How to detect when rotated rectangles are colliding each other - javascript

After saw this question many times and replied with an old (an not usable) code I decide to redo everything and post about it.
Rectangles are defined by:
center : x and y for his position (remember that 0;0 is TOP Left, so Y go down)
size: x and y for his size
angle for his rotation (in deg, 0 deg is following axis OX and turn clockwise)
The goal is to know if 2 rectangles are colliding or not.

Will use Javascript in order to demo this (and also provide code) but I can be done on every language following the process.
Links
Final Demo on Codepen
GitHub repository
Concept
In order to achieve this we'll use corners projections on the other rectangle 2 axis (X and Y).
The 2 rectangles are only colliding when the 4 projections on one rectangles hit the others:
Rect Blue corners on Rect Orange X axis
Rect Blue corners on Rect Orange Y axis
Rect Orange corners on Rect Blue X axis
Rect Orange corners on Rect Blue Y axis
Process
1- Find the rects axis
Start by creating 2 vectors for axis 0;0 (center of rect) to X (OX) and Y (OY) then rotate both of them in order to get aligned to rectangles axis.
Wikipedia about rotate a 2D vector
const getAxis = (rect) => {
const OX = new Vector({x:1, y:0});
const OY = new Vector({x:0, y:1});
// Do not forget to transform degree to radian
const RX = OX.Rotate(rect.angle * Math.PI / 180);
const RY = OY.Rotate(rect.angle * Math.PI / 180);
return [
new Line({...rect.center, dx: RX.x, dy: RX.y}),
new Line({...rect.center, dx: RY.x, dy: RY.y}),
];
}
Where Vector is a simple x,y object
class Vector {
constructor({x=0,y=0}={}) {
this.x = x;
this.y = y;
}
Rotate(theta) {
return new Vector({
x: this.x * Math.cos(theta) - this.y * Math.sin(theta),
y: this.x * Math.sin(theta) + this.y * Math.cos(theta),
});
}
}
And Line represent a slop using 2 vectors:
origin: Vector for Start position
direction: Vector for unit direction
class Line {
constructor({x=0,y=0, dx=0, dy=0}) {
this.origin = new Vector({x,y});
this.direction = new Vector({x:dx,y:dy});
}
}
Step Result
2- Use Rect Axis to get corners
First want extend our axis (we are 1px unit size) in order to get the half of width (for X) and height (for Y) in order to be able by adding when (and inverse) to get all corners.
const getCorners = (rect) => {
const axis = getAxis(rect);
const RX = axis[0].direction.Multiply(rect.w/2);
const RY = axis[1].direction.Multiply(rect.h/2);
return [
rect.center.Add(RX).Add(RY),
rect.center.Add(RX).Add(RY.Multiply(-1)),
rect.center.Add(RX.Multiply(-1)).Add(RY.Multiply(-1)),
rect.center.Add(RX.Multiply(-1)).Add(RY),
]
}
Using this 2 news methods for Vector:
// Add(5)
// Add(Vector)
// Add({x, y})
Add(factor) {
const f = typeof factor === 'object'
? { x:0, y:0, ...factor}
: {x:factor, y:factor}
return new Vector({
x: this.x + f.x,
y: this.y + f.y,
})
}
// Multiply(5)
// Multiply(Vector)
// Multiply({x, y})
Multiply(factor) {
const f = typeof factor === 'object'
? { x:0, y:0, ...factor}
: {x:factor, y:factor}
return new Vector({
x: this.x * f.x,
y: this.y * f.y,
})
}
Step Result
3- Get corners projections
For every corners of a rectangle, get the projection coord on both axis of the other rectangle.
Simply by adding this function to Vector class:
Project(line) {
let dotvalue = line.direction.x * (this.x - line.origin.x)
+ line.direction.y * (this.y - line.origin.y);
return new Vector({
x: line.origin.x + line.direction.x * dotvalue,
y: line.origin.y + line.direction.y * dotvalue,
})
}
(Special thank to Mbo for the solution to get projection.)
Step Result
4- Select externals corners on projections
In order to sort (along the rect axis) all the projected point and take the min and max projected points we can:
Create a vector to represent: Rect Center to Projected corner
Get the distance using the Vector Magnitude function.
get magnitude() {
return Math.sqrt(this.x * this.x + this.y * this.y);
}
Use the dot product to know if the vector is facing the same direction of axis of inverse (where signed distance" is negative)
getSignedDistance = (rect, line, corner) => {
const projected = corner.Project(line);
const CP = projected.Minus(rect.center);
// Sign: Same directon of axis : true.
const sign = (CP.x * line.direction.x) + (CP.y * line.direction.y) > 0;
const signedDistance = CP.magnitude * (sign ? 1 : -1);
}
Then using a simple loop and test of min/max we can find the 2 externals corners. The segment between them is the projection of a Rect on the other one axis.
Step result
5- Final: Do all projections hit rect ?
Using simple 1D test along the axis we can know if they hit or not:
const isProjectionHit = (minSignedDistance < 0 && maxSignedDistance > 0
|| Math.abs(minSignedDistance) < rectHalfSize
|| Math.abs(maxSignedDistance) < rectHalfSize);
Done
Testing all 4 projections will give you the final result. =] !!
Hope this answer will help as many people as possible. Any comments are appreciated.

Related

SAT Polygon Circle Collision - resolve the intersection in the direction of velocity & determine side of collision

Summary
This question is in JavaScript, but an answer in any language, pseudo-code, or just the maths would be great!
I have been trying to implement the Separating-Axis-Theorem to accomplish the following:
Detecting an intersection between a convex polygon and a circle.
Finding out a translation that can be applied to the circle to resolve the intersection, so that the circle is barely touching the polygon but no longer inside.
Determining the axis of the collision (details at the end of the question).
I have successfully completed the first bullet point and you can see my javascript code at the end of the question. I am having difficulties with the other parts.
