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Working version of train following spline path

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Emma 2023-02-07 08:36:58 -07:00
commit f1c991bd3e
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25
.vscode/settings.json vendored Normal file
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{
"deno.enable": true,
"deno.unstable": true,
"deno.config": "./deno.jsonc",
"workbench.colorCustomizations": {
"activityBar.activeBackground": "#520088",
"activityBar.background": "#520088",
"activityBar.foreground": "#e7e7e7",
"activityBar.inactiveForeground": "#e7e7e799",
"activityBarBadge.background": "#9f6000",
"activityBarBadge.foreground": "#e7e7e7",
"commandCenter.border": "#e7e7e799",
"sash.hoverBorder": "#520088",
"statusBar.background": "#330055",
"statusBar.foreground": "#e7e7e7",
"statusBarItem.hoverBackground": "#520088",
"statusBarItem.remoteBackground": "#330055",
"statusBarItem.remoteForeground": "#e7e7e7",
"titleBar.activeBackground": "#330055",
"titleBar.activeForeground": "#e7e7e7",
"titleBar.inactiveBackground": "#33005599",
"titleBar.inactiveForeground": "#e7e7e799"
},
"peacock.remoteColor": "330055"
}

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bundle.js Normal file
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// deno-fmt-ignore-file
// deno-lint-ignore-file
// This code was bundled using `deno bundle` and it's not recommended to edit it manually
const Constants = {
TWO_PI: Math.PI * 2
};
const map = (value, x1, y1, x2, y2)=>(value - x1) * (y2 - x2) / (y1 - x1) + x2;
class Vector {
x;
y;
z;
constructor(x = 0, y = 0, z = 0){
this.x = x;
this.y = y;
this.z = z;
}
set(v, y, z) {
if (arguments.length === 1 && typeof v !== "number") {
this.set(v.x || v[0] || 0, v.y || v[1] || 0, v.z || v[2] || 0);
} else {
this.x = v;
this.y = y || 0;
this.z = z || 0;
}
}
get() {
return new Vector(this.x, this.y, this.z);
}
mag() {
const x = this.x, y = this.y, z = this.z;
return Math.sqrt(x * x + y * y + z * z);
}
magSq() {
const x = this.x, y = this.y, z = this.z;
return x * x + y * y + z * z;
}
setMag(v_or_len, len) {
if (len === undefined) {
len = v_or_len;
this.normalize();
this.mult(len);
} else {
const v = v_or_len;
v.normalize();
v.mult(len);
return v;
}
}
add(v, y, z) {
if (arguments.length === 1 && typeof v !== 'number') {
this.x += v.x;
this.y += v.y;
this.z += v.z;
} else if (arguments.length === 2) {
this.x += v;
this.y += y ?? 0;
} else {
this.x += v;
this.y += y ?? 0;
this.z += z ?? 0;
}
}
sub(v, y, z) {
if (arguments.length === 1 && typeof v !== 'number') {
this.x -= v.x;
this.y -= v.y;
this.z -= v.z;
} else if (arguments.length === 2) {
this.x -= v;
this.y -= y ?? 0;
} else {
this.x -= v;
this.y -= y ?? 0;
this.z -= z ?? 0;
}
}
mult(v) {
if (typeof v === 'number') {
this.x *= v;
this.y *= v;
this.z *= v;
} else {
this.x *= v.x;
this.y *= v.y;
this.z *= v.z;
}
return this;
}
div(v) {
if (typeof v === 'number') {
this.x /= v;
this.y /= v;
this.z /= v;
} else {
this.x /= v.x;
this.y /= v.y;
this.z /= v.z;
}
}
rotate(angle) {
const prev_x = this.x;
const c = Math.cos(angle);
const s = Math.sin(angle);
this.x = c * this.x - s * this.y;
this.y = s * prev_x + c * this.y;
}
dist(v) {
const dx = this.x - v.x, dy = this.y - v.y, dz = this.z - v.z;
return Math.sqrt(dx * dx + dy * dy + dz * dz);
}
dot(v, y, z) {
if (arguments.length === 1 && typeof v !== 'number') {
return this.x * v.x + this.y * v.y + this.z * v.z;
}
return this.x * v + this.y * y + this.z * z;
}
cross(v) {
const x = this.x, y = this.y, z = this.z;
return new Vector(y * v.z - v.y * z, z * v.x - v.z * x, x * v.y - v.x * y);
}
lerp(v_or_x, amt_or_y, z, amt) {
const lerp_val = (start, stop, amt)=>{
return start + (stop - start) * amt;
};
let x, y;
if (arguments.length === 2 && typeof v_or_x !== 'number') {
amt = amt_or_y;
x = v_or_x.x;
y = v_or_x.y;
z = v_or_x.z;
} else {
x = v_or_x;
y = amt_or_y;
}
this.x = lerp_val(this.x, x, amt);
this.y = lerp_val(this.y, y, amt);
this.z = lerp_val(this.z, z, amt);
}
normalize() {
const m = this.mag();
if (m > 0) {
this.div(m);
}
return this;
}
limit(high) {
if (this.mag() > high) {
this.normalize();
this.mult(high);
}
}
heading() {
return -Math.atan2(-this.y, this.x);
}
heading2D() {
return this.heading();
}
toString() {
return "[" + this.x + ", " + this.y + ", " + this.z + "]";
}
array() {
return [
this.x,
this.y,
this.z
];
}
copy() {
return new Vector(this.x, this.y, this.z);
}
drawDot(ctx) {
ctx.beginPath();
ctx.arc(this.x, this.y, 2, 0, Constants.TWO_PI);
ctx.fill();
}
static fromAngle(angle, v) {
if (v === undefined || v === null) {
v = new Vector();
}
v.x = Math.cos(angle);
v.y = Math.sin(angle);
return v;
}
static random2D(v) {
return Vector.fromAngle(Math.random() * (Math.PI * 2), v);
