Some basic collision detection.

src/lib.rs

@@ -88,7 +88,7 @@ struct Ship {
 }
 
 impl Ship {
-    fn update(&mut self, dt_s: f64, keys: &HashSet<String>) {
+    fn update(&mut self, dt_s: f64, keys: &HashSet<String>, boundary: &CGA) {
         let vel = self.vel.clone(); //Velocity at beginning of frame
         let mut vel_2 = self.vel.clone();
 
@@ -107,29 +107,33 @@ impl Ship {
             self.orientation = bivector_exponential(&(-dt_s * CGA::e12())) * &self.orientation;
         }
 
-
         vel_2 = vel_2 + a_vec*dt_s; //Velocity at end of frame
         let vel_3 = 0.5*(vel+&vel_2);
         let delta = vel_3 * dt_s;
         let pos = bivector_exponential(&delta)*&self.com_rotor; //Update position.
-        self.vel = vel_2;
+        let old = self.com_rotor.clone();
         self.com_rotor = pos;
+        self.vel = vel_2;
+        if self.intersects_circle(boundary) {
+            self.com_rotor = 0.99*old;
+            //self.vel = CGA::zero();
+        }
     }
 
     fn draw(&self, context: &CanvasRenderingContext2d) {
         let origin = gen_hyperbolic_point(&CGA::zero()); //Origin in the body frame.
         let com = self.fixed_to_world(&origin);
-        let p0 = self.fixed_to_world(&self.verts[0]);
+        let p1 = self.fixed_to_world(&self.verts[0]);
-        let p1 = self.fixed_to_world(&self.verts[1]);
+        let p2 = self.fixed_to_world(&self.verts[1]);
-        let p2 = self.fixed_to_world(&self.verts[2]);
+        let p3 = self.fixed_to_world(&self.verts[2]);
 
         draw_point(context, &com);
-        draw_point(context, &p0);
         draw_point(context, &p1);
         draw_point(context, &p2);
-        draw_line_between(context, &p0, &p1);
+        draw_point(context, &p3);
         draw_line_between(context, &p1, &p2);
-        draw_line_between(context, &p2, &p0);
+        draw_line_between(context, &p2, &p3);
+        draw_line_between(context, &p3, &p1);
 
         //Construct and draw line pointing straight ahead, to help orient the player.
         let delta_gen = self.fixed_to_world(&CGA::e14());
@@ -141,6 +145,83 @@ impl Ship {
     fn fixed_to_world(&self, vec: &CGA) -> CGA {
         &self.com_rotor * &self.orientation * vec * &self.orientation.Reverse() * &self.com_rotor.Reverse()
     }
+
+    fn intersects_circle(&self, circle: &CGA) -> bool {
+        //Explicitly select only tri-vector part.
+        let circle = grade_selection(circle, 3);
+        //Find vertices in world space.
+        let p1 = self.fixed_to_world(&self.verts[0]);
+        let p2 = self.fixed_to_world(&self.verts[1]);
+        let p3 = self.fixed_to_world(&self.verts[2]);
+        //Construct sides of ship in world space.
+        let e4 = CGA::e4();
+        let side_1 = &e4 ^ &p1 ^ &p2;
+        let side_2 = &e4 ^ &p1 ^ &p3;
+        let side_3 = &e4 ^ &p2 ^ &p3;
+        //Find intersections between any side and the given circle.
+        let int_1 = circle_intersection(&side_1, &circle);
+        let int_2 = circle_intersection(&side_2, &circle);
+        let int_3 = circle_intersection(&side_3, &circle);
+        //For each side, test if the intersection points are between the two vertices defining the
+        //side.
+        match int_1 {
+            CircleIntersection::TwoPoints(a, b) => { 
+                if between_points(&a, &p1, &p2) {
+                    return true;
+                }
+                if between_points(&b, &p1, &p2) {
+                    return true;
+                }
+            },
+            CircleIntersection::None => {},
+        }
+        match int_2 {
+            CircleIntersection::TwoPoints(a, b) => { 
+                if between_points(&a, &p1, &p3) {
+                    return true;
+                }
+                if between_points(&b, &p1, &p3) {
+                    return true;
+                }
+            },
+            CircleIntersection::None => {},
+        }
+        match int_3 {
+            CircleIntersection::TwoPoints(a, b) => { 
+                if between_points(&a, &p2, &p3) {
+                    return true;
+                }
+                if between_points(&b, &p2, &p3) {
+                    return true;
+                }
+            },
+            CircleIntersection::None => {},
+        }
+        false
+    }
+}
+
+fn hyperbolic_distance(point_1:  &CGA, point_2: &CGA) -> f64 {
+    let a = grade_selection(point_1, 1);
+    let b = grade_selection(point_2, 1);
+    let a = hyperbolic_normalize(&a);
+    let b = hyperbolic_normalize(&b);
+    let dot = (&a | &b)[SCALAR];
+    let rad = -0.5*dot;
+    let root = rad.sqrt();
+    let dist = root.asinh();
+    dist
+}
+
+fn between_points(a: &CGA, p1: &CGA, p2: &CGA) -> bool {
+    let total = hyperbolic_distance(p1, p2);
+    let p1_a = hyperbolic_distance(p1, a);
+    let a_p2 = hyperbolic_distance(a, p2);
+    if p1_a + a_p2 - total < ERROR {
+        true
+    } else {
+        false
+    }
 }
 
 enum Geometry {
@@ -190,7 +271,6 @@ fn draw_point(context: &CanvasRenderingContext2d, point: &CGA) {
     let (x,y) = point_to_screen_space(x,y);
 
     context.begin_path();
-    context.set_fill_style_str(BLUE);
     context.arc(x, y, 2., 0., TWO_PI).unwrap();
     context.fill();
 