Resolving the intersection
There are plenty of examples online on how to resolve the intersection in the direction with the smallest/shortest overlap of the circle. You can see in my code at the end that I already have this calculated.
However this does not suit my needs. I must resolve the collision in the opposite direction of the circle's trajectory (assume I already have the circle's trajectory and would like to pass it into my function as a unit-vector or angle, whichever suits).
You can see the difference between the shortest resolution and the intended resolution in the below image:
How can I calculate the minimum translation vector for resolving the intersection inside my test_CIRCLE_POLY function, but that is to be applied in a specific direction, the opposite of the circle's trajectory?
My ideas/attempts:
My first idea was to add an additional axis to the axes that must be tested in the SAT algorithm, and this axis would be perpendicular to the circle's trajectory. I would then resolve based on the overlap when projecting onto this axis. This would sort of work, but would resolve way to far in most situations. It won't result in the minimum translation. So this won't be satisfactory.
My second idea was to continue to use magnitude of the shortest overlap, but change the direction to be the opposite of the circle's trajectory. This looks promising, but there are probably many edge-cases that I haven't accounted for. Maybe this is a nice place to start.
Determining side/axis of collision
I've figured out a way to determine which sides of the polygon the circle is colliding with. For each tested axis of the polygon, I would simply check for overlap. If there is overlap, that side is colliding.
This solution will not be acceptable once again, as I would like to figure out only one side depending on the circle's trajectory.
My intended solution would tell me, in the example image below, that axis A is the axis of collision, and not axis B. This is because once the intersection is resolved, axis A is the axis corresponding to the side of the polygon that is just barely touching the circle.
My ideas/attempts:
Currently I assume the axis of collision is that perpendicular to the MTV (minimum translation vector). This is currently incorrect, but should be the correct axis once I've updated the intersection resolution process in the first half of the question. So that part should be tackled first.
Alternatively I've considered creating a line from the circle's previous position and their current position + radius, and checking which sides intersect with this line. However, there's still ambiguity, because on occasion there will be more than one side intersecting with the line.
My code so far
function test_CIRCLE_POLY(circle, poly, circleTrajectory) {
// circleTrajectory is currently not being used
let axesToTest = [];
let shortestOverlap = +Infinity;
let shortestOverlapAxis;
// Figure out polygon axes that must be checked
for (let i = 0; i < poly.vertices.length; i++) {
let vertex1 = poly.vertices[i];
let vertex2 = poly.vertices[i + 1] || poly.vertices[0]; // neighbouring vertex
let axis = vertex1.sub(vertex2).perp_norm();
axesToTest.push(axis);
}
// Figure out circle axis that must be checked
let closestVertex;
let closestVertexDistSqr = +Infinity;
for (let vertex of poly.vertices) {
let distSqr = circle.center.sub(vertex).magSqr();
if (distSqr < closestVertexDistSqr) {
closestVertexDistSqr = distSqr;
closestVertex = vertex;
}
}
let axis = closestVertex.sub(circle.center).norm();
axesToTest.push(axis);
// Test for overlap
for (let axis of axesToTest) {
let circleProj = proj_CIRCLE(circle, axis);
let polyProj = proj_POLY(poly, axis);
let overlap = getLineOverlap(circleProj.min, circleProj.max, polyProj.min, polyProj.max);
if (overlap === 0) {
// guaranteed no intersection
return { intersecting: false };
}
if (Math.abs(overlap) < Math.abs(shortestOverlap)) {
shortestOverlap = overlap;
shortestOverlapAxis = axis;
}
}
return {
intersecting: true,
resolutionVector: shortestOverlapAxis.mul(-shortestOverlap),
// this resolution vector is not satisfactory, I need the shortest resolution with a given direction, which would be an angle passed into this function from the trajectory of the circle
collisionAxis: shortestOverlapAxis.perp(),
// this axis is incorrect, I need the axis to be based on the trajectory of the circle which I would pass into this function as an angle
};
}
function proj_POLY(poly, axis) {
let min = +Infinity;
let max = -Infinity;
for (let vertex of poly.vertices) {
let proj = vertex.projNorm_mag(axis);
min = Math.min(proj, min);
max = Math.max(proj, max);
}
return { min, max };
}
function proj_CIRCLE(circle, axis) {
let proj = circle.center.projNorm_mag(axis);
let min = proj - circle.radius;
let max = proj + circle.radius;
return { min, max };
}
// Check for overlap of two 1 dimensional lines
function getLineOverlap(min1, max1, min2, max2) {
let min = Math.max(min1, min2);
let max = Math.min(max1, max2);
// if negative, no overlap
let result = Math.max(max - min, 0);
// add positive/negative sign depending on direction of overlap
return result * ((min1 < min2) ? 1 : -1);
};
I am assuming the polygon is convex and that the circle is moving along a straight line (at least for a some possibly small interval of time) and is not following some curved trajectory. If it is following a curved trajectory, then things get harder. In the case of curved trajectories, the basic ideas could be kept, but the actual point of collision (the point of collision resolution for the circle) might be harder to calculate. Still, I am outlining an idea, which could be extended to that case too. Plus, it could be adopted as a main approach for collision detection between a circle and a convex polygon.
I have not considered all possible cases, which may include special or extreme situations, but at least it gives you a direction to explore.
Transform in your mind the collision between the circle and the polygon into a collision between the center of the circle (a point) and a version of the polygon thickened by the circle's radius r, i.e. (i) each edge of the polygon is offset (translated) outwards by radius r along a vector perpendicular to it and pointing outside of the polygon, (ii) the vertices become circular arcs of radius r, centered at the polygons vertices and connecting the endpoints of the appropriate neighboring offset edges (basically, put circles of radius r at the vertices of the polygon and take their convex hull).