}
static random3D(v) {
const angle = Math.random() * Constants.TWO_PI;
const vz = Math.random() * 2 - 1;
const mult = Math.sqrt(1 - vz * vz);
const vx = mult * Math.cos(angle);
const vy = mult * Math.sin(angle);
if (v === undefined || v === null) {
v = new Vector(vx, vy, vz);
} else {
v.set(vx, vy, vz);
}
return v;
}
static dist(v1, v2) {
return v1.dist(v2);
}
static dot(v1, v2) {
return v1.dot(v2);
}
static cross(v1, v2) {
return v1.cross(v2);
}
static add(v1, v2) {
return new Vector(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
}
static sub(v1, v2) {
return new Vector(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
}
static angleBetween(v1, v2) {
return Math.acos(v1.dot(v2) / Math.sqrt(v1.magSq() * v2.magSq()));
}
static lerp(v1, v2, amt) {
const retval = new Vector(v1.x, v1.y, v1.z);
retval.lerp(v2, amt);
return retval;
}
static vectorProjection(v1, v2) {
v2 = v2.copy();
v2.normalize();
const sp = v1.dot(v2);
v2.mult(sp);
return v2;
}
static hypot2(a, b) {
return Vector.dot(Vector.sub(a, b), Vector.sub(a, b));
}
}
class ComplexPath {
points = [];
radius = 50;
ctx;
constructor(points){
points && (this.points = points);
}
setContext(ctx) {
this.ctx = ctx;
}
draw() {
if (!this.ctx || !this.points.length) return;
const ctx = this.ctx;
ctx.save();
ctx.lineWidth = 2;
ctx.strokeStyle = 'white';
ctx.setLineDash([
21,
6
]);
let last = this.points[this.points.length - 1];
for (const point of this.points){
ctx.beginPath();
ctx.moveTo(last.x, last.y);
ctx.lineTo(point.x, point.y);
ctx.stroke();
last = point;
}
ctx.restore();
}
}
class PathSegment {
points;
ctx;
constructor(points){
this.points = points;
}
setContext(ctx) {
this.ctx = ctx;
}
draw() {
if (!this.ctx) return;
const ctx = this.ctx;
ctx.save();
ctx.beginPath();
ctx.moveTo(this.points[0].x, this.points[0].y);
ctx.bezierCurveTo(this.points[1].x, this.points[1].y, this.points[2].x, this.points[2].y, this.points[3].x, this.points[3].y);
ctx.strokeStyle = '#ffffff50';
ctx.lineWidth = 2;
ctx.stroke();
ctx.restore();
}
getPointAtT(t) {
const [a, b, c, d] = this.points;
const res = a.copy();
res.add(Vector.add(a.copy().mult(-3), b.copy().mult(3)).mult(t));
res.add(Vector.add(Vector.add(a.copy().mult(3), b.copy().mult(-6)), c.copy().mult(3)).mult(Math.pow(t, 2)));
res.add(Vector.add(Vector.add(a.copy().mult(-1), b.copy().mult(3)), Vector.add(c.copy().mult(-3), d.copy())).mult(Math.pow(t, 3)));
return res;
}
getClosestPoint(v) {
const resolution = 1 / 25;
let closest = this.points[0];
let closestDistance = this.points[0].dist(v);
let closestT = 0;
for(let i = 0; i < 25; i++){
const point = this.getPointAtT(i * resolution);
const distance = v.dist(point);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
closestT = i * resolution;
}
}
return [
closest,
closestDistance,
closestT
];
}
getPointsWithinRadius(v, r) {
const points = [];
const resolution = 1 / 25;
for(let i = 0; i < 25; i++){
const point = this.getPointAtT(i * resolution);
const distance = v.dist(point);
if (distance < r) {
points.push([
i * resolution,
this
]);
}
}
return points;
}
tangent(t) {
const [a, b, c, d] = this.points;
const res = Vector.sub(b, a).mult(3 * Math.pow(1 - t, 2));
res.add(Vector.add(Vector.sub(c, b).mult(6 * (1 - t) * t), Vector.sub(d, c).mult(3 * Math.pow(t, 2))));
return res;
}
doesIntersectCircle(x, y, r) {
const v = new Vector(x, y);
const resolution = 1 / 25;
let distance = Infinity;
let t;
for(let i = 0; i < 25; i++){
if (i !== 25 - 1) {
const a = this.getPointAtT(i * resolution);
const b = this.getPointAtT((i + 1) * resolution);
const ac = Vector.sub(v, a);
const ab = Vector.sub(b, a);
const d = Vector.add(Vector.vectorProjection(ac, ab), a);
const ad = Vector.sub(d, a);
const k = Math.abs(ab.x) > Math.abs(ab.y) ? ad.x / ab.x : ad.y / ab.y;
let dist;
if (k <= 0.0) {
dist = Vector.hypot2(v, a);
} else if (k >= 1.0) {
dist = Vector.hypot2(v, b);
}
dist = Vector.hypot2(v, d);
if (dist < distance) {
distance = dist;
t = i * resolution;
}
}
}
if (distance < r) return t;
return false;
}
}
class Mover {
position;
velocity;
acceleration;
maxSpeed;
maxForce;
_trailingPoint;
_leadingPoint;
get trailingPoint() {
const desired = this.velocity.copy();
desired.normalize();
desired.mult(-this._trailingPoint);
return Vector.add(this.position, desired);
}
get leadingPoint() {
const desired = this.velocity.copy();
desired.normalize();
desired.mult(this._leadingPoint);
return Vector.add(this.position, desired);
}
ctx;
boundingBox;
constructor(posOrRandom, vel, acc){
if (typeof posOrRandom === 'boolean' && posOrRandom) {
this.position = Vector.random2D(new Vector());
this.velocity = Vector.random2D(new Vector());
this.acceleration = new Vector();
} else {
this.position = posOrRandom || new Vector();
