fix waypoints going out of bounds

src/entity.js

@@ -2,7 +2,6 @@ import { Vector2 } from 'three'
 import SAT from 'sat'
 import SATX from './satx.js'
 import Pathfind from './pathfind.js'
-import Terrain from './terrain.js'
 
 export default class Entity {
   id = crypto.randomUUID()
@@ -69,8 +68,19 @@ export default class Entity {
     return SATX.collideObjects(this.collider, colliders)
   }
 
+  // TODO: calculate convex hulls of collidables because tris handle collisions sequentially
   moveAction(x, y) {
-    this.#dest = new Vector2(x, y)
+    const temp = SATX.fixCollisions(new Vector2(x, y), this.collidables(), this.radius)
+    // const entity = new Entity()
+    // entity.teleport(temp.x, temp.y)
+    // entity.radius = this.radius
+    // this.game.spawn_entity(entity)
+    this.#dest = SATX.clamp(
+      temp,
+      this.game?.width,
+      this.game?.height,
+      this.radius,
+    )
   }
 
   state() {
@@ -87,9 +97,8 @@ export default class Entity {
     this.position.set(x, y)
   }
 
-  // TODO: waypoints go out of bounds
   // TODO: pathfinding stops if wall is clicked (did you forget to fix the destination?)
-  async takeStep(distanceTraveled = 0) {
+  takeStep(distanceTraveled = 0) {
     const speed = (this.speed / (this.game?.tickBudget ?? 1000)) - distanceTraveled
     const collidables = this.collidables()
     if (this.#dest != null) {
@@ -97,29 +106,12 @@ export default class Entity {
 
       if (this.#path.length < 1 || !this.#path.at(-1).equals(fixedDest)) {
         console.time('pathfinding')
-        console.time('waypoints')
         const start = SATX.vectorToFloat32Array(this.position)
         const goal = SATX.vectorToFloat32Array(fixedDest)
         const nonUniqueWaypoints = this.waypoints().map((w) => SATX.vectorToFloat32Array(w)).concat([start, goal])
         const waypoints = Pathfind.uniqueWaypoints(nonUniqueWaypoints)
-
-        console.timeEnd('waypoints')
-        console.time('graph')
         const graph = Pathfind.buildGraph(waypoints, collidables, this.radius)
-
-        // const tunnels = []
-        // for (let i = 0; i < graph.length; i += 5) {
-        //   tunnels.push(SATX.entityTunnel(graph[i], graph[i + 1], graph[i + 2], graph[i + 3], 1))
-        // }
-
-        // tunnels.map((t) => SATX.satPolygonToVectors(t)).forEach((t) => this.#game.add_terrain(new Terrain(t)))
-        // this.#dest = null
-
-        console.timeEnd('graph')
-        console.time('path')
         this.#path = Pathfind.shortestPath(graph, start, goal).map((waypoint) => new Vector2(waypoint[0], waypoint[1]))
-        console.log(this.#path)
-        console.timeEnd('path')
         console.timeEnd('pathfinding')
       }
 
@@ -140,7 +132,7 @@ export default class Entity {
         if (this.position.equals(destination)) {
           this.#path = this.#path.slice(1)
           if (this.#path.length > 0) {
-            await this.takeStep(distance)
+            this.takeStep(distance)
           }
           else {
             this.#dest = null
@@ -150,10 +142,8 @@ export default class Entity {
     }
   }
 
-  async update() {
+  update() {
-    await Promise.allSettled([
+    this.takeStep()
-      this.takeStep(),
-    ])
   }
 
   waypoints() {
@@ -161,6 +151,13 @@ export default class Entity {
     const terrainColliders = (this.game?.terrains ?? [])
     const unadjustedWaypoints = entityColliders.concat(terrainColliders).map((e) => e.unadjustedWaypoints).flat()
 
-    return unadjustedWaypoints.map(([waypoint, direction]) => waypoint.clone().add(direction.clone().multiplyScalar(this.radius))) ?? []
+    return unadjustedWaypoints.map(([waypoint, direction]) => {
+      return SATX.clamp(
+        waypoint.clone().add(direction.clone().multiplyScalar(this.radius)),
+        this.game?.width,
+        this.game?.height,
+        this.radius,
+      )
+    }) ?? []
   }
 }

src/game.js

@@ -42,14 +42,14 @@ export default class Game {
     }
   }
 
-  async start() {
+  start() {
     const start = performance.now()
-    await this.update()
+    this.update()
     setTimeout(() => this.start(), Math.max(0, this.#tickBudget - (performance.now() - start)))
   }
 
-  async update() {
+  update() {
-    Promise.allSettled(this.#entities.map((e) => e.update()))
+    this.#entities.map((e) => e.update())
     this.currentTick++
     this.eventEmitter.emit('tick')
   }

src/index.js

@@ -115,9 +115,9 @@ app.listen(port, () => {
   pole.id = 'pole'
   game.add_terrain(pole)
 
-  entity1.moveAction(1000, 500)
+  // entity1.moveAction(1000, 500)
 
-  setTimeout(() => entity1.moveAction(100, 400), 10)
+  // setTimeout(() => entity1.moveAction(100, 400), 10)
 
   game.start()
 })