Now, the current position of the circle's center is C = [ C[0], C[1] ] and it has been moving along a straight line with direction vector V = [ V[0], V[1] ] pointing along the direction of motion (or if you prefer, think of V as the velocity of the circle at the moment when you have detected the collision). Then, there is an axis (or let's say a ray - a directed half-line) defined by the vector equation X = C - t * V, where t >= 0 (this axis is pointing to the past trajectory). Basically, this is the half-line that passes through the center point C and is aligned with/parallel to the vector V. Now, the point of resolution, i.e. the point where you want to move your circle to is the point where the axis X = C - t * V intersects the boundary of the thickened polygon.
So you have to check (1) first axis intersection for edges and then (2) axis intersection with circular arcs pertaining to the vertices of the original polygon.
Assume the polygon is given by an array of vertices P = [ P[0], P[1], ..., P[N], P[0] ] oriented counterclockwise.
(1) For each edge P[i-1]P[i] of the original polygon, relevant to your collision (these could be the two neighboring edges meeting at the vertex based on which the collision is detected, or it could be actually all edges in the case of the circle moving with very high speed and you have detected the collision very late, so that the actual collision did not even happen there, I leave this up to you, because you know better the details of your situation) do the following. You have as input data:
C = [ C[0], C[1] ]
V = [ V[0], V[1] ]
P[i-1] = [ P[i-1][0], P[i-1][1] ]
P[i] = [ P[i][0], P[i][1] ]
Do:
Normal = [ P[i-1][1] - P[i][1], P[i][0] - P[i-1][0] ];
Normal = Normal / sqrt((P[i-1][1] - P[i][1])^2 + ( P[i][0] - P[i-1][0] )^2);
// you may have calculated these already
Q_0[0] = P[i-1][0] + r*Normal[0];
Q_0[1] = P[i-1][1] + r*Normal[1];
Q_1[0] = P[i][0]+ r*Normal[0];
Q_1[1] = P[i][1]+ r*Normal[1];
Solve for s, t the linear system of equations (the equation for intersecting ):
Q_0[0] + s*(Q_1[0] - Q_0[0]) = C[0] - t*V[0];
Q_0[1] + s*(Q_1[1] - Q_0[1]) = C[1] - t*V[1];
if 0<= s <= 1 and t >= 0, you are done, and your point of resolution is
R[0] = C[0] - t*V[0];
R[1] = C[1] - t*V[1];
else
(2) For the each vertex P[i] relevant to your collision, do the following:
solve for t the quadratic equation (there is an explicit formula)
norm(P[i] - C + t*V )^2 = r^2
or expanded:
(V[0]^2 + V[1]^2) * t^2 + 2 * ( (P[i][0] - C[0])*V[0] + (P[i][1] - C[1])*V[1] )*t + ( P[i][0] - C[0])^2 + (P[i][1] - C[1])^2 ) - r^2 = 0
or if you prefer in a more code-like way:
a = V[0]^2 + V[1]^2;
b = (P[i][0] - C[0])*V[0] + (P[i][1] - C[1])*V[1];
c = (P[i][0] - C[0])^2 + (P[i][1] - C[1])^2 - r^2;
D = b^2 - a*c;
if D < 0 there is no collision with the vertex
i.e. no intersection between the line X = C - t*V
and the circle of radius r centered at P[i]
else
D = sqrt(D);
t1 = ( - b - D) / a;
t2 = ( - b + D) / a;
where t2 >= t1
Then your point of resolution is
R[0] = C[0] - t2*V[0];
R[1] = C[1] - t2*V[1];
Circle polygon intercept
If the ball is moving and if you can ensure that the ball always starts outside the polygon then the solution is rather simple.
We will call the ball and its movement the ball line. It starts at the ball's current location and end at the position the ball will be at the next frame.
To solve you find the nearest intercept to the start of the ball line.
There are two types of intercept.
Line segment (ball line) with Line segment (polygon edge)
Line segment (ball line) with circle (circle at each (convex only) polygon corner)
The example code has a Lines2 object that contains the two relevant intercept functions. The intercepts are returned as a Vec2containing two unit distances. The intercept functions are for lines (infinite length) not line sgements. If there is no intercept then the return is undefined.
For the line intercepts Line2.unitInterceptsLine(line, result = new Vec2()) the unit values (in result) are the unit distance along each line from the start. negative values are behind the start.
To take in account of the ball radius each polygon edge is offset the ball radius along its normal. It is important that the polygon edges have a consistent direction. In the example the normal is to the right of the line and the polygon points are in a clockwise direction.
For the line segment / circle intercepts Line2.unitInterceptsCircle(center, radius, result = new Vec2()) the unit values (in result) are the unit distance along the line where it intercepts the circle. result.x will always contain the closest intercept (assuming you start outside the circle). If there is an intercept there ways always be two, even if they are at the same point.
Example
The example contains all that is needed
The objects of interest are ball and poly
ball defines the ball and its movement. There is also code to draw it for the example
poly holds the points of the polygon. Converts the points to offset lines depending on the ball radius. It is optimized to that it only calculates the lines if the ball radius changes.
The function poly.movingBallIntercept is the function that does all the work. It take a ball object and an optional results vector.
It returns the position as a Vec2 of the ball if it contacts the polygon.
It does this by finding the smallest unit distance to the offset lines, and point (as circle) and uses that unit distance to position the result.
Note that if the ball is inside the polygon the intercepts with the corners is reversed. The function Line2.unitInterceptsCircle does provide 2 unit distance where the line enters and exits the circle. However you need to know if you are inside or outside to know which one to use. The example assumes you are outside the polygon.
Instructions
Move the mouse to change the balls path.
Click to set the balls starting position.
