littlejsengine 1.20.0 → 1.22.0

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "littlejsengine",
-  "version": "1.20.0",
+  "version": "1.22.0",
   "description": "LittleJS - Tiny and Fast HTML5 Game Engine",
   "main": "dist/littlejs.esm.js",
   "types": "dist/littlejs.d.ts",
@@ -45,7 +45,8 @@
     "build": "node src/engineBuild.mjs",
     "build-docs": "node tools/buildDocs.mjs",
     "build-release": "node tools/buildRelease.mjs",
-    "test": "node --test --import ./test/setup.mjs \"test/**/*.test.mjs\""
+    "test": "node --test --import ./test/setup.mjs \"test/**/*.test.mjs\"",
+    "test:browser": "node test/browser/run.mjs"
   },
   "engines": {
     "node": "^20.19.0 || >=22.12.0"

package/plugins/gltf.js

@@ -8,6 +8,8 @@
  *   GLTFObject that createObject makes; a skinned character's walk is not read
  * - Materials give a base color and texture and whether they blend; glass made with KHR_materials_transmission blends too,
  *   and a KHR_materials_unlit material comes in emissive, its own color with no shading
+ * - A material's normal map and emissive map load too, with its normal scale and emissive factor, read at the base
+ *   color texture's uvs; roughness, metalness and occlusion maps are not loaded
  * - The base color texture reads the uv set its texCoord names, moved by KHR_texture_transform as gltfpack and
  *   Blender write it
  * - An OPAQUE material, the default, ignores its texture's alpha as the format says: a texture only such materials
@@ -56,6 +58,17 @@ class GLTFPart
         /** @property {boolean} - The material is unlit (KHR_materials_unlit), its own color with no shading; the object
          *  createObject makes draws it with emissive 1 */
         this.unlit = false;
+        /** @property {TextureInfo|undefined} - The material's normal map, drawn with the base color texture's uvs
+         *  @type {TextureInfo|undefined} */
+        this.normalMap = undefined;
+        /** @property {number} - The normal map's strength, its scale in the file */
+        this.normalScale = 1;
+        /** @property {TextureInfo|undefined} - The material's emissive map, or a white texture when it has an
+         *  emissiveFactor and no texture, so it glows all over
+         *  @type {TextureInfo|undefined} */
+        this.emissiveMap = undefined;
+        /** @property {Color} - The emissiveFactor, which multiplies the emissive map */
+        this.emissiveMapColor = WHITE;
     }
 }
 
@@ -201,8 +214,8 @@ class GLTFModel
         for (const part of this.parts)
             part.mesh.dispose();
         this.mesh.dispose();
-        for (const textureInfo of new Set(this.parts.map(p=> p.textureInfo)))
-            textureInfo?.destroyWebGLTexture();
+        for (const textureInfo of new Set(this.parts.flatMap(p=> [p.textureInfo, p.normalMap, p.emissiveMap])))
+            textureInfo !== gltfWhiteTextureInfo && textureInfo?.destroyWebGLTexture(); // the white one is shared
     }
 
     /** Make an object at a position with a child per part, so each keeps its own texture, color and blending, and
@@ -260,6 +273,8 @@ class GLTFObject extends EngineObject3D
             o.transparent = part.transparent;
             o.pixelated = part.pixelated;
             o.emissive = part.unlit ? 1 : 0;
+            o.normalMap = part.normalMap, o.normalScale = part.normalScale;
+            o.emissiveMap = part.emissiveMap, o.emissiveMapColor = part.emissiveMapColor.copy(); // its own, as color is
             const rest = model.nodeTree?.restPose?.[part.node];
             if (rest)
             {
@@ -346,7 +361,13 @@ async function loadGLTF(url)
     const response = await fetch(url);
     if (!response.ok)
         throw new Error('loadGLTF failed: ' + url);
-    return parseGLTF(await response.arrayBuffer(), url.slice(0, url.lastIndexOf('/') + 1));
+    // the files beside it are beside where it came from, after any redirect; a blob or data url has nothing
+    // beside it, and a model in one is whole, or parsed with parseGLTF and a base of its own
+    const from = response.url || url;
+    let base = '';
+    if (!/^(blob|data):/i.test(from))
+        base = response.url ? new URL('.', from).href : from.slice(0, from.lastIndexOf('/') + 1);
+    return parseGLTF(await response.arrayBuffer(), base);
 }
 
