vertecs/src/physics/solver/DefaultSolver.ts

A typescript entity-component-system framework

import { vec3, Vec3Like } from "ts-gl-matrix";
import Body from "../bodies/Body";
import { Entity } from "../../core";
import { Transform } from "../../math";

/**
 * Simple solver that pushes the bodies away from each other
 */
export default class DefaultSolver {
    public solve(
        entity1: Entity,
        entity2: Entity,
        contactNormal: Vec3Like
    ): void {
        const entity1Transform = entity1.getComponent(Transform);
        const entity2Transform = entity2.getComponent(Transform);
        const body1 = entity1.getComponent(Body);
        const body2 = entity2.getComponent(Body);

        if (!entity1Transform || !entity2Transform || !body1 || !body2) {
            throw new Error("Body or transform not found");
        }

        // Push the bodies away from each other using the contact normal

        if (body1.movable && body2.movable) {
            return;
        }

        if (body1.movable) {
            entity1Transform.translate(contactNormal);
            return;
        }

        entity2Transform.translate(vec3.negate(vec3.create(), contactNormal));
    }

    public clone(): DefaultSolver {
        return new DefaultSolver();
    }
}