Math.EPSILON = 1e-6;
Math.isSmall = val => Math.abs(val) < Math.EPSILON;
Math.isUnit = u => !(u < 0 || u > 1);
Math.TAU = Math.PI * 2;
/* export {Vec2, Line2} */ // this should be a module
var temp;
function Vec2(x = 0, y = (temp = x, x === 0 ? (x = 0 , 0) : (x = x.x, temp.y))) {
this.x = x;
this.y = y;
}
Vec2.prototype = {
init(x, y = (temp = x, x = x.x, temp.y)) { this.x = x; this.y = y; return this }, // assumes x is a Vec2 if y is undefined
copy() { return new Vec2(this) },
equal(v) { return (this.x - v.x) === 0 && (this.y - v.y) === 0 },
isUnits() { return Math.isUnit(this.x) && Math.isUnit(this.y) },
add(v, res = this) { res.x = this.x + v.x; res.y = this.y + v.y; return res },
sub(v, res = this) { res.x = this.x - v.x; res.y = this.y - v.y; return res },
scale(val, res = this) { res.x = this.x * val; res.y = this.y * val; return res },
invScale(val, res = this) { res.x = this.x / val; res.y = this.y / val; return res },
dot(v) { return this.x * v.x + this.y * v.y },
uDot(v, div) { return (this.x * v.x + this.y * v.y) / div },
cross(v) { return this.x * v.y - this.y * v.x },
uCross(v, div) { return (this.x * v.y - this.y * v.x) / div },
get length() { return this.lengthSqr ** 0.5 },
set length(l) { this.scale(l / this.length) },
get lengthSqr() { return this.x * this.x + this.y * this.y },
rot90CW(res = this) {
const y = this.x;
res.x = -this.y;
res.y = y;
return res;
},
};
const wV1 = new Vec2(), wV2 = new Vec2(), wV3 = new Vec2(); // pre allocated work vectors used by Line2 functions
function Line2(p1 = new Vec2(), p2 = (temp = p1, p1 = p1.p1 ? p1.p1 : p1, temp.p2 ? temp.p2 : new Vec2())) {
this.p1 = p1;
this.p2 = p2;
}
Line2.prototype = {
init(p1, p2 = (temp = p1, p1 = p1.p1, temp.p2)) { this.p1.init(p1); this.p2.init(p2) },
copy() { return new Line2(this) },
asVec(res = new Vec2()) { return this.p2.sub(this.p1, res) },
unitDistOn(u, res = new Vec2()) { return this.p2.sub(this.p1, res).scale(u).add(this.p1) },
translate(vec, res = this) {
this.p1.add(vec, res.p1);
this.p2.add(vec, res.p2);
return res;
},
translateNormal(amount, res = this) {
this.asVec(wV1).rot90CW().length = -amount;
this.translate(wV1, res);
return res;
},
unitInterceptsLine(line, res = new Vec2()) { // segments
this.asVec(wV1);
line.asVec(wV2);
const c = wV1.cross(wV2);
if (Math.isSmall(c)) { return }
wV3.init(this.p1).sub(line.p1);
res.init(wV1.uCross(wV3, c), wV2.uCross(wV3, c));
return res;
},
unitInterceptsCircle(point, radius, res = new Vec2()) {
this.asVec(wV1);
var b = -2 * this.p1.sub(point, wV2).dot(wV1);
const c = 2 * wV1.lengthSqr;
const d = (b * b - 2 * c * (wV2.lengthSqr - radius * radius)) ** 0.5
if (isNaN(d)) { return }
return res.init((b - d) / c, (b + d) / c);
},
};
/* END of file */ // Vec2 and Line2 module
/* import {vec2, Line2} from "whateverfilename.jsm" */ // Should import vec2 and line2
const POLY_SCALE = 0.5;
const ball = {
pos: new Vec2(-150,0),
delta: new Vec2(10, 10),
radius: 20,
drawPath(ctx) {
ctx.beginPath();
ctx.arc(this.pos.x, this.pos.y, this.radius, 0, Math.TAU);
ctx.stroke();
},
}
const poly = {
bRadius: 0,
lines: [],
set ballRadius(radius) {
const len = this.points.length
this.bRadius = ball.radius;
i = 0;
while (i < len) {
let line = this.lines[i];
if (line) { line.init(this.points[i], this.points[(i + 1) % len]) }
else { line = new Line2(new Vec2(this.points[i]), new Vec2(this.points[(i + 1) % len])) }
this.lines[i++] = line.translateNormal(radius);
}
this.lines.length = i;
},
points: [
new Vec2(-200, -150).scale(POLY_SCALE),
new Vec2(200, -100).scale(POLY_SCALE),
new Vec2(100, 0).scale(POLY_SCALE),
new Vec2(200, 100).scale(POLY_SCALE),
new Vec2(-200, 75).scale(POLY_SCALE),
new Vec2(-150, -50).scale(POLY_SCALE),
],
drawBallLines(ctx) {
if (this.lines.length) {
const r = this.bRadius;
ctx.beginPath();
for (const l of this.lines) {
ctx.moveTo(l.p1.x, l.p1.y);
ctx.lineTo(l.p2.x, l.p2.y);
}
for (const p of this.points) {
ctx.moveTo(p.x + r, p.y);
ctx.arc(p.x, p.y, r, 0, Math.TAU);
}
ctx.stroke()
}
},
drawPath(ctx) {
ctx.beginPath();
for (const p of this.points) { ctx.lineTo(p.x, p.y) }
ctx.closePath();
ctx.stroke();
},
movingBallIntercept(ball, res = new Vec2()) {
if (this.bRadius !== ball.radius) { this.ballRadius = ball.radius }
var i = 0, nearest = Infinity, nearestGeom, units = new Vec2();
const ballT = new Line2(ball.pos, ball.pos.add(ball.delta, new Vec2()));
for (const p of this.points) {
const res = ballT.unitInterceptsCircle(p, ball.radius, units);
if (res && units.x < nearest && Math.isUnit(units.x)) { // assumes ball started outside poly so only need first point
nearest = units.x;
nearestGeom = ballT;
}
}
for (const line of this.lines) {
const res = line.unitInterceptsLine(ballT, units);
if (res && units.x < nearest && units.isUnits()) { // first unit.x is for unit dist on line
nearest = units.x;
nearestGeom = ballT;
}
}
if (nearestGeom) { return ballT.unitDistOn(nearest, res) }
return;
},
}
const ctx = canvas.getContext("2d");
var w = canvas.width, cw = w / 2;
var h = canvas.height, ch = h / 2
requestAnimationFrame(mainLoop);
// line and point for displaying mouse interaction. point holds the result if any
const line = new Line2(ball.pos, ball.pos.add(ball.delta, new Vec2())), point = new Vec2();