 /** Parse a model from GLB bytes or glTF JSON, fetching the buffers and images it refers to
@@ -396,13 +417,15 @@ async function parseGLTF(data, baseUrl='')
         return gltfFetch(buffer.uri, baseUrl).then(r=> r.arrayBuffer());
     }));
 
-    // the textures, decoded together first; none without WebGL, and a failed image only logs; only the base color
-    // textures are drawn with, so the normal, roughness and other maps are not loaded at all
-    const baseColorTextures = new Set((json.materials || []).map(m=> m.pbrMetallicRoughness?.baseColorTexture?.index));
+    // the textures, decoded together first; none without WebGL, and a failed image only logs; the base color, normal
+    // and emissive textures are drawn with, the roughness and occlusion maps are not loaded at all
+    const usedTextures = new Set((json.materials || []).flatMap(m=> [m.pbrMetallicRoughness?.baseColorTexture?.index,
+        m.normalTexture?.index, m.emissiveTexture?.index]));
+    const normalTextures = new Set((json.materials || []).map(m=> m.normalTexture?.index));
     const opaqueTextures = gltfOpaqueTextures(json);
     const textures = await Promise.all((json.textures || []).map(async (texture, index)=>
     {
-        if (!glContext || typeof createImageBitmap == 'undefined' || !baseColorTextures.has(index)) return;
+        if (!glContext || typeof createImageBitmap == 'undefined' || !usedTextures.has(index)) return;
         try
         {
             // a WebP or AVIF image is named by its extension, the browser decodes those like any other
@@ -419,7 +442,11 @@ async function parseGLTF(data, baseUrl='')
             // an OPAQUE material ignores its texture's alpha, which the 3D pass would cut holes by, so a texture only
             // those use has it set to 1; decoded as stored for that, and a jpeg has no alpha to set
             const opaque = opaqueTextures.has(index) && blob.type !== 'image/jpeg';
-            const bitmap = opaque ? await createImageBitmap(blob, {premultiplyAlpha: 'none'}).then(gltfOpaqueImage) : await createImageBitmap(blob);
+            // a normal map is directions, not colors, so it is decoded as stored; one a material also uses as a
+            // color, an odd file, is decoded that way too
+            const bitmap = normalTextures.has(index) ?
+                await createImageBitmap(blob, {colorSpaceConversion: 'none', premultiplyAlpha: 'none'}) :
+                opaque ? await createImageBitmap(blob, {premultiplyAlpha: 'none'}).then(gltfOpaqueImage) : await createImageBitmap(blob);
             return new TextureInfo(bitmap, true, [sampler.wrapS ?? 10497, sampler.wrapT ?? 10497]); // REPEAT by default
         }
         catch (e) { LOG('glTF image not loaded', e); }
@@ -495,7 +522,7 @@ async function parseGLTF(data, baseUrl='')
     }
 
     // a texture none of the parts draws with, another scene's, goes now too, since dispose finds them by the parts
-    const used = new Set(parts.map(p=> p.textureInfo));
+    const used = new Set(parts.flatMap(p=> [p.textureInfo, p.normalMap, p.emissiveMap]));
     for (const texture of textures)
         texture && !used.has(texture) && texture.destroyWebGLTexture();
     return new GLTFModel(parts, animations, {nodes: json.nodes, parents, restInverse, restPose});
@@ -731,9 +758,34 @@ function gltfPart(json, buffers, textures, primitive, matrix, name)
         textureRef ? textures[textureRef.index] : undefined, blend || transmission > 0);
     part.pixelated = json.samplers?.[texture?.sampler]?.magFilter === 9728; // NEAREST
     part.unlit = !!material.extensions?.KHR_materials_unlit;
+
+    // the normal and emissive maps, read at the base color texture's uvs; the emissive texture is multiplied by the
+    // factor, which is black by default as the format says, so a texture alone does not glow; a factor with no
+    // texture glows all over
+    const normalRef = material.normalTexture, emissiveRef = material.emissiveTexture;
+    part.normalMap = normalRef && textures[normalRef.index];
+    part.normalScale = normalRef?.scale ?? 1;
+    const [er, eg, eb] = material.emissiveFactor || [0, 0, 0];
+    if (er || eg || eb)
+    {
+        part.emissiveMap = emissiveRef ? textures[emissiveRef.index] : gltfWhiteTexture();
+        part.emissiveMapColor = rgb(gltfSRGB(er), gltfSRGB(eg), gltfSRGB(eb));
+    }
     return part;
 }
 