@@ -225,6 +305,11 @@ fn get_hyperbolic_point(point: &CGA) -> (f64, f64) {
     (r*x,r*y)
 }
 
+fn hyperbolic_normalize(point: &CGA) -> CGA {
+    let norm = -(point | CGA::e4())[SCALAR];
+    point * (1. / norm)
+}
+
 fn get_point(point: &CGA) -> (f64, f64) {
     let x = point[E1];
     let y = point[E2];
@@ -263,8 +348,6 @@ fn get_geometry(trivector: &CGA) -> Geometry {
 
 fn draw_line(context: &CanvasRenderingContext2d, line: &CGA) {
     context.begin_path();
-    context.set_stroke_style_str(GREEN);
-
     let geometry = get_geometry(line);
     match geometry {
         Geometry::Circle(x,y,r) => {
@@ -289,7 +372,6 @@ fn draw_line_between(context: &CanvasRenderingContext2d, a: &CGA, b: &CGA) {
     let line = CGA::e4() ^ a ^ b;
     let geometry = get_geometry(&line);
     context.begin_path();
-    context.set_stroke_style_str(GREEN);
     match geometry {
         Geometry::Circle(x,y,r) => {
             let (a_x, a_y) = get_point(a);
@@ -483,7 +565,7 @@ impl Asteroid {
         let v = 0.;
         let (v_x, v_y) = (v * 1.0_f64.cos(), v*1.0_f64.sin());
         let vel = v_x*CGA::e15() + v_y*CGA::e25();
-        let circle = circle_from_coords(0.9, 0., 0.1);
+        let circle = circle_from_coords(0.5, 0., 0.4);
         Asteroid { circle, vel }
     }
 
@@ -512,6 +594,7 @@ pub struct Game {
     asteroids: Vec::<Asteroid>,
     boundary: CGA,
     keys: HashSet<String>,
+    dt: f64
 }
 
 #[wasm_bindgen]
@@ -560,6 +643,7 @@ impl Game {
             boundary,
             asteroids: vec![Asteroid::new()],
             keys: HashSet::new(),
+            dt: 100.
         }
     }
 
@@ -572,29 +656,30 @@ impl Game {
         self.context.arc(CENTER_X, CENTER_Y, RADIUS, 0., TWO_PI).unwrap();
         self.context.stroke();
 
+        let fps = 1000. / self.dt;
+        self.context.set_fill_style_str(BLACK);
+        self.context.set_font("20px Arial");
+        let message = format!("FPS: {}", fps);
+        self.context.fill_text(&message, 10., 30.).unwrap();
+
         draw_line(&self.context, &self.boundary);
-        self.ship.draw(&self.context);
+
-        let line = 100.*self.ship.fixed_to_world(&self.ship.verts[0]) ^ self.ship.fixed_to_world(&self.ship.verts[1]) ^ CGA::e4(); //Scaled to keep above floating point error
+        let mut intersects = false;
+
+        self.context.set_stroke_style_str(RED);
         for asteroid in &self.asteroids {
-            let pair = circle_intersection(&asteroid.circle, &self.boundary);
+            if self.ship.intersects_circle(&asteroid.circle) {
-            match pair {
+                intersects = true;
-                CircleIntersection::TwoPoints(a,b) => {
-                    draw_point(&self.context, &a);
-                    draw_point(&self.context, &b);
-                },
-                _ => {}
             }
             asteroid.draw(&self.context);
-            let pair = circle_intersection(&asteroid.circle, &line);
-            match pair {
-                CircleIntersection::TwoPoints(a,b) => {
-                    draw_point(&self.context, &a);
-                    draw_point(&self.context, &b);
-                    draw_line(&self.context, &line);
-                }
-                _ => {},
-            }
         }
+
+        if intersects {
+            self.context.set_stroke_style_str(RED);
+        } else {
+            self.context.set_stroke_style_str(GREEN);
+        }
+        self.ship.draw(&self.context);
     }
 
     pub fn update(&mut self, dt_m: f64) {
@@ -604,11 +689,13 @@ impl Game {
             dt_m / 1000.
         };
 
+        self.dt = dt_m;
+
         for asteroid in &mut self.asteroids {
             asteroid.update(dt_s);
         }
 
-        self.ship.update(dt_s, &self.keys);
+        self.ship.update(dt_s, &self.keys, &self.boundary);
     }
 
     pub fn key_down(&mut self, key: String) {