this.velocity = vel || new Vector();
this.acceleration = acc || new Vector();
}
this.boundingBox = {
size: new Vector(20, 10),
pos: new Vector(this.position.x - 10, this.position.y - 5)
};
this.maxSpeed = 3;
this.maxForce = .3;
this._trailingPoint = 0;
this._leadingPoint = 0;
this.init();
}
init() {}
move() {
this.velocity.limit(this.maxSpeed);
this.acceleration.limit(this.maxForce);
this.velocity.add(this.acceleration);
this.position.add(this.velocity);
this.edges();
this.draw();
}
edges() {
if (!this.ctx) return;
if (this.position.x > this.ctx.canvas.width) this.position.x = 0;
if (this.position.y > this.ctx.canvas.height) this.position.y = 0;
if (this.position.x < 0) this.position.x = this.ctx.canvas.width;
if (this.position.y < 0) this.position.y = this.ctx.canvas.height;
}
draw() {
if (!this.ctx) return;
this.ctx.fillStyle = 'white';
this.ctx.save();
this.ctx.translate(this.position.x, this.position.y);
this.ctx.rotate(this.velocity.heading() || 0);
this.ctx.translate(-this.position.x, -this.position.y);
this.ctx.translate(-(this.boundingBox.size.x / 2), -(this.boundingBox.size.y / 2));
this.ctx.fillRect(this.position.x, this.position.y, this.boundingBox.size.x, this.boundingBox.size.y);
this.ctx.restore();
}
setContext(ctx) {
this.ctx = ctx;
}
applyForce(force) {
this.acceleration.add(force);
}
static edges(point, width, height) {
if (point.x > width) point.x = 0;
if (point.y > height) point.y = 0;
if (point.x < 0) point.x = width;
if (point.y < 0) point.y = height;
}
}
class Follower extends Mover {
debug = true;
follow(toFollow) {
if (toFollow instanceof ComplexPath) {
const predict = this.velocity.copy();
predict.normalize();
predict.mult(25);
const predictpos = Vector.add(this.position, predict);
if (this.ctx) Mover.edges(predict, this.ctx.canvas.width, this.ctx.canvas.height);
let normal = null;
let target = null;
let worldRecord = 1000000;
for(let i = 0; i < toFollow.points.length; i++){
let a = toFollow.points[i];
let b = toFollow.points[(i + 1) % toFollow.points.length];
let normalPoint = getNormalPoint(predictpos, a, b);
let dir = Vector.sub(b, a);
if (normalPoint.x < Math.min(a.x, b.x) || normalPoint.x > Math.max(a.x, b.x) || normalPoint.y < Math.min(a.y, b.y) || normalPoint.y > Math.max(a.y, b.y)) {
normalPoint = b.copy();
a = toFollow.points[(i + 1) % toFollow.points.length];
b = toFollow.points[(i + 2) % toFollow.points.length];
dir = Vector.sub(b, a);
}
const d = Vector.dist(predictpos, normalPoint);
if (d < worldRecord) {
worldRecord = d;
normal = normalPoint;
dir.normalize();
dir.mult(25);
target = normal.copy();
target.add(dir);
}
if (worldRecord > toFollow.radius) {
return this.seek(target);
}
}
if (this.debug && this.ctx) {
this.ctx.strokeStyle = 'red';
this.ctx.fillStyle = 'pink';
this.ctx.beginPath();
this.ctx.moveTo(this.position.x, this.position.y);
this.ctx.lineTo(predictpos.x, predictpos.y);
this.ctx.stroke();
this.ctx.beginPath();
this.ctx.arc(predictpos.x, predictpos.y, 4, 0, Constants.TWO_PI);
this.ctx.fill();
this.ctx.stroke();
this.ctx.beginPath();
this.ctx.arc(normal.x, normal.y, 4, 0, Constants.TWO_PI);
this.ctx.fill();
this.ctx.stroke();
this.ctx.beginPath();
this.ctx.moveTo(predictpos.x, predictpos.y);
this.ctx.lineTo(target.x, target.y);
this.ctx.stroke();
this.ctx.beginPath();
this.ctx.arc(target.x, target.y, 8, 0, Constants.TWO_PI);
this.ctx.fill();
this.ctx.stroke();
}
}
}
seek(target, strength = 1) {
const desired = Vector.sub(target, this.position);
desired.normalize();
desired.mult(this.maxSpeed);
const steer = Vector.sub(desired, this.velocity);
steer.limit(this.maxForce);
this.applyForce(steer.mult(strength));
}
link(target) {
this.position = target.trailingPoint;
this.seek(target.trailingPoint);
}
arrive(target) {
const desired = Vector.sub(target, this.position);
const d = desired.mag();
let speed = this.maxSpeed;
if (d < 10) {
speed = map(d, 0, 100, 0, this.maxSpeed);
}
desired.setMag(speed);
const steer = Vector.sub(desired, this.velocity);
steer.limit(this.maxForce);
this.applyForce(steer);
}
}
function getNormalPoint(p, a, b) {
const ap = Vector.sub(p, a);
const ab = Vector.sub(b, a);
ab.normalize();
ab.mult(ap.dot(ab));
const normalPoint = Vector.add(a, ab);
return normalPoint;
}
class Train extends Follower {
nodes;
currentTrack;
speed;
follower;
followers;
constructor(track, length){
super(track.points[0].copy());
this.maxSpeed = 2;
this.speed = 1;
this.currentTrack = track;
this.velocity = this.currentTrack.tangent(0).normalize().mult(this.maxSpeed);
this.addCar(length);
this.maxForce = .2;
}
init() {
this.boundingBox.size.set(30, 10);
this._trailingPoint = 30;
}
move() {
this.follow();
super.move();
this.follower?.move();
}
follow() {
const [_, t] = this.currentTrack.followTrack(this);
