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aabb-aabb-ccd.html
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<!doctype html>
<meta charset="utf-8">
<script src="https://cdnjs.cloudflare.com/ajax/libs/rxjs/2.5.1/rx.lite.js"></script>
<script src="https://cdnjs.cloudflare.com/ajax/libs/interact.js/1.2.4/interact.js"></script>
<script src="Strob.js"></script>
<script src="CCD.js"></script>
<style>
* {
box-sizing: border-box;
}
h1,
h2 {
text-align: center;
}
.row {
display: flex;
flex-direction: row;
flex: 1;
width: 100%;
}
.col {
flex-direction: column;
justify-content: space-around;
margin: 10px;
flex: 1;
}
.subcol {
flex-direction: column;
justify-content: space-around;
margin: 0 auto;
}
svg {
border: 1px solid #999;
}
.boxA,
.pointA,
.boxAB {
stroke-width: 1px;
stroke: #999;
fill: #90FEC6;
}
.hollow {
opacity: 0.6;
stroke-dasharray: 2, 2;
}
.boxB {
stroke-width: 1px;
stroke: #999;
fill: #FFCD91;
}
.rayHandle {
stroke: #aaa;
fill: white;
}
.ray {
stroke-width: 1px;
stroke: #666;
}
.intersect {
stroke-width: 2.5px;
stroke: #ff0000;
}
.vertSlab,
.horizSlab {
fill: #ccc;
stroke-width: 1px;
stroke-dasharray: 5, 5;
stroke: #aaa;
}
.output {
float: right;
}
#arrowhead {
fill: #666;
}
</style>
<h1>Moving AABB / Static AABB Collision Detection Visualization</h1>
<div id="grid">
<div class="row">
<h2 class="col">Input</h2>
<h2 class="col">Internal Model</h2>
</div>
<div class="row">
<svg id="input" class="col" width="100%" height=300>
<defs>
<marker id="arrowhead" viewBox="0 0 10 10"
refX="9" refY="5"
markerUnits="strokeWidth" markerWidth="8" markerHeight="6"
orient="auto">
<path d="M 0 0 L 10 5 L 0 10 z">
</marker>
</defs>
<rect class="boxA" x=100 y=50 width=50 height=50></rect>
<rect class="boxB" x=200 y=100 width=50 height=50></rect>
<rect class="rayHandle" x=150 y=75 width=5 height=5></rect>
<path class="ray" marker-end="url(#arrowhead)"></path>
</svg>
<svg id="representation" class="col" width="100%" height=300>
<rect class="vertSlab"></rect>
<rect class="horizSlab"></rect>
<rect class="boxAB"></rect>
<rect class="boxB"></rect>
<rect class="boxA hollow"></rect>
<path class="ray" marker-end="url(#arrowhead)"></path>
<path class="intersect"></path>
<circle class="pointA"></circle>
</svg>
</div>
<div class="row">
<div class="row">
<div class="subcol">
<h3>Green Box</h3>
<div>x: <span class="output" id="greenX"></span></div>
<div>y: <span class="output" id="greenY"></span></div>
<div>width: <span class="output" id="greenWidth"></span></div>
<div>height: <span class="output" id="greenHeight"></span></div>
</div>
<div class="subcol">
<h3>Orange Box</h3>
<div>x: <span class="output" id="orangeX"></span></div>
<div>y: <span class="output" id="orangeY"></span></div>
<div>width: <span class="output" id="orangeWidth"></span></div>
<div>height: <span class="output" id="orangeHeight"></span></div>
</div>
<div class="subcol">
<h3>Ray</h3>
<div>angle: <span class="output" id="rayAngle"></span></div>
<div>magnitude: <span class="output" id="rayLength"></span></div>
</div>
</div>
<div class="row">
<div class="subcol">
<h3>Intersection Times</h3>
<div>start: <span class="output" id="intersectT1"></span></div>
<div>end: <span class="output" id="intersectT2"></span></div>
</div>
</div>
</div>
</div>
<script>
var hookupOutput = function(selector, stream) {
var elem = document.querySelector(selector);
stream.subscribe(function(event) {