function mainLoop() {
ctx.setTransform(1,0,0,1,0,0); // reset transform
if(w !== innerWidth || h !== innerHeight){
cw = (w = canvas.width = innerWidth) / 2;
ch = (h = canvas.height = innerHeight) / 2;
}else{
ctx.clearRect(0,0,w,h);
}
ctx.setTransform(1,0,0,1,cw,ch); // center to canvas
if (mouse.button) { ball.pos.init(mouse.x - cw, mouse.y - ch) }
line.p2.init(mouse.x - cw, mouse.y - ch);
line.p2.sub(line.p1, ball.delta);
ctx.lineWidth = 1;
ctx.strokeStyle = "#000"
poly.drawPath(ctx)
ctx.strokeStyle = "#F804"
poly.drawBallLines(ctx);
ctx.strokeStyle = "#F00"
ctx.beginPath();
ctx.arc(ball.pos.x, ball.pos.y, ball.radius, 0, Math.TAU);
ctx.moveTo(line.p1.x, line.p1.y);
ctx.lineTo(line.p2.x, line.p2.y);
ctx.stroke();
ctx.strokeStyle = "#00f"
ctx.lineWidth = 2;
ctx.beginPath();
if (poly.movingBallIntercept(ball, point)) {
ctx.arc(point.x, point.y, ball.radius, 0, Math.TAU);
} else {
ctx.arc(line.p2.x, line.p2.y, ball.radius, 0, Math.TAU);
}
ctx.stroke();
requestAnimationFrame(mainLoop);
}
const mouse = {x:0, y:0, button: false};
function mouseEvents(e) {
const bounds = canvas.getBoundingClientRect();
mouse.x = e.pageX - bounds.left - scrollX;
mouse.y = e.pageY - bounds.top - scrollY;
mouse.button = e.type === "mousedown" ? true : e.type === "mouseup" ? false : mouse.button;
}
["mousedown","mouseup","mousemove"].forEach(name => document.addEventListener(name,mouseEvents));
#canvas {
position: absolute;
top: 0px;
left: 0px;
}
<canvas id="canvas"></canvas>
Click to position ball. Move mouse to test trajectory
Vec2 and Line2
To make it easier a vector library will help. For the example I wrote a quick Vec2 and Line2 object (Note only functions used in the example have been tested, Note The object are designed for performance, inexperienced coders should avoid using these objects and opt for a more standard vector and line library)
It's probably not what you're looking for, but here's a way to do it (if you're not looking for perfect precision) :
You can try to approximate the position instead of calculating it.
The way you set up your code has a big advantage : You have the last position of the circle before the collision. Thanks to that, you can just "iterate" through the trajectory and try to find a position that is closest to the intersection position.
I'll assume you already have a function that tells you if a circle is intersecting with the polygon.
Code (C++) :
// What we need :
Vector startPos; // Last position of the circle before the collision
Vector currentPos; // Current, unwanted position
Vector dir; // Direction (a unit vector) of the circle's velocity
float distance = compute_distance(startPos, currentPos); // The distance from startPos to currentPos.
Polygon polygon; // The polygon
Circle circle; // The circle.
unsigned int iterations_count = 10; // The number of iterations that will be done. The higher this number, the more precise the resolution.
// The algorithm :
float currentDistance = distance / 2.f; // We start at the half of the distance.
Circle temp_copy; // A copy of the real circle to "play" with.
for (int i = 0; i < iterations_count; ++i) {
temp_copy.pos = startPos + currentDistance * dir;
if (checkForCollision(temp_copy, polygon)) {
currentDistance -= currentDistance / 2.f; // We go towards startPos by the half of the current distance.
}
else {
currentDistance += currentDistance / 2.f; // We go towards currentPos by the half of the current distance.
}
}
// currentDistance now contains the distance between startPos and the intersection point
// And this is where you should place your circle :
Vector intersectionPoint = startPos + currentDistance * dir;
I haven't tested this code so I hope there's no big mistake in there. It's also not optimized and there are a few problems with this approach (the intersection point could end up inside the polygon) so it still needs to be improved but I think you get the idea.
The other (big, depending on what you're doing) problem with this is that it's an approximation and not a perfect answer.
Hope this helps !
I'm not sure if I understood the scenario correctly, but an efficient straight forward use case would be, to only use a square bounding box of your circle first, calculating intersection of that square with your polygone is extremely fast, much much faster, than using the circle. Once you detect an intersection of that square and the polygone, you need to think or to write which precision is mostly suitable for your scenarion. If you need a better precision, than at this state, you can go on as this from here:
From the 90° angle of your sqare intersection, you draw a 45° degree line until it touches your circle, at this point, where it touches, you draw a new square, but this time, the square is embedded into the circle, let it run now, until this new square intersects the polygon, once it intersects, you have a guaranteed circle intersection. Depending on your needed precision, you can simply play around like this.
I'm not sure what your next problem is from here? If it has to be only the inverse of the circles trajectory, than it simply must be that reverse, I'm really not sure what I'm missing here.

How do I rotate a html canvas shape by only using a transform?