this.velocity = this.currentTrack.tangent(t);
this.velocity.normalize().mult(this.speed || this.maxSpeed);
}
setContext(ctx) {
super.setContext(ctx);
this.follower?.setContext(ctx);
}
addCar(length) {
console.log(length);
if (length) this.follower = new TrainCar(this.currentTrack, length - 1);
this.follower?.setTarget(this);
this.follower?.position.set(this.trailingPoint);
this._trailingPoint -= 2;
}
}
class TrainCar extends Train {
target;
setTarget(t) {
this.target = t;
}
init() {
this.boundingBox.size.set(20, 10);
this._trailingPoint = 25;
this.maxSpeed = this.maxSpeed * 2;
this.maxForce = this.maxForce * 2;
}
move() {
if (this.target) {
if (this.position.dist(this.target.position) > this.target.position.dist(this.target.trailingPoint)) {
this.arrive(this.currentTrack.getNearestPoint(this.target.trailingPoint));
this.speed = this.target.speed;
super.move();
} else {
this.draw();
}
}
}
edges() {}
}
class Track extends PathSegment {
editable = false;
next;
prev;
id;
constructor(points, next, prev){
super(points);
this.id = crypto.randomUUID();
this.next = next || this;
this.prev = prev || this;
}
followTrack(train) {
const predict = train.velocity.copy();
predict.normalize();
predict.mult(1);
const predictpos = Vector.add(train.position, predict);
let [closest, closestDistance, closestT] = this.getClosestPoint(predictpos);
let mostValid = this;
if (this.next !== this) {
const [point, distance, t] = this.next.getClosestPoint(predictpos);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
mostValid = this.next;
closestT = t;
}
}
if (this.prev !== this) {
const [point1, distance1, t1] = this.next.getClosestPoint(predictpos);
if (distance1 < closestDistance) {
closest = point1;
closestDistance = distance1;
mostValid = this.next;
closestT = t1;
}
}
train.currentTrack = mostValid;
train.arrive(closest);
return [
closest,
closestT
];
}
getNearestPoint(p) {
let [closest, closestDistance, closestT] = this.getClosestPoint(p);
let mostValid = this;
if (this.next !== this) {
const [point, distance, t] = this.next.getClosestPoint(p);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
mostValid = this.next;
t;
}
}
if (this.prev !== this) {
const [point1, distance1, t1] = this.next.getClosestPoint(p);
if (distance1 < closestDistance) {
closest = point1;
closestDistance = distance1;
mostValid = this.next;
t1;
}
}
return closest;
}
getAllPointsInRange(v, r) {
const points = this.getPointsWithinRadius(v, r).concat(this.next.getPointsWithinRadius(v, r), this.prev.getPointsWithinRadius(v, r));
return points;
}
draw() {
super.draw();
if (this.ctx && this.editable) for (const e of this.points){
this.ctx.fillStyle = 'blue';
e.drawDot(this.ctx);
}
}
}
class Spline {
segments = [];
ctx;
constructor(segs){
this.segments = segs;
}
setContext(ctx) {
this.ctx = ctx;
for (const segment of this.segments){
segment.setContext(ctx);
}
}
draw() {
for (const segment of this.segments){
segment.draw();
}
}
}
const generateSquareTrack = ()=>{
const first = new Track([
new Vector(20, 40),
new Vector(20, 100),
new Vector(20, 300),
new Vector(20, 360)
]);
const second = new Track([
first.points[3],
new Vector(20, 370),
new Vector(30, 380),
new Vector(40, 380)
]);
const third = new Track([
second.points[3],
new Vector(100, 380),
new Vector(300, 380),
new Vector(360, 380)
]);
const fourth = new Track([
third.points[3],
new Vector(370, 380),
new Vector(380, 370),
new Vector(380, 360)
]);
const fifth = new Track([
fourth.points[3],
new Vector(380, 300),
new Vector(380, 100),
new Vector(380, 40)
]);
const sixth = new Track([
fifth.points[3],
new Vector(380, 30),
new Vector(370, 20),
new Vector(360, 20)
]);
const seventh = new Track([
sixth.points[3],
new Vector(300, 20),
new Vector(100, 20),
new Vector(40, 20)
]);
const eighth = new Track([
seventh.points[3],
new Vector(30, 20),
new Vector(20, 30),
first.points[0]
]);
const tracks = [
first,
second,
third,
fourth,
fifth,
sixth,
seventh,
eighth
];
for (const [i, track] of tracks.entries()){
track.next = tracks[(i + 1) % tracks.length];
track.prev = tracks.at(i - 1);
}
return new Spline([
first,
second,
third,
fourth,
fifth,
sixth,
seventh,
eighth
]);
};
const drawLine = (ctx, x1, y1, x2, y2)=>{
ctx.beginPath();
ctx.moveTo(x1, y1);
ctx.lineTo(x2, y2);
ctx.stroke();
};
const hello = ()=>{
console.log('HELLO WORLD');
};
hello();
const canvas = document.createElement('canvas');
canvas.height = 400;
canvas.width = 400;
document.body.append(canvas);
const ctx = canvas.getContext('2d');
const clear = ()=>{
ctx.fillStyle = 'black';
ctx.fillRect(0, 0, canvas.width, canvas.height);
};
setInterval(()=>{
draw();
}, 1000 / 60);
const path = generateSquareTrack();
path.setContext(ctx);
let t = 0;
let currentSeg = 0;
