sliver-engine 0.0.1-alpha.0

package/dist/GameObject/Hitboxes/ColisionHandler.js

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+import { CircleHitbox, SquareHitbox } from ".";
+import { clamp } from "../../Lib/Math";
+import { Vector } from "../../Lib/Vector";
+const clamp01 = (value) => Math.max(0, Math.min(1, value));
+const cross = (a, b) => a.x * b.y - a.y * b.x;
+const getInverseMass = (immovable, mass) => {
+    if (immovable)
+        return 0;
+    const resolved = mass ?? 1;
+    if (!Number.isFinite(resolved) || resolved <= 0)
+        return 1;
+    return 1 / resolved;
+};
+const getHitboxBounds = (hitbox) => {
+    if (hitbox instanceof CircleHitbox) {
+        const center = hitbox.getAbsolutePosition();
+        return {
+            minX: center.x - hitbox.radius,
+            maxX: center.x + hitbox.radius,
+            minY: center.y - hitbox.radius,
+            maxY: center.y + hitbox.radius,
+        };
+    }
+    const topLeft = hitbox.getAbsolutePosition();
+    return {
+        minX: topLeft.x,
+        maxX: topLeft.x + hitbox.size.x,
+        minY: topLeft.y,
+        maxY: topLeft.y + hitbox.size.y,
+    };
+};
+const getBodyBounds = (hitboxes) => {
+    if (hitboxes.length === 0) {
+        return { minX: 0, maxX: 0, minY: 0, maxY: 0 };
+    }
+    let minX = Number.POSITIVE_INFINITY;
+    let maxX = Number.NEGATIVE_INFINITY;
+    let minY = Number.POSITIVE_INFINITY;
+    let maxY = Number.NEGATIVE_INFINITY;
+    for (const hitbox of hitboxes) {
+        const bounds = getHitboxBounds(hitbox);
+        minX = Math.min(minX, bounds.minX);
+        maxX = Math.max(maxX, bounds.maxX);
+        minY = Math.min(minY, bounds.minY);
+        maxY = Math.max(maxY, bounds.maxY);
+    }
+    return { minX, maxX, minY, maxY };
+};
+const getBodyCenter = (hitboxes) => {
+    const bounds = getBodyBounds(hitboxes);
+    return new Vector((bounds.minX + bounds.maxX) / 2, (bounds.minY + bounds.maxY) / 2);
+};
+const getInverseInertia = (hitboxes) => {
+    if (hitboxes.length === 0)
+        return 0;
+    if (hitboxes.length === 1) {
+        const only = hitboxes[0];
+        if (only instanceof CircleHitbox) {
+            const r = only.radius;
+            return r > 0 ? 2 / (r * r) : 0;
+        }
+        if (only instanceof SquareHitbox) {
+            const w = only.size.x;
+            const h = only.size.y;
+            const denom = w * w + h * h;
+            return denom > 0 ? 12 / denom : 0;
+        }
+    }
+    const bounds = getBodyBounds(hitboxes);
+    const w = bounds.maxX - bounds.minX;
+    const h = bounds.maxY - bounds.minY;
+    const denom = w * w + h * h;
+    return denom > 0 ? 12 / denom : 0;
+};
+const projectVertices = (vertices, axis) => {
+    let min = Number.POSITIVE_INFINITY;
+    let max = Number.NEGATIVE_INFINITY;
+    for (const vertex of vertices) {
+        const projection = vertex.dotProduct(axis);
+        min = Math.min(min, projection);
+        max = Math.max(max, projection);
+    }
+    return { min, max };
+};
+const getObbData = (vertices, size) => {
+    const center = vertices[0].toAdded(vertices[2]).toMultiplied(0.5);
+    const axisX = vertices[1].toSubtracted(vertices[0]).normalize();
+    const axisY = vertices[3].toSubtracted(vertices[0]).normalize();
+    return {
+        center,
+        axisX,
+        axisY,
+        halfX: size.x / 2,
+        halfY: size.y / 2,
+    };
+};