I am wondering how you can rotate an image by only using the transform function. From my understanding this is not possible, since the only things you can do with transform are the following:
Horizontal scaling
Horizontal skewing
Vertical skewing
Vertical scaling
Horizontal moving
Vertical moving
Source: https://developer.mozilla.org/en-US/docs/Web/API/Canvas_API/Tutorial/Transformations
And I don't see how any of these would be able to rotate the shape, is this even possible. I assume it must be possible, since rotate is in-fact a type transformation.
2D transform basics
6 values as 3 vectors
The transform is a set of 6 numbers. The 6 numbers as 3 pairs represent the direction and scale of the x axis, the direction and scale of the y axis, and the position of the origin.
Default transform AKA Identity matrix
The default transform (called the identity matrix) has the values ctx.setTransform(1, 0, 0, 1, 0, 0) meaning that
the x axis is 1 transformed pixel per CSS pixel in the direction {x: 1, y: 0} left to right
the y axis is 1 transformed pixel per CSS pixel in the direction {x: 0, y: 1} top to bottom
the origin is at pixel location {x: 0, y: 0} top left corner
Scaling
If we scale the transform we increase the length of the first two vectors. To scale by 2 the transform is ctx.setTransform(2, 0, 0, 2, 0, 0);
the x axis is 1 transformed pixel for every 2 CSS pixel in the x direction {x: 2, y: 0} left to right
the y axis is 1 transformed pixel for every 2 CSS pixel in the y direction {x: 0, y: 2} top to bottom
the origin is still top left {x: 0, y: 0}
Rotate and translation
If we want to rotate by 90deg a square 256 by 256 image then the transform is ctx.setTransform(0, 1, -1, 0, 256, 0)
the x axis is 1 transformed pixel per CSS pixel down in the y direction {x: 0, y: 1}
the y axis is 1 transformed pixel per CSS pixel across in the negative x direction {x: -1, y: 0} right to left
the origin (where the image 0, 0 will be on the canvas) is {x: 256, y: 0}
Thus if we run
ctx.setTransform(0, 1, -1, 0, 256, 0);
ctx.drawImage(myImage, 0, 0, 256, 256); // will draw image rotated 90deg CW
We get a rotated image.
A vector
A vector is two values that have a x and y value. The vector defines a direction and length.
Create a rotated unit vector
To convert a direction to a vector we use sin and cos
const myDirection = angle;
const myDirectionAsRadians = angle * (Math.PI / 180); // convert angle to radians
const x = Math.cos(myDirectionAsRadians)
const y = Math.sin(myDirectionAsRadians)
If we set myDirection to 90 (deg) then x = 0 and y = 1 pointing down the canvas
Using sin and cos creates a vector in any direction. It has a special property in that its length is always 1. We call such a vector a Unit vector. You may sometimes see a vector being normalized. This converts a vector of any length to a unit vector. It is done by dividing the vector x and y by its length.
function normalize(vector) {
const length = Math.hypot(vector.x, vector.y);
vector.x /= length;
vector.y /= length;
}
NOTE a vector with zero length eg x: 0, y:0 can not be normalized. Not because it has no length (the length is 0) but because it has no direction.
Scale a rotated vector
We can define an angle and a scale
const myDirection = -90;
const myDirectionAsRadians = -90 * (Math.PI / 180); // -90 as radians
const myScale = 2;
const x = Math.cos(myDirectionAsRadians) * myScale
const y = Math.sin(myDirectionAsRadians) * myScale
Now for -90 deg the vector is x = 0 and y = -2 pointing up and two CSS pixels long.
Quick rotate vector 90deg CW
For a uniform scale and rotation (the image is always square) all we need is a single vector. For example from the above. x = 0 and y = -2 (pointing up) can be rotated 90 CW by swapping the two components and negating the new x. eg xx = -y and y = x to get xx = 2 and y = 0 2 CSS pixels from left two right. Thus we have the direction and scale of both the x and y axis. With the y axis always 90 CW from the x.
Using the transform to draw
Create rotated and scaled transform
To create a transform that rotates any angle and scales by any amount
function scaleAndRotate(scale, rotate) { // rotate is in radians
// get direction and length of x axis
const xAX = Math.cos(rotate) * scale;
const xAY = Math.sin(rotate) * scale;
// get direction and length of y axis that is 90 deg CW of x axis and same length
const [yAX, yAY] = [-xAY, xAX]; // swap and negate new x
// set the transform
ctx.setTransform(xAX, xAY, yAX, yAY, 0, 0);
}
Drawing an image
Lets create a function that will draw an image anywhere on the canvas that is rotated and scaled uniformly. We will use the center of the image as the reference point
function drawImageScaleRotate(img, x, y, scale, rotate) {
// define the direction and scale of x axis
const xAX = Math.cos(rotate) * scale;
const xAY = Math.sin(rotate) * scale;
// create the transform with yaxis at 90 CW of x axis and origin at x, y
ctx.setTransform(xAX, xAY, -xAY, xAX, x, y);
// Draw the image so that its center is at the new origin x, y
ctx.drawImage(img, -img.width / 2, -img.height / 2);
}
There is much more
When we set the transform with ctx.setTranform we replace the existing transform. This transform remains current. If we use ctx.transform, ctx.rotate, ctx.scale, ctx.translate the transforms are applied to the current transform, you build a transform in stages.
The transform functions are relatively expensive in terms of CPU cycles. That is way using sin and cos to build the matrix is much faster than using ctx.scale, ctx.rotate, ctx.translate to do the same thing starting from default.
Building transforms can become tricky as we need to keep track of what stage we are at.
We generally only use these function not to transform a single image (text, path, or what ever) but to create linked transforms.
For example a game object like a tank. The body of the tank is transformed (rotated and positioned) then the turret which is rotated with the body but has an additional independent rotation by using ctx.rotate. Full explanation is beyond the scope of this question.