const trains = Array(1).fill(null).map((_, i)=>new Train(path.segments[i % path.segments.length], 5));
for (const train of trains){
train.setContext(ctx);
}
function draw() {
clear();
path.draw();
for (const train of trains){
train.move();
}
ctx.strokeStyle = 'red';
ctx.lineWidth = 4;
const seg = path.segments[currentSeg];
const start = seg.getPointAtT(t);
const tan = seg.tangent(t).normalize().mult(25);
drawLine(ctx, start.x, start.y, start.x + tan.x, start.y + tan.y);
t += .01;
if (t > 1) {
t -= 1;
currentSeg = (currentSeg + 1) % path.segments.length;
}
}
document.addEventListener('keyup', (e)=>{
if (e.key === 'd') {
console.log(trains);
}
if (e.key === 'ArrowUp') {
for (const train of trains){
train.speed += .1;
}
}
if (e.key === 'ArrowDown') {
for (const train1 of trains){
train1.speed -= .1;
}
}
if (e.key === 'e') {
for (const t of path.segments){
t.editable = !t.editable;
}
}
});
document.addEventListener('keydown', (e)=>{
if (e.ctrlKey && e.key === 's') {
e.preventDefault();
path.segments.forEach((s)=>{
s.next = s.next.id;
s.prev = s.prev.id;
delete s.ctx;
});
delete path.ctx;
const json = JSON.stringify(path);
localStorage.setItem('railPath', json);
}
});

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type ClickEvent = {
mouseX: number;
mouseY: number;
}
type ClickEventHandler = (e: ClickEvent) => void;
export class Canvas {
clickables: ClickEventHandler[] = [];
constructor();
constructor(width: number, height: number);
constructor(width?: number, height?: number) {
const canvas = document.createElement('canvas');
canvas.width = width || 400;
canvas.height = height || 400;
}
}

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{
"compilerOptions": {
"lib": [
// "deno.window"
"DOM",
"ES2021",
"ESNext"
]
},
"tasks": {
"dev": "deno bundle --watch main.ts bundle.js"
},
"imports": {
"drawing": "./drawing/index.ts",
"doodler": "https://git.cyborggrizzly.com/emma/doodler/raw/branch/main/mod.ts"
}
}

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import { Constants } from "../math/constants.ts";
import { Vector } from "../math/vector.ts";
const circle = (ctx: CanvasRenderingContext2D, center: Vector, radius: number) => {
ctx.beginPath();
ctx.arc(center.x, center.y, radius, 0, Constants.TWO_PI);
}
export const drawCircle = (ctx: CanvasRenderingContext2D, center: Vector, radius: number) => {
circle(ctx, center, radius);
ctx.stroke();
}
export const fillCircle = (ctx: CanvasRenderingContext2D, center: Vector, radius: number) => {
circle(ctx, center, radius);
ctx.fill();
}

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export { drawCircle, fillCircle } from './circle.ts'

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export const drawLine = (ctx: CanvasRenderingContext2D, x1:number, y1:number, x2:number, y2: number) => {
ctx.beginPath();
ctx.moveTo(x1,y1);
ctx.lineTo(x2,y2);
ctx.stroke();
}

12
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<title>TRAINS!</title>
</head>
<body>
<script src="bundle.js"></script>
</body>
</html>

207
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import { lerp } from "./math/lerp.ts";
import { ComplexPath, PathSegment } from "./math/path.ts";
import { Vector } from "./math/vector.ts";
import { Mover } from "./physics/mover.ts";
import { Train } from "./train.ts";
import { fillCircle, drawCircle } from 'drawing';
import { generateSquareTrack } from "./track.ts";
import { drawLine } from "./drawing/line.ts";
import { hello } from 'doodler';
hello();
const canvas = document.createElement('canvas');
canvas.height = 400;
canvas.width = 400;
document.body.append(canvas);
const ctx = canvas.getContext('2d')!;
// for (const mover of trains) {
// mover.setContext(ctx);
// mover.velocity.add(Vector.random2D())
// }
const clear = () => {
ctx.fillStyle = 'black';
ctx.fillRect(0, 0, canvas.width, canvas.height)
}
const fps = 60;
setInterval(() => {
// for (const train of trains) {
// train.move();
// }
draw();
}, 1000 / fps);
// const path = new PathSegment([new Vector(20, 20), new Vector(200, 100), new Vector(200, 300), new Vector(20, 380)]);
const path = generateSquareTrack();
path.setContext(ctx);
// const train = new Train(path.segments[0], 4);
// train.setContext(ctx);
// train.velocity.x = -1;
// train.velocity.y = 1;
const controls = {
ArrowUp: false,
ArrowRight: false,
ArrowDown: false,
ArrowLeft: false,
}
let t = 0;
let currentSeg = 0;
const trainCount = 1;
const trains = Array(trainCount).fill(null).map((_, i) => new Train(path.segments[i % path.segments.length], 5));
for (const train of trains) {
train.setContext(ctx);
// train.maxSpeed = Math.random() * 5 + 1
}
function draw() {
clear();
path.draw();
// for (const control in controls) {
// if (controls.hasOwnProperty(control)) {