+const obbToWorld = (obb, localX, localY) => new Vector(obb.center.x + obb.axisX.x * localX + obb.axisY.x * localY, obb.center.y + obb.axisX.y * localX + obb.axisY.y * localY);
+const closestPointOnObb = (point, obb) => {
+    const dx = point.x - obb.center.x;
+    const dy = point.y - obb.center.y;
+    const distX = dx * obb.axisX.x + dy * obb.axisX.y;
+    const distY = dx * obb.axisY.x + dy * obb.axisY.y;
+    const clampedX = clamp(distX, -obb.halfX, obb.halfX);
+    const clampedY = clamp(distY, -obb.halfY, obb.halfY);
+    return obbToWorld(obb, clampedX, clampedY);
+};
+const closestPointOnObbBoundary = (point, obb, preferredNormal) => {
+    const dx = point.x - obb.center.x;
+    const dy = point.y - obb.center.y;
+    const distX = dx * obb.axisX.x + dy * obb.axisX.y;
+    const distY = dx * obb.axisY.x + dy * obb.axisY.y;
+    const inside = Math.abs(distX) <= obb.halfX && Math.abs(distY) <= obb.halfY;
+    if (!inside) {
+        const clampedX = clamp(distX, -obb.halfX, obb.halfX);
+        const clampedY = clamp(distY, -obb.halfY, obb.halfY);
+        return obbToWorld(obb, clampedX, clampedY);
+    }
+    if (preferredNormal) {
+        const dotX = preferredNormal.dotProduct(obb.axisX);
+        const dotY = preferredNormal.dotProduct(obb.axisY);
+        if (Math.abs(dotX) >= Math.abs(dotY)) {
+            const signX = dotX >= 0 ? 1 : -1;
+            return obbToWorld(obb, signX * obb.halfX, clamp(distY, -obb.halfY, obb.halfY));
+        }
+        const signY = dotY >= 0 ? 1 : -1;
+        return obbToWorld(obb, clamp(distX, -obb.halfX, obb.halfX), signY * obb.halfY);
+    }
+    const penX = obb.halfX - Math.abs(distX);
+    const penY = obb.halfY - Math.abs(distY);
+    if (penX < penY) {
+        const signX = distX >= 0 ? 1 : -1;
+        return obbToWorld(obb, signX * obb.halfX, clamp(distY, -obb.halfY, obb.halfY));
+    }
+    const signY = distY >= 0 ? 1 : -1;
+    return obbToWorld(obb, clamp(distX, -obb.halfX, obb.halfX), signY * obb.halfY);
+};
+const getSupportFeatureCenter = (vertices, direction) => {
+    let bestProjection = Number.NEGATIVE_INFINITY;
+    for (const vertex of vertices) {
+        const projection = vertex.dotProduct(direction);
+        if (projection > bestProjection) {
+            bestProjection = projection;
+        }
+    }
+    const epsilon = 1e-6;
+    let sumX = 0;
+    let sumY = 0;
+    let count = 0;
+    for (const vertex of vertices) {
+        const projection = vertex.dotProduct(direction);
+        if (projection >= bestProjection - epsilon) {
+            sumX += vertex.x;
+            sumY += vertex.y;
+            count++;
+        }
+    }
+    if (count === 0) {
+        return vertices[0].clone();
+    }
+    return new Vector(sumX / count, sumY / count);
+};
+const getContactPoint = (hitboxA, hitboxB, normal) => {
+    if (hitboxA instanceof CircleHitbox && hitboxB instanceof CircleHitbox) {
+        const aCenter = hitboxA.getTransformedPosition();
+        const bCenter = hitboxB.getTransformedPosition();
+        const pointOnA = aCenter.toSubtracted(normal.toMultiplied(hitboxA.radius));
+        const pointOnB = bCenter.toAdded(normal.toMultiplied(hitboxB.radius));
+        return pointOnA.toAdded(pointOnB).toMultiplied(0.5);
+    }
+    if (hitboxA instanceof CircleHitbox && hitboxB instanceof SquareHitbox) {
+        const circleCenter = hitboxA.getTransformedPosition();
+        const rectVertices = hitboxB.getTransformedVertices();
+        const obb = getObbData(rectVertices, hitboxB.size);
