improve position fixing

src/terrain.js

@@ -1,3 +1,4 @@
+import QuickHull from 'quickhull' // DEPRECATED: hulls were a failed concept for position fixing
 import SAT from 'sat'
 import { Shape, ShapeUtils, Vector2 } from 'three'
 
@@ -8,6 +9,7 @@ export default class Terrain {
   relativeVertices = []
 
   #colliders = []
+  #hull = null
   #vertices = []
   #unadjustedWaypoints = []
 
@@ -24,6 +26,7 @@ export default class Terrain {
   }
 
   get colliders() { return this.#colliders }
+  get hull() { return this.#hull } // DEPRECATED: hulls were a failed concept for position fixing
   get unadjustedWaypoints() { return this.#unadjustedWaypoints }
   get vertices() { return this.#vertices }
 
@@ -73,6 +76,16 @@ export default class Terrain {
     }
 
     this.#colliders = ShapeUtils.triangulateShape(points.shape, points.holes).map(indicesToPolygon)
+    this.#calculateHull()
+  }
+
+  // DEPRECATED: hulls were a failed concept for position fixing
+  #calculateHull() {
+    const vertices = QuickHull(this.#vertices.map((v) => ({ x: v.x, y: v.y }))).map((v) => new Vector2(v.x, v.y))
+    const first = vertices.at(0)
+    const satPoints = [new SAT.Vector(...first.toArray()), ...vertices.slice(1).map((v) => new SAT.Vector(...v.clone(first).sub(first).toArray()))]
+
+    this.#hull = new SAT.Polygon(satPoints[0], [new SAT.Vector(), ...satPoints.slice(1)])
   }
 
   #calculatePosition() {