// const isActive = controls[control as keyof typeof controls];
// if (isActive) {
// const force = getSteeringForce(train, control);
// train.applyForce(force);
// }
// }
// if (Object.values(controls).every(c => !c)) {
// train.acceleration.set(0, 0)
// }
// }
// train.follow(path)
for (const train of trains) {
train.move();
}
// ctx.strokeStyle = 'orange';
ctx.strokeStyle = 'red';
ctx.lineWidth = 4;
const seg = path.segments[currentSeg];
const start = seg.getPointAtT(t);
const tan = seg.tangent(t).normalize().mult(25);
drawLine(ctx, start.x, start.y, start.x + tan.x, start.y + tan.y);
t += .01;
if (t > 1) {
t -= 1;
currentSeg = (currentSeg + 1) % path.segments.length;
}
}
// let wKeydown =false
// document.addEventListener('keydown', e => {
// if (e.key === 'w' && !wKeydown) {
// wKeydown = true;
// for (const train of trains) {
// train.acceleration.add(.1, 0);
// }
// }
// });
// document.addEventListener('keyup', e => {
// if (e.key === 'w') {
// wKeydown = false;
// for (const train of trains) {
// train.acceleration.sub(.1, 0);
// }
// }
// });
// let sKeydown = false;
// document.addEventListener('keydown', e => {
// if (e.key === 's' && !sKeydown) {
// sKeydown = true;
// for (const train of trains) {
// train.acceleration.sub(.1, 0);
// }
// }
// });
// document.addEventListener('keyup', e => {
// if (e.key === 's') {
// sKeydown = false;
// for (const train of trains) {
// train.acceleration.add(.1, 0);
// }
// }
// });
document.addEventListener('keyup', e => {
if (e.key === 'd') {
console.log(trains)
}
if (e.key === 'ArrowUp') {
for (const train of trains) {
train.speed += .1;
}
}
if (e.key === 'ArrowDown') {
for (const train of trains) {
train.speed -= .1;
}
}
if (e.key === 'e') {
for (const t of path.segments) {
t.editable = !t.editable;
}
}
})
// document.addEventListener('keydown', e => {
// const valid = ["ArrowUp",
// "ArrowRight",
// "ArrowDown",
// "ArrowLeft",]
// if (valid.includes(e.key))
// controls[e.key as keyof typeof controls] = true;
// })
// document.addEventListener('keyup', e => {
// const valid = ["ArrowUp",
// "ArrowRight",
// "ArrowDown",
// "ArrowLeft",]
// if (valid.includes(e.key))
// controls[e.key as keyof typeof controls] = false;
// })
// function getSteeringForce(mover: Mover, dir: string) {
// const dirs = {
// ArrowUp: 0,
// ArrowRight: .1 * Math.PI,
// ArrowDown: Math.PI,
// ArrowLeft: -.1 * Math.PI,
// }
// const target = mover.velocity.copy();
// target.normalize();
// target.mult(10);
// target.rotate(dirs[dir as keyof typeof dirs]);
// const force = Vector.sub(target, mover.velocity);
// force.limit(.1)
// return force;
// }
document.addEventListener('keydown', e => {
if (e.ctrlKey && e.key === 's') {
e.preventDefault();
path.segments.forEach((s: any) => {
s.next = s.next.id
s.prev = s.prev.id
delete s.ctx
})
delete path.ctx;
const json = JSON.stringify(path);
localStorage.setItem('railPath', json);
}
})

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export const Constants = {
TWO_PI: Math.PI * 2
}

8
math/lerp.ts Normal file
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import { Vector } from "./vector.ts";
export const lerp = (a: number, b: number, t: number) => {
return (a*t) + (b*(1-t));
}
export const map = (value: number, x1: number, y1: number, x2: number, y2: number) =>
(value - x1) * (y2 - x2) / (y1 - x1) + x2;

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import { Vector } from "./vector.ts";
export class ComplexPath {
points: Vector[] = [];
radius = 50;
ctx?: CanvasRenderingContext2D;
constructor(points?: Vector[]) {
points && (this.points = points);
}
setContext(ctx: CanvasRenderingContext2D) {
this.ctx = ctx;
}
draw() {
if (!this.ctx || !this.points.length) return;
const ctx = this.ctx;
ctx.save();
ctx.lineWidth = 2;
ctx.strokeStyle = 'white';
ctx.setLineDash([21, 6])
let last = this.points[this.points.length - 1]
for (const point of this.points) {
ctx.beginPath();
ctx.moveTo(last.x, last.y);
ctx.lineTo(point.x, point.y);
ctx.stroke();
last = point;
}
ctx.restore();
}
}
export class PathSegment {
points: [Vector, Vector, Vector, Vector]
ctx?: CanvasRenderingContext2D;
constructor(points: [Vector, Vector, Vector, Vector]) {
this.points = points;
}
setContext(ctx: CanvasRenderingContext2D) {
this.ctx = ctx;
}
draw() {
if (!this.ctx) return;
const ctx = this.ctx;
ctx.save();
ctx.beginPath();
ctx.moveTo(this.points[0].x, this.points[0].y);
ctx.bezierCurveTo(
this.points[1].x,
this.points[1].y,
this.points[2].x,
this.points[2].y,
this.points[3].x,
this.points[3].y,
);
ctx.strokeStyle = '#ffffff50';
ctx.lineWidth = 2;
ctx.stroke();
ctx.restore();
}
getPointAtT(t: number) {
const [a, b, c, d] = this.points;
const res = a.copy();
res.add(Vector.add(a.copy().mult(-3), b.copy().mult(3)).mult(t))