+        return closestPointOnObbBoundary(circleCenter, obb, normal);
+    }
+    if (hitboxA instanceof SquareHitbox && hitboxB instanceof CircleHitbox) {
+        const circleCenter = hitboxB.getTransformedPosition();
+        const rectVertices = hitboxA.getTransformedVertices();
+        const obb = getObbData(rectVertices, hitboxA.size);
+        return closestPointOnObbBoundary(circleCenter, obb, new Vector(-normal.x, -normal.y));
+    }
+    if (hitboxA instanceof SquareHitbox && hitboxB instanceof SquareHitbox) {
+        const verticesA = hitboxA.getTransformedVertices();
+        const verticesB = hitboxB.getTransformedVertices();
+        const obbA = getObbData(verticesA, hitboxA.size);
+        const obbB = getObbData(verticesB, hitboxB.size);
+        const immovableA = !!hitboxA.gameObject.phisics.immovable;
+        const immovableB = !!hitboxB.gameObject.phisics.immovable;
+        let reference = obbA;
+        let incident = obbB;
+        let incidentVertices = verticesB;
+        let referenceToIncidentNormal = new Vector(-normal.x, -normal.y);
+        if (immovableA !== immovableB) {
+            if (immovableB) {
+                reference = obbB;
+                incident = obbA;
+                incidentVertices = verticesA;
+                referenceToIncidentNormal = normal;
+            }
+        }
+        else {
+            const alignmentA = Math.max(Math.abs(normal.dotProduct(obbA.axisX)), Math.abs(normal.dotProduct(obbA.axisY)));
+            const alignmentB = Math.max(Math.abs(normal.dotProduct(obbB.axisX)), Math.abs(normal.dotProduct(obbB.axisY)));
+            if (alignmentB > alignmentA) {
+                reference = obbB;
+                incident = obbA;
+                incidentVertices = verticesA;
+                referenceToIncidentNormal = normal;
+            }
+        }
+        const incidentSupport = getSupportFeatureCenter(incidentVertices, referenceToIncidentNormal.toMultiplied(-1));
+        const pointOnReference = closestPointOnObbBoundary(incidentSupport, reference, referenceToIncidentNormal);
+        const pointOnIncident = closestPointOnObbBoundary(pointOnReference, incident, new Vector(-referenceToIncidentNormal.x, -referenceToIncidentNormal.y));
+        return pointOnReference.toAdded(pointOnIncident).toMultiplied(0.5);
+    }
+    return hitboxA.getAbsolutePosition();
+};
+class ColisionHandler {
+    static resolveCollision(hitboxA, hitboxB) {
+        if (!hitboxA.solid || !hitboxB.solid)
+            return null;
+        const goA = hitboxA.gameObject;
+        const goB = hitboxB.gameObject;
+        const immovableA = !!goA.phisics.immovable;
+        const immovableB = !!goB.phisics.immovable;
+        if (immovableA && immovableB)
+            return null;
+        const penetration = this.getPenetrationVector(hitboxA, hitboxB);
+        if (penetration.squaredMagnitude() === 0) {
+            return null;
+        }
+        const normal = penetration.toNormalized();
+        const contactPoint = getContactPoint(hitboxA, hitboxB, normal);
+        const hitboxesA = goA.getHitboxes();
+        const hitboxesB = goB.getHitboxes();
+        const centerA = getBodyCenter(hitboxesA);
+        const centerB = getBodyCenter(hitboxesB);
+        const invMassA = getInverseMass(immovableA, goA.phisics.mass);
+        const invMassB = getInverseMass(immovableB, goB.phisics.mass);
+        const invMassSum = invMassA + invMassB;
+        // Base inverse inertia assumes unit mass; scale by inverse mass.
