15354777440

Committed 30 May 2025 08:03PM UTC coverage: 87.858% (-1.5%) from 89.344%

Build # 15354777440

Build Type

Pull #3385

github

Committed by

web-flow

Commit Message

Merge a00f57733 into e6ec66358

Pull Request Pull Request #3385: updated Meet action to add tolerance

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3 of 5 new or added lines in 2 files covered. (60.0%)

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93.94

/src/engine/Collision/CollisionSystem.ts

import type { ComponentCtor, Query, World } from '../EntityComponentSystem';
import { SystemPriority } from '../EntityComponentSystem';
import { MotionComponent } from '../EntityComponentSystem/Components/MotionComponent';
import { TransformComponent } from '../EntityComponentSystem/Components/TransformComponent';
import { System, SystemType } from '../EntityComponentSystem/System';
import { CollisionEndEvent, CollisionStartEvent, ContactEndEvent, ContactStartEvent } from '../Events';
import { SolverStrategy } from './SolverStrategy';
import { ArcadeSolver } from './Solver/ArcadeSolver';
import type { Collider } from './Colliders/Collider';
import type { CollisionContact } from './Detection/CollisionContact';
import { RealisticSolver } from './Solver/RealisticSolver';
import type { CollisionSolver } from './Solver/Solver';
import { ColliderComponent } from './ColliderComponent';
import { CompositeCollider } from './Colliders/CompositeCollider';
import type { Engine } from '../Engine';
import type { ExcaliburGraphicsContext } from '../Graphics/Context/ExcaliburGraphicsContext';
import type { Scene } from '../Scene';
import { Side } from '../Collision/Side';
import type { PhysicsWorld } from './PhysicsWorld';
import type { CollisionProcessor } from './Detection/CollisionProcessor';
import { SeparatingAxis } from './Colliders/SeparatingAxis';
import { MotionSystem } from './MotionSystem';
import { Pair } from './Detection/Pair';
export class CollisionSystem extends System {
  static priority = SystemPriority.Higher;

  public systemType = SystemType.Update;
  public query: Query<ComponentCtor<TransformComponent> | ComponentCtor<MotionComponent> | ComponentCtor<ColliderComponent>>;

  private _engine: Engine;
  private _configDirty = false;
  private _realisticSolver: RealisticSolver;
  private _arcadeSolver: ArcadeSolver;
  private _lastFrameContacts = new Map<string, CollisionContact>();
  private _currentFrameContacts = new Map<string, CollisionContact>();
  private _motionSystem: MotionSystem;
  private get _processor(): CollisionProcessor {
    return this._physics.collisionProcessor;
  }

  private _trackCollider: (c: Collider) => void;
  private _untrackCollider: (c: Collider) => void;

  constructor(
    world: World,
    private _physics: PhysicsWorld
  ) {
    super();
    this._arcadeSolver = new ArcadeSolver(_physics.config.arcade);
    this._realisticSolver = new RealisticSolver(_physics.config.realistic);
    this._physics.$configUpdate.subscribe(() => (this._configDirty = true));
    this._trackCollider = (c: Collider) => this._processor.track(c);
    this._untrackCollider = (c: Collider) => this._processor.untrack(c);
    this.query = world.query([TransformComponent, MotionComponent, ColliderComponent]);
    this.query.entityAdded$.subscribe((e) => {
      const colliderComponent = e.get(ColliderComponent);
      colliderComponent.$colliderAdded.subscribe(this._trackCollider);
      colliderComponent.$colliderRemoved.subscribe(this._untrackCollider);
      const collider = colliderComponent.get();
      if (collider) {
        this._processor.track(collider);
      }
    });
    this.query.entityRemoved$.subscribe((e) => {
      const colliderComponent = e.get(ColliderComponent);
      const collider = colliderComponent.get();
      if (colliderComponent && collider) {
        this._processor.untrack(collider);
      }
    });
    this._motionSystem = world.get(MotionSystem) as MotionSystem;
  }

  initialize(world: World, scene: Scene) {
    this._engine = scene.engine;
  }

  update(elapsed: number): void {
    if (!this._physics.config.enabled) {
      return;
    }