res.add(Vector.add(Vector.add(a.copy().mult(3), b.copy().mult(-6)), c.copy().mult(3)).mult(Math.pow(t, 2)));
res.add(Vector.add(Vector.add(a.copy().mult(-1), b.copy().mult(3)), Vector.add(c.copy().mult(-3), d.copy())).mult(Math.pow(t, 3)));
return res;
}
getClosestPoint(v: Vector): [Vector, number, number] {
const samples = 25;
const resolution = 1 / samples;
let closest = this.points[0];
let closestDistance = this.points[0].dist(v);
let closestT = 0;
for (let i = 0; i < samples; i++) {
const point = this.getPointAtT(i * resolution);
const distance = v.dist(point);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
closestT = i * resolution;
}
}
return [closest, closestDistance, closestT];
}
getPointsWithinRadius(v: Vector, r: number) {
const points: [number, PathSegment][] = [];
const samples = 25;
const resolution = 1 / samples;
for (let i = 0; i < samples; i++) {
const point = this.getPointAtT(i * resolution);
const distance = v.dist(point);
if (distance < r) {
points.push([i * resolution,this]);
}
}
return points
}
tangent(t: number) {
// dP(t) / dt = -3(1-t)^2 * P0 + 3(1-t)^2 * P1 - 6t(1-t) * P1 - 3t^2 * P2 + 6t(1-t) * P2 + 3t^2 * P3
const [a, b, c, d] = this.points;
const res = Vector.sub(b, a).mult(3 * Math.pow(1 - t, 2));
res.add(Vector.add(Vector.sub(c, b).mult(6 * (1 - t) * t), Vector.sub(d, c).mult(3 * Math.pow(t, 2))));
return res;
}
doesIntersectCircle(x: number, y: number, r: number) {
const v = new Vector(x, y);
const samples = 25;
const resolution = 1 / samples;
let distance = Infinity;
let t;
for (let i = 0; i < samples; i++) {
if (i !== samples - 1) {
const a = this.getPointAtT(i * resolution);
const b = this.getPointAtT((i + 1) * resolution);
const ac = Vector.sub(v, a);
const ab = Vector.sub(b, a);
const d = Vector.add(Vector.vectorProjection(ac, ab), a);
const ad = Vector.sub(d, a);
const k = Math.abs(ab.x) > Math.abs(ab.y) ? ad.x / ab.x : ad.y / ab.y;
let dist;
if (k <= 0.0) {
dist = Vector.hypot2(v, a)
} else if (k >= 1.0) {
dist = Vector.hypot2(v, b)
}
dist = Vector.hypot2(v, d)
if (dist < distance) {
distance = dist;
t = i * resolution;
}
}
}
if (distance < r) return t;
return false;
}
}

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import { Constants } from "./constants.ts";
export class Vector {
x: number;
y: number;
z: number;
constructor(x = 0, y = 0, z = 0) {
this.x = x;
this.y = y;
this.z = z;
}
set(x: number, y: number, z?: number): void;
set(v: Vector): void;
set(v: [number, number, number]): void;
set(v: Vector | [number, number, number] | number, y?: number, z?: number) {
if (arguments.length === 1 && typeof v !== "number") {
this.set((v as Vector).x || (v as Array<number>)[0] || 0,
(v as Vector).y || (v as Array<number>)[1] || 0,
(v as Vector).z || (v as Array<number>)[2] || 0);
} else {
this.x = v as number;
this.y = y || 0;
this.z = z || 0;
}
}
get() {
return new Vector(this.x, this.y, this.z);
}
mag() {
const x = this.x,
y = this.y,
z = this.z;
return Math.sqrt(x * x + y * y + z * z);
}
magSq() {
const x = this.x,
y = this.y,
z = this.z;
return (x * x + y * y + z * z);
}
setMag(len: number): void;
setMag(v: Vector, len: number): Vector
setMag(v_or_len: Vector | number, len?: number) {
if (len === undefined) {
len = v_or_len as number;
this.normalize();
this.mult(len);
} else {
const v = v_or_len as Vector;
v.normalize();
v.mult(len);
return v;
}
}
add(x: number, y: number, z: number): void;
add(x: number, y: number): void;
add(v: Vector): void;
add(v: Vector | number, y?: number, z?: number) {
if (arguments.length === 1 && typeof v !== 'number') {
this.x += v.x;
this.y += v.y;
this.z += v.z;
} else if (arguments.length === 2) {
// 2D Vector
this.x += v as number;
this.y += y ?? 0;
} else {
this.x += v as number;
this.y += y ?? 0;
this.z += z ?? 0;
}
}
sub(x: number, y: number, z: number): void;
sub(x: number, y: number): void;
sub(v: Vector): void;
sub(v: Vector | number, y?: number, z?: number) {
if (arguments.length === 1 && typeof v !== 'number') {
this.x -= v.x;
this.y -= v.y;
this.z -= v.z;
} else if (arguments.length === 2) {
// 2D Vector
this.x -= v as number;
this.y -= y ?? 0;
} else {
this.x -= v as number;
this.y -= y ?? 0;
this.z -= z ?? 0;
}
}
mult(v: number | Vector) {
if (typeof v === 'number') {
this.x *= v;
this.y *= v;
this.z *= v;
} else {
this.x *= v.x;
this.y *= v.y;
this.z *= v.z;
}
return this;
}
div(v: number | Vector) {
if (typeof v === 'number') {
this.x /= v;
this.y /= v;
this.z /= v;
} else {
this.x /= v.x;
this.y /= v.y;
this.z /= v.z;
}
}
rotate(angle: number) {
const prev_x = this.x;
const c = Math.cos(angle);
const s = Math.sin(angle);
this.x = c * this.x - s * this.y;
this.y = s * prev_x + c * this.y;
}
dist(v: Vector) {
const dx = this.x - v.x,
dy = this.y - v.y,
