retro3d/collision.cm

// Collision module for lance3d

var math = use('math/radians')

// Private collider storage
var _colliders = []
var _collider_id = 0

function clear() {
  _colliders = []
}

function add_sphere(transform, radius, opts) {
  var _opts = opts || {}
  var c = {
    id: _collider_id++,
    type: "sphere",
    transform: transform,
    radius: radius,
    layer_mask: _opts.layer_mask || 1,
    user: _opts.user
  }
  _colliders[] = c
  return c
}

function add_box(transform, size, opts) {
  var _opts = opts || {}
  var c = {
    id: _collider_id++,
    type: "box",
    transform: transform,
    sx: size.x, sy: size.y, sz: size.z,
    layer_mask: _opts.layer_mask || 1,
    user: _opts.user
  }
  _colliders[] = c
  return c
}

function remove(collider) {
  var i = null
  for (i = 0; i < length(_colliders); i++) {
    if (_colliders[i].id == collider.id) {
      _colliders.splice(i, 1)
      return true
    }
  }
  return false
}

function overlaps(layer_mask_a, layer_mask_b) {
  var results = []
  var i = null
  var j = null
  var a = null
  var b = null
  for (i = 0; i < length(_colliders); i++) {
    for (j = i + 1; j < length(_colliders); j++) {
      a = _colliders[i]
      b = _colliders[j]

      if (layer_mask_a != null && !(a.layer_mask & layer_mask_a)) continue
      if (layer_mask_b != null && !(b.layer_mask & layer_mask_b)) continue

      if (_check_collision(a, b)) {
        results[] = {a: a, b: b}
      }
    }
  }
  return results
}

function raycast(origin, direction, opts) {
  var _opts = opts || {}
  var max_dist = _opts.max_dist || 1000000
  var layer_mask = _opts.layer_mask || 0xFFFFFFFF
  var ox = origin.x
  var oy = origin.y
  var oz = origin.z
  var dx = direction.x
  var dy = direction.y
  var dz = direction.z
  var closest = null
  var closest_dist = null
  var i = null
  var c = null
  var hit = null
  var len = null
  var org = null
  var dir = null

  // Normalize direction
  len = math.sqrt(dx*dx + dy*dy + dz*dz)
  if (len < 0.0001) return null
  dx /= len
  dy /= len
  dz /= len

  org = {x: ox, y: oy, z: oz}
  dir = {x: dx, y: dy, z: dz}

  closest_dist = max_dist

  for (i = 0; i < length(_colliders); i++) {
    c = _colliders[i]
    if (!(c.layer_mask & layer_mask)) continue

    hit = null
    if (c.type == "sphere") {
      hit = _ray_sphere(org, dir, c)
    } else if (c.type == "box") {
      hit = _ray_box(org, dir, c)
    }

    if (hit && hit.distance < closest_dist) {
      closest = hit
      closest_dist = hit.distance
    }
  }

  return closest
}

function _get_position(transform) {
  if (!transform) return {x: 0, y: 0, z: 0}
  // If transform is a matrix (array of 16), extract translation
  if (length(transform) == 16) {
    return {x: transform[12], y: transform[13], z: transform[14]}
  }
  // If transform is an object with x,y,z
  if (transform.x != null) {
    return {x: transform.x, y: transform.y, z: transform.z}
  }
  return {x: 0, y: 0, z: 0}
}

function _check_collision(a, b) {
  var pa = _get_position(a.transform)
  var pb = _get_position(b.transform)

  var dx = pb.x - pa.x
  var dy = pb.y - pa.y
  var dz = pb.z - pa.z
  var dist = math.sqrt(dx*dx + dy*dy + dz*dz)

  // Simple sphere-sphere approximation
  var ra = a.radius || max(a.sx || 0, a.sy || 0, a.sz || 0)
  var rb = b.radius || max(b.sx || 0, b.sy || 0, b.sz || 0)
  return dist < ra + rb
}

function _ray_sphere(origin, dir, sphere) {
  var pos = _get_position(sphere.transform)
  var r = sphere.radius
  var ox = origin.x
  var oy = origin.y
  var oz = origin.z
  var dx = dir.x
  var dy = dir.y
  var dz = dir.z