    // TODO do we need to do this every frame?
    // Collect up all the colliders and update them
    let colliders: Collider[] = [];
    for (let entityIndex = 0; entityIndex < this.query.entities.length; entityIndex++) {
      const entity = this.query.entities[entityIndex];
      const colliderComp = entity.get(ColliderComponent);
      const collider = colliderComp?.get();
      if (colliderComp && colliderComp.owner?.isActive && collider) {
        colliderComp.update();

        // Flatten composite colliders
        if (collider instanceof CompositeCollider) {
          const compositeColliders = collider.getColliders();
          if (!collider.compositeStrategy) {
            collider.compositeStrategy = this._physics.config.colliders.compositeStrategy;
          }
          colliders = colliders.concat(compositeColliders);
        } else {
          colliders.push(collider);
        }
      }
    }

    // Update the spatial partitioning data structures
    // TODO if collider invalid it will break the processor
    // TODO rename "update" to something more specific
    this._processor.update(colliders, elapsed);

    // Run broadphase on all colliders and locates potential collisions
    let pairs = this._processor.broadphase(colliders, elapsed);

    this._currentFrameContacts.clear();

    // Given possible pairs find actual contacts
    let contacts: CollisionContact[] = [];

    const solver: CollisionSolver = this.getSolver();

    // Solve, this resolves the position/velocity so entities aren't overlapping
    const substep = this._physics.config.substep;
    for (let step = 0; step < substep; step++) {
      if (step > 0) {
        // first step is run by the MotionSystem when configured, so skip
        this._motionSystem.update(elapsed);
      }
      // Re-use pairs from previous collision
      if (contacts.length) {
        pairs = contacts.map((c) => new Pair(c.colliderA, c.colliderB));
      }

      if (pairs.length) {
        contacts = this._processor.narrowphase(pairs, this._engine?.debug?.stats?.currFrame);
        contacts = solver.solve(contacts);

        // Record contacts for start/end
        for (const contact of contacts) {
          if (contact.isCanceled()) {
            continue;
          }
          // Process composite ids, things with the same composite id are treated as the same collider for start/end
          const index = contact.id.indexOf('|');
          if (index > 0) {
            const compositeId = contact.id.substring(index + 1);
            this._currentFrameContacts.set(compositeId, contact);
          } else {
            this._currentFrameContacts.set(contact.id, contact);
          }
        }
      }
    }

    // Emit contact start/end events
    this.runContactStartEnd();

    // reset the last frame cache
    this._lastFrameContacts.clear();

    // Keep track of collisions contacts that have started or ended
    this._lastFrameContacts = new Map(this._currentFrameContacts);

    // Process deferred collider removals
    for (const entity of this.query.entities) {
      const collider = entity.get(ColliderComponent);
      if (collider) {
        collider.processColliderRemoval();
      }
    }
  }

  postupdate(): void {
    SeparatingAxis.SeparationPool.done();
  }

  getSolver(): CollisionSolver {
    if (this._configDirty) {
      this._configDirty = false;
      this._arcadeSolver = new ArcadeSolver(this._physics.config.arcade);
      this._realisticSolver = new RealisticSolver(this._physics.config.realistic);
    }
    return this._physics.config.solver === SolverStrategy.Realistic ? this._realisticSolver : this._arcadeSolver;
  }

  debug(ex: ExcaliburGraphicsContext) {
    this._processor.debug(ex, 0);
  }

  public runContactStartEnd() {
    // If composite colliders are 'together' collisions may have a duplicate id because we want to treat those as a singular start/end
    for (const [id, c] of this._currentFrameContacts) {
      // find all new contacts
      if (!this._lastFrameContacts.has(id)) {
        const colliderA = c.colliderA;
        const colliderB = c.colliderB;
        const side = Side.fromDirection(c.mtv);
        const opposite = Side.getOpposite(side);
        colliderA.events.emit('collisionstart', new CollisionStartEvent(colliderA, colliderB, side, c));
        colliderA.events.emit('contactstart', new ContactStartEvent(colliderA, colliderB, side, c) as any);
        colliderB.events.emit('collisionstart', new CollisionStartEvent(colliderB, colliderA, opposite, c));
        colliderB.events.emit('contactstart', new ContactStartEvent(colliderB, colliderA, opposite, c) as any);
      }
    }