+// a 1 by 1 white texture, the emissive map of a material that glows all over with no texture; made once and never
+// freed, like the engine's own white texture, undefined without WebGL
+let gltfWhiteTextureInfo;
+function gltfWhiteTexture()
+{
+    if (gltfWhiteTextureInfo || !glContext || typeof OffscreenCanvas == 'undefined') return gltfWhiteTextureInfo;
+    const context = createCanvasContext(1);
+    context.fillStyle = '#fff';
+    context.fillRect(0, 0, 1, 1);
+    return gltfWhiteTextureInfo = new TextureInfo(context.canvas);
+}
+
 // a glTF color factor or vertex color is linear, where the renderer works in sRGB like the textures, so it is
 // brought across at load or a mid gray material would come out nearly black; 0 and 1 stay exact
 function gltfSRGB(c)

package/plugins/lightSystem.js

@@ -20,6 +20,8 @@
  *   shadow map through renderShadow(), which calls render() by default; obj.castShadow = false keeps it
  *   out (a floor TileLayer, a background), a draw's alpha sets how much light it blocks, and
  *   setShadowTransparent lets its color tint the light
+ * - Set light.glow for a soft hazy glow over a light, like a lamp at night; it is added over the lit scene after the
+ *   lightmap, so it shows in the dark and sits in front of everything there
  * - Must be constructed BEFORE PostProcessPlugin so post-process sees lit pixels
  * @namespace LightSystem
  */
@@ -156,6 +158,7 @@ class LightSystemPlugin
             // again on a context restore, the canvas may have changed since
             if (lightSystem.textureSizeAuto)
                 lightSystem.textureSize = mainCanvasSize.copy();
+            lightSystem.clampTextureSizes();
 
             // allocate the lightmap texture with null data at textureSize
             lightSystem.texture = glContext.createTexture();
@@ -347,6 +350,7 @@ class LightSystemPlugin
             const ls = lightSystem;
 
             // make the resources the first time, and again when a size changed
+            ls.clampTextureSizes();
             if (!ls.shadowMap || ls.shadowMapSize !== ls.shadowMapSizeAllocated
                 || ls.shadowTextureSize !== ls.shadowTextureSizeAllocated)
             {
@@ -534,8 +538,14 @@ class LightSystemPlugin
             //    is, and any debug text / future draw could sample the lightmap)
             if (glActiveTexture)
                 glContext.bindTexture(glContext.TEXTURE_2D, glActiveTexture);
-            setAdditiveBlendMode(prevAdditive);
             glSetInstancedMode(true);
+
+            // 7. the lights' glows, added over the lit scene so the darkness does not dim them
+            setAdditiveBlendMode();
+            for (const o of engineObjects)
+                o instanceof Light && !o.destroyed && o.renderGlow();
+            glFlush();
+            setAdditiveBlendMode(prevAdditive);
         }
         function lightSystemContextLost()
         {
@@ -554,6 +564,17 @@ class LightSystemPlugin
         }
     }
 