The final function
From all this we can create a simplified function that will draw an image with its center at any location, that is uniformly scaled and rotated
function drawImageScaleRotate(img, x, y, scale, rotate) {
const xAX = Math.cos(rotate) * scale;
const xAY = Math.sin(rotate) * scale;
ctx.setTransform(xAX, xAY, -xAY, xAX, x, y);
ctx.drawImage(img, -img.width / 2, -img.height / 2);
}
To reset the transform to the default use ctx.resetTransform NOTE not fully supported yet or use ctx.setTransform(1,0,0,1,0,0);
Animated transforms faster than CSS + HTML or SVG
Using the above function is the 2nd fastest way to draw animated rotated scaled images, faster than CSS + HTML or SVG. You can literally fill the screen with animated images.
Demo
var w,h;
var image = new Image;
image.src = "https://i.stack.imgur.com/C7qq2.png?s=328&g=1";
var canvas = document.createElement("canvas");
var ctx = canvas.getContext("2d");
canvas.style.position = "absolute";
canvas.style.top = "0px";
canvas.style.left = "0px";
document.body.appendChild(canvas);
const resize = () => { w = canvas.width = innerWidth; h = canvas.height = innerHeight;}
const rand = (min,max) => Math.random() * (max ?(max-min) : min) + (max ? min : 0);
const DO = (count,callback) => { while (count--) { callback(count) } }
resize();
addEventListener("resize",resize);
const sprites = [];
DO(500,()=>{
sprites.push({
xr : rand(w), yr : rand(h),
x : 0, y : 0, // actual position of sprite
r : rand(Math.PI * 2),
scale : rand(0.1,0.25),
dx : rand(-2,2), dy : rand(-2,2),
dr : rand(-0.2,0.2),
});
});
function drawImage(image, spr){
const xAX = Math.cos(spr.r) * spr.scale;
const xAY = Math.sin(spr.r) * spr.scale;
ctx.setTransform(xAX, xAY, -xAY, xAX, spr.x, spr.y);
ctx.drawImage(image, -image.width / 2, -image.height / 2);
}
function update(){
var ihM,iwM;
ctx.setTransform(1,0,0,1,0,0);
ctx.clearRect(0,0,w,h);
if(image.complete){
var iw = image.width;
var ih = image.height;
for(var i = 0; i < sprites.length; i ++){
var spr = sprites[i];
spr.xr += spr.dx;
spr.yr += spr.dy;
spr.r += spr.dr;
// keeps images in canvas adds space to all sides so that image
// can move completely of the canvas befor warping to other side
// I do this to prevent images visualy popping in and out at edges
iwM = iw * spr.scale * 2 + w;
ihM = ih * spr.scale * 2 + h;
spr.x = ((spr.xr % iwM) + iwM) % iwM - iw * spr.scale;
spr.y = ((spr.yr % ihM) + ihM) % ihM - ih * spr.scale;
drawImage(image,spr);
}
}
requestAnimationFrame(update);
}
requestAnimationFrame(update);
If you are wondering which is the fastest way to draw animated content. That is via webGL. The above can draw 1000 scaled rotated images on most devices at a good frame rate. WebGL can easily draw 10000 (with extra features eg colored) in the same time.
You can rotate your image easily. You can specify angles by which you wants to apply rotation.
Source : https://www.w3schools.com/cssref/css3_pr_transform.asp
<style>
img.a {
transform: rotate(180deg);
}
</style>
<img class="a" src="https://picsum.photos/id/237/200/300"/>
use transform "rotate".and use it as below
p{
color:red;
font-size:12px;
text-align:center;
}
.rotate1{
transform:rotate(45deg);
margin-top:40px;
}
.rotate2{
transform:rotate(90deg);
margin-top:40px;
}
.rotate3{
transform:rotate(180deg);
margin-top:40px;
}
<p class="rotate1">ROTATE1</p>
<p class="rotate2">ROTATE2</p>
<p class="rotate3">ROTATE3</p>
You have ctx.rotate(radians) function.
Read below:
https://www.w3schools.com/tags/canvas_rotate.asp

Trying to calculate mouse x or y (or ratio of both) with given angle to give a distance

I have the xy coordinates from before and during a drag event, this.x and this.y```` are the current coordinates,this.lastXandthis.lastY``` are the origin.
What I need to do is given a radian of the source element, determine which mouse coordinate to use, IE if the angle is 0 then the x coordinates is used to give a "distance" if the degrees are 90 then the y coordinates are used
if the radian is 0.785398 then both x and y would need to be used.
I have the following code for one axis, but this only flips the y coordinates
let leftPosition;
if (this.walls[this.dragItem.wall].angle < Math.PI / 2) {
leftPosition = Math.round((-(this.y - this.lastY) / this.scale + this.dragItem.origin.left));
} else {
leftPosition = Math.round(((this.y - this.lastY) / this.scale + this.dragItem.origin.left));
}
I have an example here https://engine.owuk.co.uk
what I need to do is have the radian dictate what x or y coordinate is used to control the drag of the item by calculating the leftPosition, I have been loosing my mind trying to get this to work :(
The Math.sin and Math.cos is what you need, here is an example
<canvas id="c" width=300 height=150></canvas>
<script>
const ctx = document.getElementById('c').getContext('2d');
function drawShape(size, angle, numPoints, color) {
ctx.beginPath();
for (j = 0; j < numPoints; j++) {
a = angle * Math.PI / 180
x = size * Math.sin(a)
y = size * Math.cos(a)
ctx.lineTo(x, y);
angle += 360 / numPoints
}
ctx.fillStyle = color;
ctx.fill();
}
ctx.translate(80, 80);
drawShape(55, 0, 7, "green");
drawShape(45, 0, 5, "red");
drawShape(35, 0, 3, "blue");
ctx.translate(160, 0);
drawShape(55, 15, 7, "green");
drawShape(45, 35, 5, "red");
drawShape(35, 25, 3, "blue");
</script>
Here is a theoretical answer to your problem.
