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

function add_box(transform, sx, sy, sz, opts) {
  opts = opts || {}
  var c = {
    id: _collider_id++,
    type: "box",
    transform: transform,
    sx: sx, sy: sy, sz: sz,
    layer_mask: opts.layer_mask || 1,
    user: opts.user
  }
  _colliders.push(c)
  return c
}

function remove(collider) {
  for (var i = 0; i < _colliders.length; 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 = []
  for (var i = 0; i < _colliders.length; i++) {
    for (var j = i + 1; j < _colliders.length; j++) {
      var a = _colliders[i]
      var 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.push({a: a, b: b})
      }
    }
  }
  return results
}

function raycast(ox, oy, oz, dx, dy, dz, opts) {
  opts = opts || {}
  var max_dist = opts.max_dist || 1000000
  var layer_mask = opts.layer_mask || 0xFFFFFFFF
  
  // Normalize direction
  var len = math.sqrt(dx*dx + dy*dy + dz*dz)
  if (len < 0.0001) return null
  dx /= len
  dy /= len
  dz /= len
  
  var closest = null
  var closest_dist = max_dist
  
  for (var i = 0; i < _colliders.length; i++) {
    var c = _colliders[i]
    if (!(c.layer_mask & layer_mask)) continue
    
    var hit = null
    if (c.type == "sphere") {
      hit = _ray_sphere(ox, oy, oz, dx, dy, dz, c)
    } else if (c.type == "box") {
      hit = _ray_box(ox, oy, oz, dx, dy, dz, 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 (transform.length == 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 || number.max(a.sx || 0, a.sy || 0, a.sz || 0)
  var rb = b.radius || number.max(b.sx || 0, b.sy || 0, b.sz || 0)
  return dist < ra + rb
}

function _ray_sphere(ox, oy, oz, dx, dy, dz, sphere) {
  var pos = _get_position(sphere.transform)
  var r = sphere.radius
  
  // 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
  if (tca < 0) return null
  
  var d2 = lx*lx + ly*ly + lz*lz - tca*tca
  var r2 = r*r
  if (d2 > r2) return null
  
  var thc = math.sqrt(r2 - d2)
  var t = tca - thc
  if (t < 0) t = tca + thc
  if (t < 0) return null
  
  var hx = ox + dx*t
  var hy = oy + dy*t
  var hz = oz + dz*t
  
  // Normal at hit point
  var nx = (hx - pos.x) / r
  var ny = (hy - pos.y) / r
  var 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(ox, oy, oz, dx, dy, dz, box) {
  var pos = _get_position(box.transform)
  var hx = (box.sx || 1) / 2
  var hy = (box.sy || 1) / 2
  var hz = (box.sz || 1) / 2
  
  var minx = pos.x - hx, maxx = pos.x + hx
  var miny = pos.y - hy, maxy = pos.y + hy
  var minz = pos.z - hz, maxz = pos.z + hz
  
  var tmin = -1000000, tmax = 1000000
  var nx = 0, ny = 0, nz = 0
  
  // X slab
  if (number.abs(dx) > 0.0001) {
    var t1 = (minx - ox) / dx
    var t2 = (maxx - ox) / dx
    if (t1 > t2) { var 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 (number.abs(dy) > 0.0001) {
    var t1 = (miny - oy) / dy
    var t2 = (maxy - oy) / dy
    if (t1 > t2) { var 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 (number.abs(dz) > 0.0001) {
    var t1 = (minz - oz) / dz
    var t2 = (maxz - oz) / dz
    if (t1 > t2) { var 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
  
  var 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
}