    // find all contacts that have ceased
    for (const [id, c] of this._lastFrameContacts) {
      if (!this._currentFrameContacts.has(id)) {
        const colliderA = c.colliderA;
        const colliderB = c.colliderB;
        const side = Side.fromDirection(c.mtv);
        const opposite = Side.getOpposite(side);
        colliderA.events.emit('collisionend', new CollisionEndEvent(colliderA, colliderB, side, c));
        colliderA.events.emit('contactend', new ContactEndEvent(colliderA, colliderB, side, c) as any);
        colliderB.events.emit('collisionend', new CollisionEndEvent(colliderB, colliderA, opposite, c));
        colliderB.events.emit('contactend', new ContactEndEvent(colliderB, colliderA, opposite, c) as any);
      }
    }
  }
}

1	import type { ComponentCtor, Query, World } from '../EntityComponentSystem';
2	import { SystemPriority } from '../EntityComponentSystem';
3	import { MotionComponent } from '../EntityComponentSystem/Components/MotionComponent';
4	import { TransformComponent } from '../EntityComponentSystem/Components/TransformComponent';
5	import { System, SystemType } from '../EntityComponentSystem/System';
6	import { CollisionEndEvent, CollisionStartEvent, ContactEndEvent, ContactStartEvent } from '../Events';
7	import { SolverStrategy } from './SolverStrategy';
8	import { ArcadeSolver } from './Solver/ArcadeSolver';
9	import type { Collider } from './Colliders/Collider';
10	import type { CollisionContact } from './Detection/CollisionContact';
11	import { RealisticSolver } from './Solver/RealisticSolver';
12	import type { CollisionSolver } from './Solver/Solver';
13	import { ColliderComponent } from './ColliderComponent';
14	import { CompositeCollider } from './Colliders/CompositeCollider';
15	import type { Engine } from '../Engine';
16	import type { ExcaliburGraphicsContext } from '../Graphics/Context/ExcaliburGraphicsContext';
17	import type { Scene } from '../Scene';
18	import { Side } from '../Collision/Side';
19	import type { PhysicsWorld } from './PhysicsWorld';
20	import type { CollisionProcessor } from './Detection/CollisionProcessor';
21	import { SeparatingAxis } from './Colliders/SeparatingAxis';
22	import { MotionSystem } from './MotionSystem';
23	import { Pair } from './Detection/Pair';
24	export class CollisionSystem extends System {	117✔
25	static priority = SystemPriority.Higher;
26
27	public systemType = SystemType.Update;	1,351✔
28	public query: Query<ComponentCtor<TransformComponent> \| ComponentCtor<MotionComponent> \| ComponentCtor<ColliderComponent>>;
29
30	private _engine: Engine;
31	private _configDirty = false;	1,351✔
32	private _realisticSolver: RealisticSolver;
33	private _arcadeSolver: ArcadeSolver;
34	private _lastFrameContacts = new Map<string, CollisionContact>();	1,351✔
35	private _currentFrameContacts = new Map<string, CollisionContact>();	1,351✔
36	private _motionSystem: MotionSystem;
37	private get _processor(): CollisionProcessor {
38	return this._physics.collisionProcessor;	4,032✔
39	}
40
41	private _trackCollider: (c: Collider) => void;
42	private _untrackCollider: (c: Collider) => void;
43
44	constructor(
45	world: World,
46	private _physics: PhysicsWorld	1,351✔
47	) {
48	super();	1,351✔
49	this._arcadeSolver = new ArcadeSolver(_physics.config.arcade);	1,351✔
50	this._realisticSolver = new RealisticSolver(_physics.config.realistic);	1,351✔
51	this._physics.$configUpdate.subscribe(() => (this._configDirty = true));	1,351✔