In the simplest way, you have an object within a segment that has to move relative to the position of the mouse, but constrained by the segment's vector.
Here is a visual representation:
So with the mouse at the red arrow, the blue circle needs to move to the light blue.
(the shortest distance between a line and a point)
How do we do that?
Let's add everything we can to that image:
The segment and the mouse form a triangle and we can calculate the length of all sides of that triangle.
The distance between two points is an easy Pythagorean calculation:
https://ncalculators.com/geometry/length-between-two-points-calculator.htm
Then we need the height of the triangle where the base is our segment:
https://tutors.com/math-tutors/geometry-help/how-to-find-the-height-of-a-triangle
That will give us the distance from our mouse to the segment, and we do know the angle by adding the angle of the segment + 90 degrees (or PI/2 in radians) that is all that we need to calculate the position of our light blue circle.
Of course, we will need to also add some min/max math to not exceed the boundaries of the segment, but if you made it this far that should be easy pickings.
I was able to make the solution to my issue
let position;
const sin = Math.sin(this.walls[this.dragItem.wall].angle);
const cos = Math.cos(this.walls[this.dragItem.wall].angle);
position = Math.round(((this.x - this.lastX) / this.scale * cos + (this.y - this.lastY) / this.scale * sin) + this.dragItem.origin.left);

How to project a 2d point onto a 2d axis in javascript

I have a point defined like {x:(x value), y: (y value)}, and I have an axis with a slope and a y intercept. I am trying to project the point onto the line. I have searched 'project point onto line' and looked around for a long time, but i can't find anything that projects a point onto a slope and intercept line.
This code works for me (a slight change from OP's answer):
function project (x, y, slope, yint) {
var slope2 = -1 / slope;
var yint2 = y - slope2 * x;
var nx = (yint2 - yint) / (slope - slope2);
return {x: nx, y: (slope2 * nx) + yint};
}
The actual answer was simple. I just needed to make a perpendicular line to the other line that touches the point being projected. Then, the projection was just the point of intersection of both of the lines. So I implemented a function in javascript, the parameters being the point's x, the point's y, the line's slope, and the line's y intercept, and it returns the projection as {x, y}.
function project (x, y, slope, yint) {
var slope2 = -1 / slope;
var yint2 = y - slope2 * x;
var nx = (yint2 - yint) / (slope - slope2);
return {x: nx, y: (slope2 * nx) + yint}; //thanks to #igobivo for fixing that mistake
}

Detect if user clicks inside a circle

How can I detect when the user clicks inside the red bubble?
It should not be like a square field. The mouse must be really inside the circle:
Here's the code:
<canvas id="canvas" width="1000" height="500"></canvas>
<script>
var canvas = document.getElementById("canvas")
var ctx = canvas.getContext("2d")
var w = canvas.width
var h = canvas.height
var bubble = {
x: w / 2,
y: h / 2,
r: 30,
}
window.onmousedown = function(e) {
x = e.pageX - canvas.getBoundingClientRect().left
y = e.pageY - canvas.getBoundingClientRect().top
if (MOUSE IS INSIDE BUBBLE) {
alert("HELLO!")
}
}
ctx.beginPath()
ctx.fillStyle = "red"
ctx.arc(bubble.x, bubble.y, bubble.r, 0, Math.PI*2, false)
ctx.fill()
ctx.closePath()
</script>
A circle, is the geometric position of all the points whose distance from a central point is equal to some number "R".
You want to find the points whose distance is less than or equal to that "R", our radius.
The distance equation in 2d euclidean space is d(p1,p2) = root((p1.x-p2.x)^2 + (p1.y-p2.y)^2).
Check if the distance between your p and the center of the circle is less than the radius.
Let's say I have a circle with radius r and center at position (x0,y0) and a point (x1,y1) and I want to check if that point is in the circle or not.
I'd need to check if d((x0,y0),(x1,y1)) < r which translates to:
Math.sqrt((x1-x0)*(x1-x0) + (y1-y0)*(y1-y0)) < r
In JavaScript.
Now you know all these values (x0,y0) being bubble.x and bubble.y and (x1,y1) being x and y.
To test if a point is within a circle, you want to determine if the distance between the given point and the center of the circle is smaller than the radius of the circle.
Instead of using the point-distance formula, which involves the use of a (slow) square root, you can compare the non-square-rooted (or still-squared) distance between the points. If that distance is less than the radius squared, then you're in!
// x,y is the point to test
// cx, cy is circle center, and radius is circle radius
function pointInCircle(x, y, cx, cy, radius) {
var distancesquared = (x - cx) * (x - cx) + (y - cy) * (y - cy);
return distancesquared <= radius * radius;
}
(Not using your code because I want to keep the function general for onlookers who come to this question later)
This is slightly more complicated to comprehend, but its also faster, and if you intend on ever checking point-in-circle in a drawing/animation/object moving loop, then you'll want to do it the fastest way possible.
Related JS perf test:
http://jsperf.com/no-square-root
Just calculate the distance between the mouse pointer and the center of your circle, then decide whether it's inside:
var dx = x - bubble.x,
dy = y - bubble.y,
dist = Math.sqrt(dx * dx + dy * dy);
if (dist < bubble.r) {
alert('hello');
}
Demo
As mentioned in the comments, to eliminate Math.sqrt() you can use:
var distsq = dx * dx + dy * dy,
rsq = bubble.r * bubble.r;
if (distsq < rsq) {
alert('HELLO');
}
An alternative (not always useful meaning it will only work for the last path (re)defined, but I bring it up as an option):
x = e.pageX - canvas.getBoundingClientRect().left
y = e.pageY - canvas.getBoundingClientRect().top
if (ctx.isPointInPath(x, y)) {
alert("HELLO!")
}
Path can btw. be any shape.
For more details:
http://www.w3.org/TR/2dcontext/#dom-context-2d-ispointinpath

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