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2d collision detection for circles, polygons, and points (with SAT and BVH)","homepage":"https://github.com/Prozi/detect-collisions#readme","keywords":["Collision","Separating Axis Theorem","Bounding Volume Hierarchy","SAT","BVH","Circle","Polygon","Line","Shape","Separating","Axis","Theorem","Bounding","Volume","Hierarchy"],"repository":{"type":"git","url":"git+https://github.com/Queeee/detect-collisions.git"},"author":{"name":"Samuel Hodge"},"bugs":{"url":"https://github.com/Prozi/detect-collisions/issues"},"license":"MIT","readme":"# Detect Collisions\n\n**detect-collisions** is a zero dependency JavaScript library for quickly and accurately detecting collisions between Polygons, Circles, and Points. It combines the efficiency of a [Bounding Volume Hierarchy](https://en.wikipedia.org/wiki/Bounding_volume_hierarchy) (BVH) for broad-phase searching and the accuracy of the [Separating Axis Theorem](https://en.wikipedia.org/wiki/Separating_axis_theorem) (SAT) for narrow-phase collision testing.\n\n- [Credits](#anchor-credits)\n- [Installation](#anchor-installation)\n- [Documentation](#anchor-documentation)\n- [Demos](#anchor-demos)\n- [Usage](#anchor-usage)\n- [Getting Started](#anchor-getting-started)\n\t1. [Creating a Collision System](#anchor-step-1)\n\t2. [Creating, Inserting, Updating, and Removing Bodies](#anchor-step-2)\n\t3. [Updating the Collision System](#anchor-step-3)\n\t4. [Testing for Collisions](#anchor-step-4)\n\t5. [Getting Detailed Collision Information](#anchor-step-5)\n\t6. [Negating Overlap](#anchor-step-6)\n\t7. [Detecting collision after insertion](#anchor-step-7)\n- [Lines](#anchor-lines)\n- [Concave Polygons](#anchor-concave-polygons)\n- [Rendering](#anchor-rendering)\n- [Bounding Volume Padding](#anchor-bounding-volume-padding)\n- [Only using SAT](#anchor-only-using-sat)\n- [FAQ](#anchor-faq)\n\n<a name=\"anchor-credits\"></a>\nCredits\n===============================================================================\n\nIt was originally forked from [github.com/Sinova/Collisions](https://github.com/Sinova/Collisions)\n\nSince then not much has changed, but the project is maintained. The demos were updated.\n\n<a name=\"anchor-installation\"></a>\nInstallation\n===============================================================================\n\n```bash\nyarn add detect-collisions --save\n\n# or\n\nnpm i detect-collisions --save\n```\n\n<a name=\"anchor-documentation\"></a>\nDocumentation\n===============================================================================\n\nView the [documentation](https://prozi.github.com/detect-collisions/) (this README is also there).\n\n<a name=\"anchor-demos\"></a>\nDemos\n===============================================================================\n\n- [Tank](https://prozi.github.com/detect-collisions/demo/)\n- [Stress Test](https://prozi.github.com/detect-collisions/demo/?stress)\n\n<a name=\"anchor-usage\"></a>\nUsage\n===============================================================================\n\n```JavaScript\nconst { Collisions } = require('detect-collisions');\n\n// other options:\n// import { Collisions } from 'detect-collisions';\n\n// Create the collision system\nconst system = new Collisions();\n\n// Create a Result object for collecting information about the collisions\nconst result = system.createResult();\n\n// Create the player (represented by a Circle)\nconst player = system.createCircle(100, 100, 10);\n\n// Create some walls (represented by Polygons)\nconst wall1 = system.createPolygon(400, 500, [[-60, -20], [60, -20], [60, 20], [-60, 20]], 1.7);\nconst wall2 = system.createPolygon(200, 100, [[-60, -20], [60, -20], [60, 20], [-60, 20]], 2.2);\nconst wall3 = system.createPolygon(400, 50, [[-60, -20], [60, -20], [60, 20], [-60, 20]], 0.7);\n\n// Update the collision system\nsystem.update();\n\n// Get any potential collisions\n// (this quickly rules out walls that have no chance of colliding with the player)\nconst potentials = player.potentials();\n\n// Loop through the potential wall collisions\nfor (const wall of potentials) {\n\t// Test if the player collides with the wall\n\tif (player.collides(wall, result)) {\n\t\t// Push the player out of the wall\n\t\tplayer.x -= result.overlap * result.overlap_x;\n\t\tplayer.y -= result.overlap * result.overlap_y;\n\t}\n}\n```\n\n<a name=\"anchor-getting-started\"></a>\nGetting Started\n===============================================================================\n\n<a name=\"anchor-step-1\"></a>\n\n## 1. Creating a Collision System\n\n**Collisions** provides functions for performing both broad-phase and narrow-phase collision tests. In order to take full advantage of both phases, bodies need to be tracked within a collision system.\n\nCall the Collisions constructor to create a collision system.