+    /** Bring the sizes of the textures it makes down to what the device can make: shadowMapSize, shadowTextureSize
+     *  and a textureSize given by hand; called before they are made, so a size too big falls back instead of failing */
+    clampTextureSizes()
+    {
+        this.shadowMapSize = glClampTextureSize(this.shadowMapSize);
+        this.shadowTextureSize = glClampTextureSize(this.shadowTextureSize);
+        const size = this.textureSize;
+        if (size)
+            this.textureSize = vec2(glClampTextureSize(size.x), glClampTextureSize(size.y));
+    }
+
     /** Draw a single Light's falloff blob into the currently bound lightmap.
      *  Called by Light.renderLight() during the plugin's render pass.
      *  @param {Light} light */
@@ -703,6 +724,14 @@ class Light extends EngineObject
          *  or torch that holds it, or the player carrying it, does not block it; it has to reach past that object's
          *  corners, about half its diagonal and a little more, or dark rays run out from them */
         this.shadowCore = 0;
+        /** @property {number} - Size across of a soft hazy glow drawn over the light, like a lamp at night, 0 for
+         *  none; it is added over the lit scene, in front of everything there */
+        this.glow = 0;
+        /** @property {number} - How fast the glow fades from its middle: 1 by default, .5 a wide haze, 2 a tight
+         *  bright core */
+        this.glowFalloff = 1;
+        /** @type {TileInfo|undefined} */
+        this.glowTileInfo = undefined; // the whole glow texture, kept for the falloff it was made for
     }
 
     /** Lights are invisible in the main render pass — they only contribute
@@ -716,4 +745,18 @@ class Light extends EngineObject
     {
         lightSystem && lightSystem.drawLight(this);
     }
+
+    /** Draw this light's glow, soft and round, its glow size across and in its color, added over the lit scene;
+     *  called by LightSystemPlugin after the lightmap is applied */
+    renderGlow()
+    {
+        if (!(this.glow > 0)) return;
+        const size = vec2(this.glow);
+        if (!isOnScreen(this.pos, size)) return;
+        const texture = engineGlowTexture(this.glowFalloff);
+        if (!texture) return;
+        if (this.glowTileInfo?.textureInfo !== texture)
+            this.glowTileInfo = new TileInfo(vec2(), texture.size, texture);
+        drawTile(this.pos, size, this.glowTileInfo, this.color, 0, false, undefined, true, false);
+    }
 }

package/plugins/math3d.js

@@ -338,15 +338,7 @@ class Matrix4
     static rotation(euler, matrix=new Matrix4)
     {
         ASSERT_VECTOR3_VALID(euler);
-        const cx = cos(euler.x), sx = sin(euler.x);
-        const cy = cos(euler.y), sy = sin(euler.y);
-        const cz = cos(euler.z), sz = sin(euler.z);
-        const m = matrix.m;
-        // R = Ry * Rx * Rz written out, column major, every element set so a reused matrix comes out clean
-        m[0] = cy*cz + sy*sx*sz;  m[1] = cx*sz;  m[2]  = -sy*cz + cy*sx*sz; m[3] = 0;
-        m[4] = -cy*sz + sy*sx*cz; m[5] = cx*cz;  m[6]  = sy*sz + cy*sx*cz;  m[7] = 0;
-        m[8] = sy*cx;             m[9] = -sx;    m[10] = cy*cx;             m[11] = 0;
-        m[12] = m[13] = m[14] = 0; m[15] = 1;
+        matrix4RotationAt(matrix.m, 0, euler);
         return matrix;
     }
 