+        const invInertiaA = invMassA > 0 ? getInverseInertia(hitboxesA) * invMassA : 0;
+        const invInertiaB = invMassB > 0 ? getInverseInertia(hitboxesB) * invMassB : 0;
+        const contactOffsetA = contactPoint.toSubtracted(centerA);
+        const contactOffsetB = contactPoint.toSubtracted(centerB);
+        const deltaA = invMassA > 0 && invMassSum > 0
+            ? penetration.toMultiplied(invMassA / invMassSum)
+            : Vector.zero();
+        const deltaB = invMassB > 0 && invMassSum > 0
+            ? penetration.toMultiplied(-invMassB / invMassSum)
+            : Vector.zero();
+        const velocityA = goA.speed.clone();
+        const velocityB = goB.speed.clone();
+        let resolvedVelocityA = velocityA.clone();
+        let resolvedVelocityB = velocityB.clone();
+        let resolvedAngularVelocityA = goA.angularVelocity ?? 0;
+        let resolvedAngularVelocityB = goB.angularVelocity ?? 0;
+        let appliedImpulse = false;
+        let normalImpulseScalar = 0;
+        const velocityAtContact = (velocity, angularVelocity, offset) => {
+            const angularComponent = new Vector(-angularVelocity * offset.y, angularVelocity * offset.x);
+            return velocity.toAdded(angularComponent);
+        };
+        const applyImpulse = (impulse) => {
+            if (invMassA > 0) {
+                resolvedVelocityA = resolvedVelocityA.toAdded(impulse.toMultiplied(invMassA));
+            }
+            if (invMassB > 0) {
+                resolvedVelocityB = resolvedVelocityB.toSubtracted(impulse.toMultiplied(invMassB));
+            }
+            if (invInertiaA > 0) {
+                resolvedAngularVelocityA +=
+                    cross(contactOffsetA, impulse) * invInertiaA;
+            }
+            if (invInertiaB > 0) {
+                resolvedAngularVelocityB -=
+                    cross(contactOffsetB, impulse) * invInertiaB;
+            }
+        };
+        if (invMassSum > 0) {
+            const vAContact = velocityAtContact(resolvedVelocityA, resolvedAngularVelocityA, contactOffsetA);
+            const vBContact = velocityAtContact(resolvedVelocityB, resolvedAngularVelocityB, contactOffsetB);
+            const relativeVelocity = vAContact.toSubtracted(vBContact);
+            const velocityAlongNormal = relativeVelocity.dotProduct(normal);
+            // Only resolve when bodies are moving towards each other.
+            if (velocityAlongNormal < 0) {
+                const restitutionA = clamp01(goA.phisics.restitution ?? 1);
+                const restitutionB = clamp01(goB.phisics.restitution ?? 1);
+                const restitution = Math.min(restitutionA, restitutionB);
+                const raCrossN = cross(contactOffsetA, normal);
+                const rbCrossN = cross(contactOffsetB, normal);
+                const denom = invMassSum +
+                    raCrossN * raCrossN * invInertiaA +
+                    rbCrossN * rbCrossN * invInertiaB;
+                if (denom > 0) {
+                    normalImpulseScalar =
+                        (-(1 + restitution) * velocityAlongNormal) / denom;
+                    const impulse = normal.toMultiplied(normalImpulseScalar);
+                    applyImpulse(impulse);
+                    appliedImpulse = normalImpulseScalar !== 0;
+                }
+            }
+            const frictionA = clamp01(goA.phisics.friction ?? 0);
+            const frictionB = clamp01(goB.phisics.friction ?? 0);
+            const friction = Math.min(frictionA, frictionB);
+            if (friction > 0 && normalImpulseScalar > 0) {
+                const postVAContact = velocityAtContact(resolvedVelocityA, resolvedAngularVelocityA, contactOffsetA);
+                const postVBContact = velocityAtContact(resolvedVelocityB, resolvedAngularVelocityB, contactOffsetB);
+                const postRelativeVelocity = postVAContact.toSubtracted(postVBContact);
+                const normalComponent = postRelativeVelocity.dotProduct(normal);
+                const tangent = postRelativeVelocity.toSubtracted(normal.toMultiplied(normalComponent));
+                if (tangent.squaredMagnitude() > 0) {
+                    tangent.normalize();
+                    const tangentSpeed = postRelativeVelocity.dotProduct(tangent);