elem.innerHTML = event;
});
};
var interpolate = function(interval, steps) {
var counter = 0;
var zeroSteps = Math.floor(steps * 0.25);
var endSteps = Math.floor(steps * 0.25);
return Rx.Observable.timer(interval / steps, interval / steps)
.map(function() {
var mod = counter++ % (steps + 1 + zeroSteps + endSteps);
if (mod < zeroSteps) {
counter++;
return 0;
}
if (mod - zeroSteps - steps >= 0) {
counter++;
return 1;
}
return (mod - zeroSteps % (steps + 1)) / steps;
});
}
var boxA = new Strob.InteractiveRect("#input .boxA").outStream;
var boxB = new Strob.InteractiveRect("#input .boxB").outStream;
var boxAB = Rx.Observable.combineLatest(boxA, boxB, function(a, b) {
return {
x: b.x,
y: b.y,
width: a.width + b.width,
height: a.height + b.height
};
});
var rayHandleDOM = new Strob.InteractiveRect("#input .rayHandle", {
minWidth: 5,
minHeight: 5,
resizable: false
});
var rayHandle = rayHandleDOM.outStream;
var ray = Rx.Observable.combineLatest(boxA, rayHandle, function(from, to) {
return {
from: from,
to: to
};
});
var rayVector = ray.map(function(a) {
var delta = {
x: a.to.x - a.from.x,
y: a.to.y - a.from.y
};
var angle = Math.atan2(delta.y, delta.x);
if (angle < 0) {
angle += 2 * Math.PI;
}
return {
angle: Math.round(angle * 180 / Math.PI),
length: Math.round(Math.sqrt(delta.x * delta.x + delta.y * delta.y))
};
});
new Strob.StreamSegment("#input .ray", ray);
var interpolatedBoxA = Rx.Observable.combineLatest(ray, interpolate(4000, 120),
function(ray, t) {
return {
x: ray.to.x * t + ray.from.x * (1 - t),
y: ray.to.y * t + ray.from.y * (1 - t),
width: ray.from.width,
height: ray.from.height
};
});
var intersectionTimes = Rx.Observable.combineLatest(boxA, boxAB, ray, function(a, ab, r) {
var v = {
x: r.to.x - r.from.x,
y: r.to.y - r.from.y
};
return CCD.intersectRayAABB(a, v, ab) || {};
});
new Strob.StreamCircle("#representation .pointA", interpolatedBoxA.map(function(event) {
return {
x: event.x,
y: event.y,
r: 3
};
}));
new Strob.StreamRect("#representation .boxA", interpolatedBoxA);
new Strob.StreamRect("#representation .boxAB", boxAB);
new Strob.StreamRect("#representation .boxB", boxB);
new Strob.StreamSegment("#representation .ray", ray);
new Strob.StreamVertSlab("#representation .vertSlab", boxAB);
new Strob.StreamHorizSlab("#representation .horizSlab", boxAB);
new Strob.StreamSegment("#representation .intersect",
Rx.Observable.combineLatest(ray, intersectionTimes, function(r, t) {
var t1 = Math.min(1, t.t1 || 0);
var t2 = Math.min(1, t.t2 || 0);
var from = r.from;
var to = r.to;
return {
from: {
x: to.x * t1 + from.x * (1 - t1),
y: to.y * t1 + from.y * (1 - t1)
},
to: {
x: to.x * t2 + from.x * (1 - t2),
y: to.y * t2 + from.y * (1 - t2)
}
};
}));
hookupOutput("#greenX", boxA.pluck("x"));
hookupOutput("#greenY", boxA.pluck("y"));
hookupOutput("#greenWidth", boxA.pluck("width"));
hookupOutput("#greenHeight", boxA.pluck("height"));
hookupOutput("#orangeX", boxB.pluck("x"));
hookupOutput("#orangeY", boxB.pluck("y"));
hookupOutput("#orangeWidth", boxB.pluck("width"));
hookupOutput("#orangeHeight", boxB.pluck("height"));
hookupOutput("#rayAngle", rayVector.pluck("angle"));
hookupOutput("#rayLength", rayVector.pluck("length"));
hookupOutput("#intersectT1", intersectionTimes.pluck("t1"));
hookupOutput("#intersectT2", intersectionTimes.pluck("t2"));
boxA.connect();
boxB.connect();
rayHandle.connect();
</script>