@@ -594,24 +586,54 @@ class Matrix4
  * @memberof Math3D
  */
 function buildMatrix(pos, rotation, scale, matrix=new Matrix4)
+{
+    ASSERT(matrix instanceof Matrix4, 'the matrix to write into must be a Matrix4');
+    matrix4Compose(matrix.m, 0, pos, rotation, scale);
+    return matrix;
+}
+
+// the rotation matrix of euler angles written into 16 floats of an array at k
+function matrix4RotationAt(m, k, euler)
+{
+    const cx = cos(euler.x), sx = sin(euler.x);
+    const cy = cos(euler.y), sy = sin(euler.y);
+    const cz = cos(euler.z), sz = sin(euler.z);
+    // R = Ry * Rx * Rz written out, column major, every element set so a reused matrix comes out clean
+    m[k]   = cy*cz + sy*sx*sz;  m[k+1] = cx*sz;  m[k+2]  = -sy*cz + cy*sx*sz; m[k+3] = 0;
+    m[k+4] = -cy*sz + sy*sx*cz; m[k+5] = cx*cz;  m[k+6]  = sy*sz + cy*sx*cz;  m[k+7] = 0;
+    m[k+8] = sy*cx;             m[k+9] = -sx;    m[k+10] = cy*cx;             m[k+11] = 0;
+    m[k+12] = m[k+13] = m[k+14] = 0; m[k+15] = 1;
+}
+
+// the transform buildMatrix makes, written into 16 floats of an array at k, so an instance buffer takes it straight in
+// the rotation columns are scaled and the position dropped in, instead of multiplying three matrices, each value
+// worked out whole and stored once; InstancedMesh3D.setTransforms writes the same expressions for many at a time
+function matrix4Compose(m, k, pos, rotation, scale)
 {
     ASSERT(!pos || isVector3(pos), 'pos must be a Vector3', pos);
     ASSERT(!scale || isVector3(scale), 'scale must be a Vector3', scale);
-    ASSERT(matrix instanceof Matrix4, 'the matrix to write into must be a Matrix4');
-    // scale the rotation columns and drop the position in, instead of multiplying three matrices
+    const scaleX = scale ? scale.x : 1, scaleY = scale ? scale.y : 1, scaleZ = scale ? scale.z : 1;
     // an object that is not turned at all is most of a big scene, and identity is what the six
     // trig calls would have worked out to anyway
-    const turned = rotation && (rotation.x || rotation.y || rotation.z), m = matrix.m;
-    turned ? Matrix4.rotation(rotation, matrix) : m.set(matrix4Identity);
-    if (scale)
+    if (rotation && (rotation.x || rotation.y || rotation.z))
     {
-        m[0] *= scale.x; m[1] *= scale.x; m[2]  *= scale.x;
-        m[4] *= scale.y; m[5] *= scale.y; m[6]  *= scale.y;
-        m[8] *= scale.z; m[9] *= scale.z; m[10] *= scale.z;
+        ASSERT_VECTOR3_VALID(rotation);
+        const cx = cos(rotation.x), sx = sin(rotation.x);
+        const cy = cos(rotation.y), sy = sin(rotation.y);
+        const cz = cos(rotation.z), sz = sin(rotation.z);
+        // R = Ry * Rx * Rz written out, column major, as matrix4RotationAt, each column times its scale
+        m[k]   = (cy*cz + sy*sx*sz) * scaleX;  m[k+1] = cx*sz * scaleX; m[k+2]  = (-sy*cz + cy*sx*sz) * scaleX;
+        m[k+4] = (-cy*sz + sy*sx*cz) * scaleY; m[k+5] = cx*cz * scaleY; m[k+6]  = (sy*sz + cy*sx*cz) * scaleY;
+        m[k+8] = sy*cx * scaleZ;               m[k+9] = -sx * scaleZ;   m[k+10] = cy*cx * scaleZ;
     }
-    if (pos)
-        m[12] = pos.x, m[13] = pos.y, m[14] = pos.z;
-    return matrix;
+    else
+    {
+        m[k]   = scaleX; m[k+1] = 0;      m[k+2]  = 0;
+        m[k+4] = 0;      m[k+5] = scaleY; m[k+6]  = 0;
+        m[k+8] = 0;      m[k+9] = 0;      m[k+10] = scaleZ;
+    }
+    m[k+3] = m[k+7] = m[k+11] = 0; m[k+15] = 1;
+    m[k+12] = pos ? pos.x : 0, m[k+13] = pos ? pos.y : 0, m[k+14] = pos ? pos.z : 0;
 }
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -652,36 +674,62 @@ class Ray3D
 
 ///////////////////////////////////////////////////////////////////////////////
 // 3D collision helpers, none of them change anything that is passed in
-// Boxes sit centered on pos and take a full size, like drawRect
+// Boxes sit centered on pos and take a full size, like drawRect, upright unless given a rotation, an Euler vec3 like
+// rotation3D, which turns them about their center
 // Cylinders stand up the Y axis, centered on pos, with a full height
 // Names that could be mistaken for 2D functions get a 3D suffix
 