52	this._trackCollider = (c: Collider) => this._processor.track(c);	1,351✔
53	this._untrackCollider = (c: Collider) => this._processor.untrack(c);	1,351✔
54	this.query = world.query([TransformComponent, MotionComponent, ColliderComponent]);	1,351✔
55	this.query.entityAdded$.subscribe((e) => {	1,351✔
56	const colliderComponent = e.get(ColliderComponent);	628✔
57	colliderComponent.$colliderAdded.subscribe(this._trackCollider);	628✔
58	colliderComponent.$colliderRemoved.subscribe(this._untrackCollider);	628✔
59	const collider = colliderComponent.get();	628✔
60	if (collider) {	628✔
61	this._processor.track(collider);	294✔
62	}
63	});
64	this.query.entityRemoved$.subscribe((e) => {	1,351✔
65	const colliderComponent = e.get(ColliderComponent);	30✔
66	const collider = colliderComponent.get();	30✔
67	if (colliderComponent && collider) {	30✔
68	this._processor.untrack(collider);	7✔
69	}
70	});
71	this._motionSystem = world.get(MotionSystem) as MotionSystem;	1,351✔
72	}
73
74	initialize(world: World, scene: Scene) {
75	this._engine = scene.engine;	739✔
76	}
77
78	update(elapsed: number): void {
79	if (!this._physics.config.enabled) {	1,791!
UNCOV 80	return;	×
81	}
82
83	// TODO do we need to do this every frame?
84	// Collect up all the colliders and update them
85	let colliders: Collider[] = [];	1,791✔
86	for (let entityIndex = 0; entityIndex < this.query.entities.length; entityIndex++) {	1,791✔
87	const entity = this.query.entities[entityIndex];	2,180✔
88	const colliderComp = entity.get(ColliderComponent);	2,180✔
89	const collider = colliderComp?.get();	2,180!
90	if (colliderComp && colliderComp.owner?.isActive && collider) {	2,180!
91	colliderComp.update();	1,242✔
92
93	// Flatten composite colliders
94	if (collider instanceof CompositeCollider) {	1,242✔
95	const compositeColliders = collider.getColliders();	12✔
96	if (!collider.compositeStrategy) {	12✔
97	collider.compositeStrategy = this._physics.config.colliders.compositeStrategy;	10✔
98	}
99	colliders = colliders.concat(compositeColliders);	12✔
100	} else {
101	colliders.push(collider);	1,230✔
102	}
103	}
104	}
105
106	// Update the spatial partitioning data structures
107	// TODO if collider invalid it will break the processor
108	// TODO rename "update" to something more specific
109	this._processor.update(colliders, elapsed);	1,791✔
110
111	// Run broadphase on all colliders and locates potential collisions
112	let pairs = this._processor.broadphase(colliders, elapsed);	1,791✔
113
114	this._currentFrameContacts.clear();	1,791✔
115
116	// Given possible pairs find actual contacts
117	let contacts: CollisionContact[] = [];	1,791✔
118
119	const solver: CollisionSolver = this.getSolver();	1,791✔
120
121	// Solve, this resolves the position/velocity so entities aren't overlapping
122	const substep = this._physics.config.substep;	1,791✔
123	for (let step = 0; step < substep; step++) {	1,791✔
124	if (step > 0) {	1,791!
125	// first step is run by the MotionSystem when configured, so skip
UNCOV 126	this._motionSystem.update(elapsed);	×
127	}
128	// Re-use pairs from previous collision
129	if (contacts.length) {	1,791!
UNCOV 130	pairs = contacts.map((c) => new Pair(c.colliderA, c.colliderB));	×
131	}
132
133	if (pairs.length) {	1,791✔
134	contacts = this._processor.narrowphase(pairs, this._engine?.debug?.stats?.currFrame);	112!
135	contacts = solver.solve(contacts);	112✔
136
137	// Record contacts for start/end
