    else if (type === 2) // square
+        value = phase < .5 ? -1 : 1;
+    else if (type === 3) // sawtooth
+        value = 2 * phase - 1;
+    else // sine
+        value = -cos(phase * 2*PI);
+    return amplitude/2 * (value + 1);
+}
+
+/**
+ * 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 a value is stringifiable — i.e. it has a toString that returns
+ * a string. Use this for ASSERTs and inputs that will be coerced to text;
+ * use `typeof x === 'string'` inline if you need strict-string semantics.
+ * - Returns true for strings, numbers, and most objects
+ * - Returns false for null and undefined
+ * @param {any} s
+ * @return {boolean}
+ * @memberof Math */
+function isStringLike(s) { return s != null && typeof s.toString === 'function' && typeof s.toString() === 'string'; }
+
+/**
+ * Check if object is an array
+ * @param {any} a
+ * @return {a is Array<any>}
+ * @memberof Math */
+function isArray(a) { return Array.isArray(a); }
+
+/**
+ * @callback LineTestFunction - Checks if a position is colliding
+ * @param {Vector2} pos
+ * @memberof Math
+ */
+
+/**
+ * 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 = (dx*dx + dy*dy)**.5;
+    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);
+
+            // ensure result is inside the tile
+            const e = 1e-9;
+            const hitPosFloor = hitPos.floor();
+            if (hitPosFloor.x < pos.x)
+                hitPos.x = pos.x;
+            else if (hitPosFloor.x > pos.x)
+                hitPos.x = pos.x + 1 - e;
+            if (hitPosFloor.y < pos.y)
+                hitPos.y = pos.y;
+            else if (hitPosFloor.y > pos.y) 
+                hitPos.y = pos.y + 1 - 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)
+{
+    // r is uniform in area ⇒ r² uniform in [minRadius², radius²]
+    // (the squared inner bound is what makes minRadius the actual exclusion edge)
+    if (radius <= 0) return new Vector2;
+    const ratio = clamp(minRadius / radius);
+    return randVec2(radius * rand(ratio*ratio, 1)**.5);
+}
+
+/** 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
+ * - The seed works as a 32 bit integer, and one that is 0 as an integer
+ *   (0, a fraction between -1 and 1, or a multiple of 2**32) uses the default seed
+ * @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, 0 as an integer uses the default seed */
+    constructor(seed = 123456789)
+    {
+        /** @property {number} - random seed, set it to reseed */
+        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 stays at 0 once there, so a seed that is 0 as an integer uses the default seed
+        this.seed = this.seed|0 || 123456789;
+
+        // xorshift algorithm steps the seed
+        this.seed ^= this.seed << 13;
+        this.seed ^= this.seed >>> 17;
+        this.seed ^= this.seed << 5;
+
+        // the value is the seed scrambled by a hash, since xorshift barely mixes a small seed in its first steps,
+        // so nearby seeds would start with nearly the same values; the seed itself steps as before
+        return valueB + (valueA - valueB) * noiseHash(this.seed);
+    }
+
+    /** Returns a floored seeded random value between 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)
+    {
+        const lo = min(valueA, valueB);
+        const hi = max(valueA, valueB);
+        const d = hi - lo;
+        const e = this.float(d*2);
+        return e < d ? lo + e : d - lo - e;
+    }
+
+    /** Returns a random angle between -PI and PI
+    *  @return {number} */
+    angle() { return this.float(-PI, PI); }
+
+    /** Returns a seeded vec2 with each component between the two values passed in
+    *  - A point in a square, not a random direction like randVec2, see direction for that
+    *  @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 seeded Vector2 pointing a random way with the length passed in, the twin of randVec2
+    *  @param {number} [length]
+    *  @return {Vector2} */
+    direction(length=1) { return new Vector2().setAngle(this.float(2*PI), length); }
+
+    /** 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
+ * - Most functions return a new vector so they can be chained, the set functions change this one
+ * @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 number 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
+     * - A zero vector has no direction, so it normalizes to straight up
+     * @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 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 a copy of this vector with each axis rounded
+     * @return {Vector2} */
+    round() { return new Vector2(round(this.x), round(this.y)); }
+
+    /** Returns a copy of this vector snapped down to a grid. Note that `grid` is
+     *  the number of snap steps per unit (so `grid=2` snaps to halves and
+     *  `grid=0.5` snaps to twos), not the cell size.
+     *  @param {number} grid - snap steps per unit
+     *  @return {Vector2} */
+    snap(grid)
+    {
+        ASSERT_NUMBER_VALID(grid);
+        return new Vector2(floor(this.x*grid)/grid, floor(this.y*grid)/grid);
+    }
+
+    /** 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, percent is clamped to 0-1
+     * @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); }
+
+    /** Sets the alpha of this color and returns self
+     *  @param {number} [a] - alpha
+     *  @return {Color} */
+    setAlpha(a=1)
+    {
+        this.a = a;
+        ASSERT_COLOR_VALID(this);
+        return this;
+    }
+
+    /** 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 with the alpha set
+     *  @param {number} [a] - alpha
+     *  @return {Color} */
+    withAlpha(a=1) { return new Color(this.r, this.g, this.b, 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, percent is clamped to 0-1
+     * @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 {[number, number, number, number]} - hue, saturation, lightness and alpha */
+    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=round(clamp(c)*255))<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(isStringLike(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()
+    {
+        // round like toString, so WebGL and Canvas2D colors match
+        const r = clamp(this.r)*255+.5|0;
+        const g = clamp(this.g)*255+.5<<8;
+        const b = clamp(this.b)*255+.5<<16;
+        const a = clamp(this.a)*255+.5<<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 #ffffff00 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 #00000000 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));