+// whether a rotation turns anything, a missing one does not
+const isTurned3D = (rotation)=> !!rotation && !!(rotation.x || rotation.y || rotation.z);
+
+// a turned box's three unit axes, the columns of its rotation
+function boxAxes3D(rotation)
+{
+    const m = buildMatrix(undefined, rotation).m;
+    return [vec3(m[0], m[1], m[2]), vec3(m[4], m[5], m[6]), vec3(m[8], m[9], m[10])];
+}
+
+// a point in a turned box's own space, from its center, and a vector from that space back to the world's
+function boxLocal3D(point, pos, axes)
+{
+    const d = point.subtract(pos);
+    return vec3(d.dot(axes[0]), d.dot(axes[1]), d.dot(axes[2]));
+}
+const boxWorld3D = (v, axes)=> axes[0].scale(v.x).add(axes[1].scale(v.y)).add(axes[2].scale(v.z));
+
 /**
- * Check if a point is inside an axis aligned box, boundary is inclusive
+ * Check if a point is inside a box, boundary is inclusive
  * @param {Vector3} point
  * @param {Vector3} pos - Center of the box
  * @param {Vector3} size - Full size of the box
+ * @param {Vector3} [rotation] - How the box is turned, upright when left out
  * @return {boolean}
  * @memberof Math3D
  */
-function isPointInBox3D(point, pos, size)
+function isPointInBox3D(point, pos, size, rotation)
 {
+    if (isTurned3D(rotation))
+        return isPointInBox3D(boxLocal3D(point, pos, boxAxes3D(rotation)), vec3(), size);
     return abs(point.x - pos.x) <= size.x/2 &&
         abs(point.y - pos.y) <= size.y/2 &&
         abs(point.z - pos.z) <= size.z/2;
 }
 
 /**
- * Check if two axis aligned boxes are overlapping, touching edges do not overlap
+ * Check if two boxes are overlapping, touching edges do not overlap
  * @param {Vector3} posA
  * @param {Vector3} sizeA - Full size of box A
  * @param {Vector3} posB
  * @param {Vector3} [sizeB] - Full size of box B, zero for a point
+ * @param {Vector3} [rotationA] - How box A is turned, upright when left out
+ * @param {Vector3} [rotationB] - How box B is turned
  * @return {boolean}
  * @memberof Math3D
  */
-function isOverlapping3D(posA, sizeA, posB, sizeB=vec3())
+function isOverlapping3D(posA, sizeA, posB, sizeB=vec3(), rotationA, rotationB)
 {
+    if (isTurned3D(rotationA) || isTurned3D(rotationB))
+        return !!collideBoxBox3D(posA, sizeA, posB, sizeB, rotationA, rotationB);
     const d = posA.subtract(posB);
     return abs(d.x) < (sizeA.x + sizeB.x)/2 &&
         abs(d.y) < (sizeA.y + sizeB.y)/2 &&
@@ -710,16 +758,19 @@ function collideSphereSphere(posA, radiusA, posB, radiusB)
 }
 
 /**
- * Returns the vector to move a sphere out of an axis aligned box, or undefined
+ * Returns the vector to move a sphere out of a box, or undefined
  * @param {Vector3} pos - Sphere center
  * @param {number} radius
  * @param {Vector3} boxPos
  * @param {Vector3} boxSize - Full size of the box
+ * @param {Vector3} [boxRotation] - How the box is turned, upright when left out
  * @return {Vector3|undefined}
  * @memberof Math3D
  */
-function collideSphereBox(pos, radius, boxPos, boxSize)
+function collideSphereBox(pos, radius, boxPos, boxSize, boxRotation)
 {
+    if (isTurned3D(boxRotation))
+        return collideSphereOrientedBox3D(pos, radius, boxPos, boxSize, boxAxes3D(boxRotation));
     const h = boxSize.scale(.5);
     const closest = vec3(
         clamp(pos.x, boxPos.x - h.x, boxPos.x + h.x),
@@ -807,15 +858,20 @@ function collideSphereCylinder(pos, radius, cylinderPos, cylinderRadius, cylinde
 /**
  * Returns the vector to move box A by so it no longer overlaps box B, the shortest way out, or undefined
  * - The 3D twin of collideBoxBox
+ * - Turned boxes are tested by the separating axis test, the push is along the direction they overlap least on
  * @param {Vector3} posA
  * @param {Vector3} sizeA - Full size of box A
  * @param {Vector3} posB
  * @param {Vector3} sizeB - Full size of box B
+ * @param {Vector3} [rotationA] - How box A is turned, upright when left out
+ * @param {Vector3} [rotationB] - How box B is turned
  * @return {Vector3|undefined}
  * @memberof Math3D
  */
-function collideBoxBox3D(posA, sizeA, posB, sizeB)
+function collideBoxBox3D(posA, sizeA, posB, sizeB, rotationA, rotationB)
 {
+    if (isTurned3D(rotationA) || isTurned3D(rotationB))
+        return collideOrientedBoxes3D(posA, sizeA, boxAxes3D(rotationA), posB, sizeB, boxAxes3D(rotationB));
     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);
@@ -825,6 +881,44 @@ function collideBoxBox3D(posA, sizeA, posB, sizeB)
     return pushOutAxis3D(d, overlapX, overlapY, overlapZ);
 }
 
