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Fix physics

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This commit is contained in:
schmelczerandras 2020-10-12 20:49:17 +02:00
commit f9f6825776
1 changed files with 820 additions and 529 deletions
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34
backend/src/physics/containers/bounding-box-tree.ts
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@ -1,15 +1,15 @@
import { BoundingBoxBase } from '../bounding-boxes/bounding-box-base';
import { StaticPhysical } from './static-physical-object';
import { StaticPhysical } from './static-physical';
// source: https://github.com/ubilabs/kd-tree-javascript/blob/master/kdTree.js
class Node {
public left?: Node = null;
public right?: Node = null;
constructor(public object: StaticPhysical, public parent: Node) {}
public left: Node | null = null;
public right: Node | null = null;
constructor(public object: StaticPhysical, public parent: Node | null) {}
}
export class BoundingBoxTree {
root?: Node;
root?: Node | null;
constructor(objects: Array<StaticPhysical> = []) {
this.build(objects);
@ -22,8 +22,8 @@ export class BoundingBoxTree {
private buildRecursive(
objects: Array<StaticPhysical>,
depth: number,
parent: Node,
): Node {
parent: Node | null,
): Node | null {
if (objects.length === 0) {
return null;
}
@ -34,7 +34,7 @@ export class BoundingBoxTree {
const dimension = depth % 4;
objects.sort((a, b) => a.boundingBox[dimension] - b.boundingBox[dimension]);
objects.sort((a, b) => a.boundingBox[dimension]! - b.boundingBox[dimension]!);
const median = Math.floor(objects.length / 2);
@ -54,7 +54,9 @@ export class BoundingBoxTree {
const node = new Node(object, insertPosition);
const dimension = depth % 4;
if (object.boundingBox[dimension] < insertPosition.object.boundingBox[dimension]) {
if (
object.boundingBox[dimension]! < insertPosition.object.boundingBox[dimension]!
) {
insertPosition.left = node;
} else {
insertPosition.right = node;
@ -63,14 +65,14 @@ export class BoundingBoxTree {
}
public findIntersecting(boundingBox: BoundingBoxBase): Array<StaticPhysical> {
const maybeResults = this.findMaybeIntersecting(boundingBox, this.root, 0);
const maybeResults = this.findMaybeIntersecting(boundingBox, this.root!, 0);
const results = maybeResults.filter((b) => b.boundingBox.intersects(boundingBox));
return results;
}
private findMaybeIntersecting(
boundingBox: BoundingBoxBase,
node: Node,
node: Node | null,
depth: number,
): Array<StaticPhysical> {
if (node === null) {
@ -102,17 +104,17 @@ export class BoundingBoxTree {
private findParent(
object: StaticPhysical,
node: Node,
node: Node | null | undefined,
depth: number,
parent: Node,
): [Node, number] {
if (node === null) {
parent: Node | null,
): [Node | null, number] {
if (!node) {
return [parent, depth - 1];
}
const dimension = depth % 4;
if (object.boundingBox[dimension] < node.object.boundingBox[dimension]) {
if (object.boundingBox[dimension]! < node.object.boundingBox[dimension]!) {
return this.findParent(object, node.left, depth + 1, node);
}