+                    const raCrossT = cross(contactOffsetA, tangent);
+                    const rbCrossT = cross(contactOffsetB, tangent);
+                    const denomT = invMassSum +
+                        raCrossT * raCrossT * invInertiaA +
+                        rbCrossT * rbCrossT * invInertiaB;
+                    if (denomT > 0) {
+                        const tangentImpulseScalar = -tangentSpeed / denomT;
+                        const maxFriction = friction * normalImpulseScalar;
+                        const clampedTangentImpulse = Math.max(-maxFriction, Math.min(maxFriction, tangentImpulseScalar));
+                        if (clampedTangentImpulse !== 0) {
+                            const frictionImpulse = tangent.toMultiplied(clampedTangentImpulse);
+                            applyImpulse(frictionImpulse);
+                            appliedImpulse = true;
+                        }
+                    }
+                }
+            }
+        }
+        return {
+            penetration,
+            normal,
+            deltaA,
+            deltaB,
+            velocityA: resolvedVelocityA,
+            velocityB: resolvedVelocityB,
+            angularVelocityA: resolvedAngularVelocityA,
+            angularVelocityB: resolvedAngularVelocityB,
+            appliedImpulse,
+        };
+    }
+    static getPenetrationVector(hitboxA, hitboxB) {
+        if (hitboxA instanceof SquareHitbox && hitboxB instanceof SquareHitbox) {
+            return this.mtvRectRect(hitboxA, hitboxB);
+        }
+        if (hitboxA instanceof CircleHitbox && hitboxB instanceof CircleHitbox) {
+            return this.mtvCircleCircle(hitboxA, hitboxB);
+        }
+        if (hitboxA instanceof SquareHitbox && hitboxB instanceof CircleHitbox) {
+            return this.mtvSquareCircle(hitboxA, hitboxB).toMultiplied(-1);
+        }
+        if (hitboxA instanceof CircleHitbox && hitboxB instanceof SquareHitbox) {
+            return this.mtvCircleSquare(hitboxA, hitboxB);
+        }
+        return new Vector(0, 0);
+    }
+    static mtvRectRect(a, b) {
+        const verticesA = a.getTransformedVertices();
+        const verticesB = b.getTransformedVertices();
+        const immovableA = !!a.gameObject.phisics.immovable;
+        const immovableB = !!b.gameObject.phisics.immovable;
+        const axes = immovableA !== immovableB
+            ? (() => {
+                const vertices = immovableA ? verticesA : verticesB;
+                return [
+                    vertices[1].toSubtracted(vertices[0]),
+                    vertices[3].toSubtracted(vertices[0]),
+                ];
+            })()
+            : [
+                verticesA[1].toSubtracted(verticesA[0]),
+                verticesA[3].toSubtracted(verticesA[0]),
+                verticesB[1].toSubtracted(verticesB[0]),
+                verticesB[3].toSubtracted(verticesB[0]),
+            ];
+        let minOverlap = Number.POSITIVE_INFINITY;
+        let smallestAxis = null;
+        for (const axis of axes) {
+            if (axis.squaredMagnitude() === 0)
+                continue;
+            const normalizedAxis = axis.toNormalized();
+            const projA = projectVertices(verticesA, normalizedAxis);
+            const projB = projectVertices(verticesB, normalizedAxis);
+            const overlap = Math.min(projA.max - projB.min, projB.max - projA.min);
+            if (overlap <= 0) {
+                return Vector.zero();
+            }
+            if (overlap < minOverlap) {
+                minOverlap = overlap;
+                smallestAxis = normalizedAxis;
+            }
+        }
+        if (!smallestAxis || !Number.isFinite(minOverlap)) {
+            return Vector.zero();
+        }
+        const centerA = verticesA[0].toAdded(verticesA[2]).toMultiplied(0.5);
+        const centerB = verticesB[0].toAdded(verticesB[2]).toMultiplied(0.5);
+        const direction = centerA.toSubtracted(centerB);
+        if (direction.dotProduct(smallestAxis) < 0) {
+            smallestAxis.multiply(-1);
+        }
+        return smallestAxis.toMultiplied(minOverlap);
+    }
+    static mtvCircleCircle(a, b) {
+        const ac = a.getTransformedPosition();