+// the push to move a sphere out of a box turned to these axes: in the box's own space it is upright, and the push
+// goes back out turned
+function collideSphereOrientedBox3D(pos, radius, boxPos, boxSize, axes)
+{
+    const push = collideSphereBox(boxLocal3D(pos, boxPos, axes), radius, vec3(), boxSize);
+    return push && boxWorld3D(push, axes);
+}
+
+// the world's axes, for an upright box among turned ones
+const BOX_WORLD_AXES = Object.freeze([vec3(1, 0, 0), vec3(0, 1, 0), vec3(0, 0, 1)]);
+
+// the shortest push to move box A out of box B by the separating axis test: each box's three face directions and
+// the nine across an edge of each; a gap on any of them is no touch, and the push is along the least overlap, from
+// B to A; an edge direction has to overlap clearly less to win, so a box lying on another leaves by the face
+function collideOrientedBoxes3D(posA, sizeA, axesA, posB, sizeB, axesB)
+{
+    const d = posA.subtract(posB), ha = sizeA.scale(.5), hb = sizeB.scale(.5);
+    const reach = (h, axes, n)=> h.x * abs(axes[0].dot(n)) + h.y * abs(axes[1].dot(n)) + h.z * abs(axes[2].dot(n));
+    let push, least = Infinity;
+    const separated = (axis, weight)=>
+    {
+        const lengthSquared = axis.lengthSquared();
+        if (lengthSquared < 1e-12) return false; // parallel edges give no direction to test
+        const n = axis.scale(lengthSquared ** -.5), along = d.dot(n);
+        const overlap = reach(ha, axesA, n) + reach(hb, axesB, n) - abs(along);
+        if (overlap <= 0) return true;
+        if (overlap * weight < least)
+            least = overlap * weight, push = n.scale(along < 0 ? -overlap : overlap);
+        return false;
+    };
+    for (const axis of [...axesA, ...axesB])
+        if (separated(axis, 1)) return;
+    for (const a of axesA)
+    for (const b of axesB)
+        if (separated(a.cross(b), 1.05)) return;
+    return push;
+}
+
 /**
  * Returns the distance along the ray to the first intersection with a sphere, or undefined
  * - The hit is ray.getPosition(distance), a direction that is not unit length scales the distance
@@ -873,17 +967,25 @@ function raycastPlane(ray, planePos, planeNormal)
 }
 
 /**
- * Returns the distance along the ray to the first intersection with an axis aligned box, or undefined
+ * Returns the distance along the ray to the first intersection with a box, or undefined
  * - The hit is ray.getPosition(distance), a direction that is not unit length scales the distance
  * - A ray starting inside the box is already there, so it gets back 0
  * @param {Ray3D} ray
  * @param {Vector3} pos - Center of the box
  * @param {Vector3} size - Full size of the box
+ * @param {Vector3} [rotation] - How the box is turned, upright when left out
  * @return {number|undefined}
  * @memberof Math3D
  */
-function raycastBox(ray, pos, size)
+function raycastBox(ray, pos, size, rotation)
 {
+    if (isTurned3D(rotation))
+    {
+        // the ray in the box's own space, where the box is upright; turning keeps the distances
+        const axes = boxAxes3D(rotation), d = ray.direction;
+        const direction = vec3(d.dot(axes[0]), d.dot(axes[1]), d.dot(axes[2]));
+        return raycastBox(new Ray3D(boxLocal3D(ray.origin, pos, axes), direction), vec3(), size);
+    }
     const {origin, direction} = ray;
     const h = size.scale(.5);
     const boxMin = pos.subtract(h), boxMax = pos.add(h);