instructions-clear/src/entity.js

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()
  speed = 400
  radius = 0

  #position = new Vector2()
  #dest = null
  #game = null
  #path = []

  static collider(x, y, radius) {
    return new SAT.Circle(new SAT.Vector(x, y), radius)
  }

  constructor(...options) {
    Object.entries(options).forEach((value, key) => this[key] = value)
  }

  get game() { return this.#game }
  get position() { return this.#position }
  get x() { return this.position.x }
  get y() { return this.position.y }
  set game(value) { this.#game = value }
  set x(value) { this.position.x = value }
  set y(value) { this.position.y = value }

  get collider() {
    return new SAT.Circle(new SAT.Vector(this.x, this.y), this.radius)
  }

  get colliders() {
    return [this.collider]
  }

  get unadjustedWaypoints() {
    const numberOfWaypoints = 8
    const margin = 1
    const enclosingRegularPolygonRadius = SATX.enclosingRegularPolygonRadius(numberOfWaypoints)
    const radius = this.radius * enclosingRegularPolygonRadius + margin
    const baseWaypoint = new Vector2(radius, 0)
    const waypoints = []

    const origin = new Vector2
    const unitOfRotation = (Math.PI * 2 / numberOfWaypoints)
    for (let i = 0; i < numberOfWaypoints; i++) {
      waypoints.push(baseWaypoint.clone().rotateAround(origin, unitOfRotation * i))
    }

    return waypoints.map((w) => [
      w.clone().add(this.position),
      w.clone().normalize().multiplyScalar(enclosingRegularPolygonRadius),
    ])
  }

  collidables() {
    const entityColliders = (this.game?.entities ?? []).filter((e) => e.id != this.id).map((e) => e.collider)
    const terrainColliders = (this.game?.terrains ?? []).map((t) => t.colliders).flat()

    return entityColliders.concat(terrainColliders)
  }

  isColliding(...colliders) {
    return SATX.collideObjects(this.collider, colliders)
  }

  moveAction(x, y) {
    this.#dest = new Vector2(x, y)
  }

  state() {
    return {
      ...this,
      position: {
        x: this.x,
        y: this.y,
      },
    }
  }

  teleport(x, y) {
    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) {
    const speed = (this.speed / (this.game?.tickBudget ?? 1000)) - distanceTraveled
    const collidables = this.collidables()
    if (this.#dest != null) {
      const fixedDest = SATX.clamp(SATX.fixCollisions(this.#dest, collidables, this.radius), this.game?.width, this.game?.height, this.radius)

      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')
      }

      if (this.#path.length > 0) {
        const destination = this.#path.at(0)
        const distance = this.position.clone().sub(destination).length()
        const direction = destination.clone().sub(this.position).normalize()
        const stepTaken = this.position.clone().add(direction.multiplyScalar(speed))
        const position = distance <= speed ? destination : stepTaken
  
        const collider = Entity.collider(position.x, position.y, this.radius)
        const isColliding = SATX.collideObjects(collider, this.collidables())
  
        if (!isColliding) {
          this.position.copy(position)
        }
  
        if (this.position.equals(destination)) {
          this.#path = this.#path.slice(1)
          if (this.#path.length > 0) {
            await this.takeStep(distance)
          }
          else {
            this.#dest = null
          }
        }
      }
    }
  }

  async update() {
    await Promise.allSettled([
      this.takeStep(),
    ])
  }

  waypoints() {
    const entityColliders = (this.game?.entities ?? []).filter((e) => e.id != this.id)
    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))) ?? []
  }
}