\n\n```JavaScript\nconst { Collisions } = require('detect-collisions');\n\nconst system = new Collisions();\n```\n\n<a name=\"anchor-step-2\"></a>\n\n## 2. Creating, Inserting, Updating, and Removing Bodies\n\n**Collisions** supports the following body types:\n\n- **Circle:** A shape with infinite sides equidistant from a single point\n- **Polygon:** A shape made up of line segments\n- **Point:** A single coordinate\n\nTo use them, require the desired body class, call its constructor, and insert it into the collision system using `insert()`.\n\n```JavaScript\nconst { Collisions, Circle, Polygon, Point } = require('detect-collisions');\n\nconst system  = new Collisions();\nconst circle  = new Circle(100, 100, 10);\nconst polygon = new Polygon(50, 50, [[0, 0], [20, 20], [-10, 10]]);\nconst line    = new Polygon(200, 5, [[-30, 0], [10, 20]]);\nconst point   = new Point(10, 10);\n\nsystem.insert(circle)\nsystem.insert(polygon, line, point);\n```\n\nCollision systems expose several convenience functions for creating bodies and inserting them into the system in one step. This also avoids having to require the different body classes.\n\n```JavaScript\nconst { Collisions } = require('detect-collisions');\n\nconst system  = new Collisions();\nconst circle  = system.createCircle(100, 100, 10);\nconst polygon = system.createPolygon(50, 50, [[0, 0], [20, 20], [-10, 10]]);\nconst line    = system.createPolygon(200, 5, [[-30, 0], [10, 20]]);\nconst point   = system.createPoint(10, 10);\n```\n\nAll bodies have `x` and `y` properties that can be manipulated. Additionally, `Circle` bodies have a `scale` property that can be used to scale their overall size. `Polygon` bodies have `scale_x` and `scale_y` properties to scale their points along a particular axis and an `angle` property to rotate their points around their current position (using radians).\n\n```JavaScript\ncircle.x     = 20;\ncircle.y     = 30;\ncircle.scale = 1.5;\n\npolygon.x       = 40;\npolygon.y       = 100;\npolygon.scale_x = 1.2;\npolygon.scale_y = 3.4;\npolygon.angle   = 1.2;\n```\n\nAnd, of course, bodies can be removed when they are no longer needed.\n\n```JavaScript\nsystem.remove(polygon, point);\ncircle.remove();\n```\n\n<a name=\"anchor-step-3\"></a>\n\n## 3. Updating the Collision System\n\nCollision systems need to be updated when the bodies within them change. This includes when bodies are inserted, removed, or when their properties change (e.g. position, angle, scaling, etc.). Updating a collision system is done by calling `update()` and should typically occur once per frame.\n\n```JavaScript\nsystem.update();\n```\n\nThe optimal time for updating a collision system is **after** its bodies have changed and **before** collisions are tested. For example, a game loop might use the following order of events:\n\n```JavaScript\nfunction gameLoop() {\n\thandleInput();\n\tprocessGameLogic();\n\n\tsystem.update();\n\n\thandleCollisions();\n\trender();\n}\n```\n\n<a name=\"anchor-step-4\"></a>\n\n## 4. Testing for Collisions\n\nWhen testing for collisions on a body, it is generally recommended that a broad-phase search be performed first by calling `potentials()` in order to quickly rule out bodies that are too far away to collide. **Collisions** uses a [Bounding Volume Hierarchy](https://en.wikipedia.org/wiki/Bounding_volume_hierarchy) (BVH) for its broad-phase search. Calling `potentials()` on a body traverses the BVH and builds a list of potential collision candidates.\n\n```JavaScript\nconst potentials = polygon.potentials();\n```\n\nOnce a list of potential collisions is acquired, loop through them and perform a narrow-phase collision test using `collides()`. **Collisions** uses the [Separating Axis Theorem](https://en.wikipedia.org/wiki/Separating_axis_theorem) (SAT) for its narrow-phase collision tests.\n\n```JavaScript\nconst potentials = polygon.potentials();\n\nfor (const body of potentials) {\n\tif (polygon.collides(body)) {\n\t\tconsole.log('Collision detected!');\n\t}\n}\n```\n\nIt is also possible to skip the broad-phase search entirely and call `collides()` directly on two bodies.\n\n> **Note:** Skipping the broad-phase search is not recommended. When testing for collisions against large numbers of bodies, performing a broad-phase search using a BVH is _much_ more efficient.\n\n```JavaScript\nif (polygon.collides(line)) {\n\tconsole.log('Collision detected!');\n}\n```\n\n<a name=\"anchor-step-5\"></a>\n\n## 5. Getting Detailed Collision Information\n\nThere is often a need for detailed information about a collision in order to react to it appropriately. This information is stored using a `Result` object. `Result` objects have several properties set on them when a collision occurs, all of which are described in the [documentation](https://prozi.github.com/detect-collisions/).