planck/src/__test__/CCD.test.ts

2D JavaScript/TypeScript physics engine for cross-platform HTML5 game development

import { describe, it, expect } from "vitest";

import { Vec2 } from "../common/Vec2";
import { Transform } from "../common/Transform";
import { CircleShape } from "../collision/shape/CircleShape";
import { TimeOfImpact, TOIInput, TOIOutput } from "../collision/TimeOfImpact";
import { Distance, SimplexCache, DistanceOutput, DistanceInput } from "../collision/Distance";

describe("CCD", function (): void {
  it("Distance", function (): void {
    const c1 = new CircleShape(1);
    {
      const input = new DistanceInput();
      input.proxyA.set(c1, 0);
      input.proxyB.set(c1, 0);
      input.transformB.p.setNum(1.9, 0);
      input.useRadii = true;
      const cache = new SimplexCache();
      const output = new DistanceOutput();
      Distance(output, cache, input);

      expect(output.distance).equal(0);
      console.log(output);
    }

    {
      const input = new DistanceInput();
      input.proxyA.set(c1, 0);
      input.proxyB.set(c1, 0);
      input.transformB.p.setNum(2.1, 0);

      input.useRadii = true;
      const cache = new SimplexCache();
      const output = new DistanceOutput();
      Distance(output, cache, input);

      expect(output.distance).closeTo(0.1, 1e-12);
      console.log(output);
    }
  });

  it("TimeOfImpact", function (): void {
    const c1 = new CircleShape(1);

    const input = new TOIInput();
    input.proxyA.set(c1, 0);
    input.proxyB.set(c1, 0);

    input.sweepA.setTransform(new Transform(new Vec2(0, 0), 0));
    input.sweepB.setTransform(new Transform(new Vec2(1.9, 0), 0));

    input.tMax = 1.0;

    const output = new TOIOutput();

    TimeOfImpact(output, input);
    console.log(output.t, output.state);

    input.sweepB.setTransform(new Transform(new Vec2(2, 0), 0));

    TimeOfImpact(output, input);
    console.log(output.t, output.state);

    input.sweepB.setTransform(new Transform(new Vec2(2.1, 0), 0));

    TimeOfImpact(output, input);
    console.log(output.t, output.state);
  });
});