138	for (const contact of contacts) {	112✔
139	if (contact.isCanceled()) {	142✔
140	continue;	19✔
141	}
142	// Process composite ids, things with the same composite id are treated as the same collider for start/end
143	const index = contact.id.indexOf('\|');	123✔
144	if (index > 0) {	123!
145	const compositeId = contact.id.substring(index + 1);	×
UNCOV 146	this._currentFrameContacts.set(compositeId, contact);	×
147	} else {
148	this._currentFrameContacts.set(contact.id, contact);	123✔
149	}
150	}
151	}
152	}
153
154	// Emit contact start/end events
155	this.runContactStartEnd();	1,791✔
156
157	// reset the last frame cache
158	this._lastFrameContacts.clear();	1,791✔
159
160	// Keep track of collisions contacts that have started or ended
161	this._lastFrameContacts = new Map(this._currentFrameContacts);	1,791✔
162
163	// Process deferred collider removals
164	for (const entity of this.query.entities) {	1,791✔
165	const collider = entity.get(ColliderComponent);	2,180✔
166	if (collider) {	2,180!
167	collider.processColliderRemoval();	2,180✔
168	}
169	}
170	}
171
172	postupdate(): void {
173	SeparatingAxis.SeparationPool.done();	1,789✔
174	}
175
176	getSolver(): CollisionSolver {
177	if (this._configDirty) {	1,791✔
178	this._configDirty = false;	514✔
179	this._arcadeSolver = new ArcadeSolver(this._physics.config.arcade);	514✔
180	this._realisticSolver = new RealisticSolver(this._physics.config.realistic);	514✔
181	}
182	return this._physics.config.solver === SolverStrategy.Realistic ? this._realisticSolver : this._arcadeSolver;	1,791✔
183	}
184
185	debug(ex: ExcaliburGraphicsContext) {
UNCOV 186	this._processor.debug(ex, 0);	×
187	}
188
189	public runContactStartEnd() {
190	// If composite colliders are 'together' collisions may have a duplicate id because we want to treat those as a singular start/end
191	for (const [id, c] of this._currentFrameContacts) {	1,791✔
192	// find all new contacts
193	if (!this._lastFrameContacts.has(id)) {	123✔
194	const colliderA = c.colliderA;	32✔
195	const colliderB = c.colliderB;	32✔
196	const side = Side.fromDirection(c.mtv);	32✔
197	const opposite = Side.getOpposite(side);	32✔
198	colliderA.events.emit('collisionstart', new CollisionStartEvent(colliderA, colliderB, side, c));	32✔
199	colliderA.events.emit('contactstart', new ContactStartEvent(colliderA, colliderB, side, c) as any);	32✔
200	colliderB.events.emit('collisionstart', new CollisionStartEvent(colliderB, colliderA, opposite, c));	32✔
201	colliderB.events.emit('contactstart', new ContactStartEvent(colliderB, colliderA, opposite, c) as any);	32✔
202	}
203	}
204
205	// find all contacts that have ceased
206	for (const [id, c] of this._lastFrameContacts) {	1,791✔
207	if (!this._currentFrameContacts.has(id)) {	101✔
208	const colliderA = c.colliderA;	10✔
209	const colliderB = c.colliderB;	10✔
210	const side = Side.fromDirection(c.mtv);	10✔
211	const opposite = Side.getOpposite(side);	10✔
212	colliderA.events.emit('collisionend', new CollisionEndEvent(colliderA, colliderB, side, c));	10✔
213	colliderA.events.emit('contactend', new ContactEndEvent(colliderA, colliderB, side, c) as any);	10✔
214	colliderB.events.emit('collisionend', new CollisionEndEvent(colliderB, colliderA, opposite, c));	10✔
215	colliderB.events.emit('contactend', new ContactEndEvent(colliderB, colliderA, opposite, c) as any);	10✔
216	}
217	}
218	}
219	}

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