  // Vector from ray origin to sphere center
  var lx = pos.x - ox
  var ly = pos.y - oy
  var lz = pos.z - oz

  // Project onto ray direction
  var tca = lx*dx + ly*dy + lz*dz
  var d2 = null
  var r2 = null
  var thc = null
  var t = null
  var hx = null
  var hy = null
  var hz = null
  var nx = null
  var ny = null
  var nz = null
  if (tca < 0) return null

  d2 = lx*lx + ly*ly + lz*lz - tca*tca
  r2 = r*r
  if (d2 > r2) return null

  thc = math.sqrt(r2 - d2)
  t = tca - thc
  if (t < 0) t = tca + thc
  if (t < 0) return null

  hx = ox + dx*t
  hy = oy + dy*t
  hz = oz + dz*t

  // Normal at hit point
  nx = (hx - pos.x) / r
  ny = (hy - pos.y) / r
  nz = (hz - pos.z) / r

  return {
    x: hx, y: hy, z: hz,
    nx: nx, ny: ny, nz: nz,
    distance: t,
    collider: sphere
  }
}

function _ray_box(origin, dir, box) {
  var pos = _get_position(box.transform)
  var ox = origin.x
  var oy = origin.y
  var oz = origin.z
  var dx = dir.x
  var dy = dir.y
  var dz = dir.z
  var hx = (box.sx || 1) / 2
  var hy = (box.sy || 1) / 2
  var hz = (box.sz || 1) / 2

  var minx = pos.x - hx
  var maxx = pos.x + hx
  var miny = pos.y - hy
  var maxy = pos.y + hy
  var minz = pos.z - hz
  var maxz = pos.z + hz

  var tmin = -1000000
  var tmax = 1000000
  var nx = 0
  var ny = 0
  var nz = 0
  var t1 = null
  var t2 = null
  var tmp = null
  var t = null

  // X slab
  if (abs(dx) > 0.0001) {
    t1 = (minx - ox) / dx
    t2 = (maxx - ox) / dx
    if (t1 > t2) { tmp = t1; t1 = t2; t2 = tmp }
    if (t1 > tmin) { tmin = t1; nx = dx > 0 ? -1 : 1; ny = 0; nz = 0 }
    if (t2 < tmax) tmax = t2
  } else if (ox < minx || ox > maxx) {
    return null
  }

  // Y slab
  if (abs(dy) > 0.0001) {
    t1 = (miny - oy) / dy
    t2 = (maxy - oy) / dy
    if (t1 > t2) { tmp = t1; t1 = t2; t2 = tmp }
    if (t1 > tmin) { tmin = t1; nx = 0; ny = dy > 0 ? -1 : 1; nz = 0 }
    if (t2 < tmax) tmax = t2
  } else if (oy < miny || oy > maxy) {
    return null
  }

  // Z slab
  if (abs(dz) > 0.0001) {
    t1 = (minz - oz) / dz
    t2 = (maxz - oz) / dz
    if (t1 > t2) { tmp = t1; t1 = t2; t2 = tmp }
    if (t1 > tmin) { tmin = t1; nx = 0; ny = 0; nz = dz > 0 ? -1 : 1 }
    if (t2 < tmax) tmax = t2
  } else if (oz < minz || oz > maxz) {
    return null
  }

  if (tmin > tmax || tmax < 0) return null

  t = tmin > 0 ? tmin : tmax
  if (t < 0) return null

  return {
    x: ox + dx*t, y: oy + dy*t, z: oz + dz*t,
    nx: nx, ny: ny, nz: nz,
    distance: t,
    collider: box
  }
}

return {
  clear: clear,
  add_sphere: add_sphere,
  add_box: add_box,
  remove: remove,
  overlaps: overlaps,
  raycast: raycast
}