ehm

workshop/steps/13-crush/given.ts

@@ -0,0 +1,132 @@
+// The whole kernel you've built, steps 01-10, finished. Reuse it.
+export type Vec = { x: number; y: number };
+export type AABB = { x: number; y: number; w: number; h: number };
+export type Span = { entry: number; exit: number };
+export type Hit = { time: number; normal: Vec };
+
+/** A hair of slack so we stop just short of a wall instead of inside it. */
+export const EPSILON = 1e-4;
+
+export const vec = (x: number, y: number): Vec => ({ x, y });
+export const add = (a: Vec, b: Vec): Vec => ({ x: a.x + b.x, y: a.y + b.y });
+export const sub = (a: Vec, b: Vec): Vec => ({ x: a.x - b.x, y: a.y - b.y });
+export const scale = (a: Vec, s: number): Vec => ({ x: a.x * s, y: a.y * s });
+export const dot = (a: Vec, b: Vec): number => a.x * b.x + a.y * b.y;
+
+/** Step 04, finished. Strict overlap — merely touching edges is false. */
+export function aabbOverlap(a: AABB, b: AABB): boolean {
+	return (
+		a.x < b.x + b.w && b.x < a.x + a.w && a.y < b.y + b.h && b.y < a.y + a.h
+	);
+}
+
+export function sweepInterval(
+	p: number,
+	v: number,
+	min: number,
+	max: number,
+): Span | null {
+	if (v === 0) {
+		return min <= p && p <= max ? { entry: -Infinity, exit: Infinity } : null;
+	}
+	let t1 = (min - p) / v;
+	let t2 = (max - p) / v;
+	if (t1 > t2) {
+		[t1, t2] = [t2, t1];
+	}
+	return { entry: t1, exit: t2 };
+}
+
+export function rayVsAABB(p: Vec, v: Vec, box: AABB): Hit | null {
+	const spanX = sweepInterval(p.x, v.x, box.x, box.x + box.w);
+	const spanY = sweepInterval(p.y, v.y, box.y, box.y + box.h);
+	if (spanX === null || spanY === null) {
+		return null;
+	}
+	const entry = Math.max(spanX.entry, spanY.entry);
+	const exit = Math.min(spanX.exit, spanY.exit);
+	if (entry > exit || entry >= 1 || exit <= 0) {
+		return null;
+	}
+	const normal =
+		spanX.entry > spanY.entry
+			? { x: v.x > 0 ? -1 : 1, y: 0 }
+			: { x: 0, y: v.y > 0 ? -1 : 1 };
+	return { time: entry, normal };
+}
+
+export function sweptAABB(a: AABB, v: Vec, b: AABB): Hit | null {
+	const inflated: AABB = {
+		x: b.x - a.w,
+		y: b.y - a.h,
+		w: b.w + a.w,
+		h: b.h + a.h,
+	};
+	return rayVsAABB({ x: a.x, y: a.y }, v, inflated);
+}
+
+export function slide(v: Vec, normal: Vec): Vec {
+	return sub(v, scale(normal, dot(v, normal)));
+}
+
+/** Step 10, finished — your loop, exactly as you wrote it. */
+export function moveAndSlide(box: AABB, v: Vec, walls: AABB[]): Vec {
+	let pos: Vec = { x: box.x, y: box.y };
+	let vel: Vec = { x: v.x, y: v.y };
+
+	let timeLeft = 1;
+	let i = 0;
+	while (i++ < 4 && timeLeft > 0) {
+		const move = scale(vel, timeLeft);
+		let nearest: Hit = {
+			normal: { x: 0, y: 0 },
+			time: 2,
+		};
+
+		for (const wall of walls) {
+			const hit = sweptAABB(
+				{
+					x: pos.x,
+					y: pos.y,
+					w: box.w,
+					h: box.h,
+				},
+				move,
+				wall,
+			);
+			if (hit !== null) {
+				nearest = hit.time < nearest.time ? hit : nearest;
+			}
+		}
+
+		if (nearest.time === 2) {
+			pos = add(pos, move);
+			break;
+		} else {
+			pos = add(pos, scale(move, Math.max(0, nearest.time - EPSILON)));
+			vel = slide(vel, nearest.normal);
+			timeLeft = timeLeft * (1 - nearest.time);
+		}
+	}
+
+	return pos;
+}
+
+/** Step 12, finished — your penetrationVector, exactly as you wrote it. */
+export function penetrationVector(a: AABB, b: AABB): Vec | null {
+	const outLeft = a.x + a.w - b.x;
+	const outRight = b.x + b.w - a.x;
+	const outUp = a.y + a.h - b.y;
+	const outDown = b.y + b.h - a.y;
+
+	const minX = Math.min(outLeft, outRight);
+	const minY = Math.min(outUp, outDown);
+
+	if (minX > 0 && minY > 0) {
+		return minX > minY
+			? { x: 0, y: outDown > outUp ? -minY : minY }
+			: { x: outLeft > outRight ? minX : -minX, y: 0 };
+	}
+
+	return null;
+}