\n\nFor convenience, there are several ways to create a `Result` object. `Result` objects do not belong to any particular collision system, so any of the following methods for creating one can be used interchangeably. This also means the same `Result` object can be used for collisions across multiple systems.\n\n> **Note:** It is highly recommended that `Result` objects be recycled when performing multiple collision tests in order to save memory. The following example creates multiple `Result` objects strictly as a demonstration.\n\n```JavaScript\nconst { Collisions, Result, Polygon } = require('detect-collisions');\n\nconst system     = new Collisions();\nconst my_polygon = new Polygon(100, 100, 10);\n\nconst result1 = new Result();\nconst result2 = Collisions.createResult();\nconst result3 = system.createResult();\nconst result4 = Polygon.createResult();\nconst result5 = my_polygon.createResult();\n```\n\nTo use a `Result` object, pass it into `collides()`. If a collision occurs, it will be populated with information about the collision. Take note in the following example that the same `Result` object is being reused each iteration.\n\n```JavaScript\nconst result     = system.createResult();\nconst potentials = point.potentials();\n\nfor (const body of potentials) {\n\tif (point.collides(body, result)) {\n\t\tconsole.log(result);\n\t}\n}\n```\n\n<a name=\"anchor-step-6\"></a>\n\n## 6. Negating Overlap\n\nA common use-case in collision detection is negating overlap when a collision occurs (such as when a player hits a wall). This can be done using the collision information in a `Result` object (see [Getting Detailed Collision Information](#anchor-getting-detailed-collision-information)).\n\nThe three most useful properties on a `Result` object are `overlap`, `overlap_x`, and `overlap_y`. Together, these values describe how much and in what direction the source body is overlapping the target body. More specifically, `overlap_x` and `overlap_y` describe the direction vector, and `overlap` describes the magnitude of that vector.\n\nThese values can be used to \"push\" one body out of another using the minimum distance required. More simply, subtracting this vector from the source body's position will cause the bodies to no longer collide. Here's an example:\n\n```JavaScript\nif (player.collides(wall, result)) {\n\tplayer.x -= result.overlap * result.overlap_x;\n\tplayer.y -= result.overlap * result.overlap_y;\n}\n```\n\n<a name=\"anchor-step-7\"></a>\n\n## 7. Detecting collision after insertion\n\n```JavaScript\nconst { Collisions } = require(\"detect-collisions\")\n\nconst system     = new Collisions();\nconst collider   = system.createCircle(100, 100, 10);\nconst potentials = collider.potentials();\n\nconst obj  = { name: 'coin', collider };\nconst done = console.log\n\nlet result   = system.createResult();\nlet collided = false;\n\nfor (const wall of potentials) {\n\tif (obj.collider.collides(wall, result)) {\n\t\tcollided = done(obj, wall, result) || collided;\n\t}\n}\n\nif (collided) {\n\tobj.collider.remove()\n}\n```\n\n<a name=\"anchor-lines\"></a>\nLines\n===============================================================================\n\nCreating a line is simply a matter of creating a single-sided polygon (i.e. a polygon with only two coordinate pairs).\n\n```JavaScript\nconst line = new Polygon(200, 5, [[-30, 0], [10, 20]]);\n```\n\n<a name=\"anchor-concave-polygons\"></a>\nConcave Polygons\n===============================================================================\n\n**Collisions** uses the [Separating Axis Theorem](https://en.wikipedia.org/wiki/Separating_axis_theorem) (SAT) for its narrow-phase collision tests. One caveat to SAT is that it only works properly on convex bodies. However, concave polygons can be \"faked\" by using a series of [Lines](#anchor-lines). Keep in mind that a polygon drawn using [Lines](#anchor-lines) is \"hollow\".\n\nHandling true concave polygons requires breaking them down into their component convex polygons (Convex Decomposition) and testing them for collisions individually. There are plans to integrate this functionality into the library in the future, but for now, check out [poly-decomp.js](https://github.com/schteppe/poly-decomp.js).\n\n<a name=\"anchor-rendering\"></a>\nRendering\n===============================================================================\n\nFor debugging, it is often useful to be able to visualize the collision bodies. All of the bodies in a Collision system can be drawn to a `<canvas>` element by calling `draw()` and passing in the canvas' 2D context.\n\n```JavaScript\nconst canvas  = document.createElement('canvas');\nconst context = canvas.getContext('2d');\n\n// ...\ncontext.strokeStyle = '#FFFFFF';\ncontext.beginPath();\n\nsystem.draw(context);\n\ncontext.stroke();\n```\n\nBodies can be individually drawn as well.