+        const bc = b.getTransformedPosition();
+        const diff = ac.toSubtracted(bc);
+        const distSq = diff.squaredMagnitude();
+        const r = a.radius + b.radius;
+        if (distSq === 0)
+            return new Vector(r, 0);
+        const dist = Math.sqrt(distSq);
+        const depth = r - dist;
+        if (depth <= 0)
+            return Vector.zero();
+        const normal = diff.toMultiplied(1 / dist);
+        return normal.toMultiplied(depth);
+    }
+    static mtvSquareCircle(rect, circle) {
+        const circleCenter = circle.getTransformedPosition();
+        const rectVertices = rect.getTransformedVertices();
+        const obb = getObbData(rectVertices, rect.size);
+        const closest = closestPointOnObb(circleCenter, obb);
+        const diff = circleCenter.toSubtracted(closest);
+        const distSq = diff.squaredMagnitude();
+        const r = circle.radius;
+        const rSq = r * r;
+        if (distSq > rSq) {
+            return Vector.zero();
+        }
+        if (distSq === 0) {
+            const d = circleCenter.toSubtracted(obb.center);
+            const distX = d.dotProduct(obb.axisX);
+            const distY = d.dotProduct(obb.axisY);
+            const penX = obb.halfX - Math.abs(distX);
+            const penY = obb.halfY - Math.abs(distY);
+            if (penX < penY) {
+                const sign = distX >= 0 ? 1 : -1;
+                return obb.axisX.toMultiplied(sign * (r + penX));
+            }
+            const sign = distY >= 0 ? 1 : -1;
+            return obb.axisY.toMultiplied(sign * (r + penY));
+        }
+        const dist = Math.sqrt(distSq);
+        const depth = r - dist;
+        if (depth <= 0)
+            return Vector.zero();
+        return diff.toMultiplied(depth / dist);
+    }
+    static mtvCircleSquare(circle, rect) {
+        return this.mtvSquareCircle(rect, circle);
+    }
+}
+export { ColisionHandler };
+//# sourceMappingURL=ColisionHandler.js.map

package/dist/GameObject/Hitboxes/ColisionHandler.js.map

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package/dist/GameObject/Hitboxes/index.d.ts

@@ -0,0 +1,50 @@
+import type { CanvasController } from "../../CanvasController";
+import { Vector } from "../../Lib/Vector";
+import type { GameObject } from "../index";
+type HitboxOptions = {
+    debug?: boolean;
+    solid?: boolean;
+};
+type Hitbox = SquareHitbox | CircleHitbox;
+declare class SquareHitbox {
+    offset: Vector;
+    size: Vector;
+    gameObject: GameObject;
+    solid: boolean;
+    private debug;
+    constructor(offset: Vector, size: Vector, gameObject: GameObject, options?: HitboxOptions | boolean);
+    getTransformedVertices(): [Vector, Vector, Vector, Vector];
+    private getFutureRotation;
+    private getFutureRotationCenter;
+    getFutureTransformedVertices(): [Vector, Vector, Vector, Vector];
+    getAbsolutePosition(): Vector;
+    getFutureIntendedPosition(): Vector;
+    private intersectsWithSquare;
+    private intersectsWithCircle;
+    intersects(other: CircleHitbox | SquareHitbox): boolean;
+    willIntersectWith(other: CircleHitbox | SquareHitbox): boolean;
+    intersectsWithPoint(point: Vector): boolean;
+    renderDebug(canvas: CanvasController): void;
+}
+declare class CircleHitbox {
+    offset: Vector;
+    radius: number;
+    gameObject: GameObject;
+    solid: boolean;
+    private debug;
+    constructor(offset: Vector, radius: number, gameObject: GameObject, options?: HitboxOptions | boolean);
+    getAbsolutePosition(): Vector;
+    getTransformedPosition(): Vector;
+    private getFutureRotation;
+    private getFutureRotationCenter;
+    getFutureTransformedPosition(): Vector;
+    getFutureIntendedPosition(): Vector;
+    private intersectWithCircle;
+    private intersectWithSquare;
+    intersects(other: CircleHitbox | SquareHitbox): boolean;
+    willIntersectWith(other: CircleHitbox | SquareHitbox): boolean;
+    intersectsWithPoint(point: Vector): boolean;
+    renderDebug(canvas: CanvasController): void;
+}
+export { SquareHitbox, CircleHitbox, type HitboxOptions, type Hitbox };
+//# sourceMappingURL=index.d.ts.map

package/dist/GameObject/Hitboxes/index.d.ts.map

@@ -0,0 +1 @@
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