\n\n```JavaScript\ncontext.strokeStyle = '#FFFFFF';\ncontext.beginPath();\n\npolygon.draw(context);\ncircle.draw(context);\n\ncontext.stroke();\n```\n\nThe BVH can also be drawn to help test [Bounding Volume Padding](#anchor-bounding-volume-padding).\n\n```JavaScript\ncontext.strokeStyle = '#FFFFFF';\ncontext.beginPath();\n\nsystem.drawBVH(context);\n\ncontext.stroke();\n```\n\n<a name=\"anchor-bounding-volume-padding\"></a>\nBounding Volume Padding\n===============================================================================\n\nWhen bodies move around within a collision system, the internal BVH has to remove and reinsert the body in order to determine where it belongs in the hierarchy. This is one of the most costly operations in maintaining a BVH. In general, most projects will never see a performance issue from this unless they are dealing with thousands of moving bodies at once. In these cases, it can _sometimes_ be beneficial to \"pad\" the bounding volumes of each body so that the BVH doesn't need to remove and reinsert bodies that haven't changed position too much. In other words, padding the bounding volume allows \"breathing room\" for the body within it to move around without being flagged for an update.\n\nThe tradeoff is that the slightly larger bounding volumes can trigger more false-positives during the broad-phase `potentials()` search. While the narrow phase will ultimately rule these out using Axis Aligned Bounding Box tests, putting too much padding on bodies that are crowded can lead to too many false positives and a diminishing return in performance. It is up to the developer to determine how much padding each body will need based on how much it can move within a single frame and how crowded the bodies in the system are.\n\nPadding can be added to a body when instantiating it (see the [documentation](https://prozi.github.com/detect-collisions/) for each body) or at any time by changing its `padding` property.\n\n```JavaScript\nconst padding = 5;\nconst circle  = new Circle(100, 100, 10, 1, padding);\n\n// ...\n\ncircle.padding = 10;\n```\n\n<a name=\"anchor-only-using-sat\"></a>\nOnly using SAT\n===============================================================================\n\nSome projects may only have a need to perform SAT collision tests without broad-phase searching. This can be achieved by avoiding collision systems altogether and only using the `collides()` function.\n\n```JavaScript\nconst { Circle, Polygon, Result } = require('collisions');\n\nconst circle  = new Circle(45, 45, 20);\nconst polygon = new Polygon(50, 50, [[0, 0], [20, 20], [-10, 10]]);\nconst result  = new Result();\n\nif (circle.collides(polygon, result)) {\n\tconsole.log(result);\n}\n```\n\n<a name=\"anchor-faq\"></a>\nFAQ\n===============================================================================\n\n## Why shouldn't I just use a physics engine?\n\nProjects requiring physics are encouraged to use one of the several physics engines out there (e.g. [Matter.js](https://github.com/liabru/matter-js), [Planck.js](https://github.com/shakiba/planck.js)). However, many projects end up using physics engines solely for collision detection, and developers often find themselves having to work around some of the assumptions that these engines make (gravity, velocity, friction, etc.). **Collisions** was created to provide robust collision detection and nothing more. In fact, a physics engine could easily be written with **Collisions** at its core.\n\n## Why does the source code seem to have quite a bit of copy/paste?\n\n**Collisions** was written with performance as its primary focus. Conscious decisions were made to sacrifice readability in order to avoid the overhead of unnecessary function calls or property lookups.\n\n## Sometimes bodies can \"squeeze\" between two other bodies. What's going on?\n\nThis isn't caused by faulty collisions, but rather how a project handles its collision responses. There are several ways to go about responding to collisions, the most common of which is to loop through all bodies, find their potential collisions, and negate any overlaps that are found one at a time. Since the overlaps are negated one at a time, the last negation takes precedence and can cause the body to be pushed into another body.\n\nOne workaround is to resolve each collision, update the collision system, and repeat until no collisions are found. Keep in mind that this can potentially lead to infinite loops if the two colliding bodies equally negate each other. Another solution is to collect all overlaps and combine them into a single resultant vector and then push the body out, but this can get rather complicated.\n\nThere is no perfect solution. How collisions are handled depends on the project.\n","readmeFilename":"README.md"}