dz = this.z - v.z;
return Math.sqrt(dx * dx + dy * dy + dz * dz);
}
dot(x: number, y: number, z: number): number;
dot(v: Vector): number;
dot(v: Vector | number, y?: number, z?: number) {
if (arguments.length === 1 && typeof v !== 'number') {
return (this.x * v.x + this.y * v.y + this.z * v.z);
}
return (this.x * (v as number) + this.y * y! + this.z * z!);
}
cross(v: Vector) {
const x = this.x,
y = this.y,
z = this.z;
return new Vector(y * v.z - v.y * z,
z * v.x - v.z * x,
x * v.y - v.x * y);
}
lerp(x: number, y: number, z: number): void;
lerp(v: Vector, amt: number): void;
lerp(v_or_x: Vector | number, amt_or_y: number, z?: number, amt?: number) {
const lerp_val = (start: number, stop: number, amt: number) => {
return start + (stop - start) * amt;
};
let x, y: number;
if (arguments.length === 2 && typeof v_or_x !== 'number') {
// given vector and amt
amt = amt_or_y;
x = v_or_x.x;
y = v_or_x.y;
z = v_or_x.z;
} else {
// given x, y, z and amt
x = v_or_x as number;
y = amt_or_y;
}
this.x = lerp_val(this.x, x, amt!);
this.y = lerp_val(this.y, y, amt!);
this.z = lerp_val(this.z, z!, amt!);
}
normalize() {
const m = this.mag();
if (m > 0) {
this.div(m);
}
return this;
}
limit(high: number) {
if (this.mag() > high) {
this.normalize();
this.mult(high);
}
}
heading() {
return (-Math.atan2(-this.y, this.x));
}
heading2D() {
return this.heading();
}
toString() {
return "[" + this.x + ", " + this.y + ", " + this.z + "]";
}
array() {
return [this.x, this.y, this.z];
}
copy() {
return new Vector(this.x, this.y, this.z);
}
drawDot(ctx: CanvasRenderingContext2D) {
// ctx.fillStyle = 'red'
ctx.beginPath();
ctx.arc(this.x, this.y, 2, 0, Constants.TWO_PI);
ctx.fill();
}
static fromAngle(angle: number, v?: Vector) {
if (v === undefined || v === null) {
v = new Vector();
}
v.x = Math.cos(angle);
v.y = Math.sin(angle);
return v;
}
static random2D(v?: Vector) {
return Vector.fromAngle(Math.random() * (Math.PI * 2), v);
}
static random3D(v: Vector) {
const angle = Math.random() * Constants.TWO_PI;
const vz = Math.random() * 2 - 1;
const mult = Math.sqrt(1 - vz * vz);
const vx = mult * Math.cos(angle);
const vy = mult * Math.sin(angle);
if (v === undefined || v === null) {
v = new Vector(vx, vy, vz);
} else {
v.set(vx, vy, vz);
}
return v;
}
static dist(v1: Vector, v2: Vector) {
return v1.dist(v2);
}
static dot(v1: Vector, v2: Vector) {
return v1.dot(v2);
}
static cross(v1: Vector, v2: Vector) {
return v1.cross(v2);
}
static add(v1: Vector, v2: Vector) {
return new Vector(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
}
static sub(v1: Vector, v2: Vector) {
return new Vector(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
}
static angleBetween(v1: Vector, v2: Vector) {
return Math.acos(v1.dot(v2) / Math.sqrt(v1.magSq() * v2.magSq()));
}
static lerp(v1: Vector, v2: Vector, amt: number) {
// non-static lerp mutates object, but this version returns a new vector
const retval = new Vector(v1.x, v1.y, v1.z);
retval.lerp(v2, amt);
return retval;
}
static vectorProjection(v1: Vector, v2: Vector) {
v2 = v2.copy();
v2.normalize();
const sp = v1.dot(v2);
v2.mult(sp);
return v2;
}
static hypot2(a: Vector, b: Vector) {
return Vector.dot(Vector.sub(a,b), Vector.sub(a,b))
}
}

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import { Constants } from "../math/constants.ts";
import { map } from "../math/lerp.ts";
import { ComplexPath, PathSegment } from "../math/path.ts";
import { Vector } from "../math/vector.ts";
import { Mover } from "./mover.ts";
export class
Follower extends Mover {
debug = true;
follow(toFollow: ComplexPath | PathSegment) {
if (toFollow instanceof ComplexPath) {
const predict = this.velocity.copy();
predict.normalize();
predict.mult(25);
const predictpos = Vector.add(this.position, predict)
if (this.ctx)
Mover.edges(predict, this.ctx.canvas.width, this.ctx.canvas.height)
let normal = null;
let target = null;
let worldRecord = 1000000;
for (let i = 0; i < toFollow.points.length; i++) {
// Look at a line segment
let a = toFollow.points[i];
let b = toFollow.points[(i + 1) % toFollow.points.length]; // Note Path has to wraparound
// Get the normal point to that line
let normalPoint = getNormalPoint(predictpos, a, b);
// Check if normal is on line segment
let dir = Vector.sub(b, a);
// If it's not within the line segment, consider the normal to just be the end of the line segment (point b)
//if (da + db > line.mag()+1) {
if (
normalPoint.x < Math.min(a.x, b.x) ||
normalPoint.x > Math.max(a.x, b.x) ||
normalPoint.y < Math.min(a.y, b.y) ||
normalPoint.y > Math.max(a.y, b.y)
) {
normalPoint = b.copy();
// If we're at the end we really want the next line segment for looking ahead
a = toFollow.points[(i + 1) % toFollow.points.length];
b = toFollow.points[(i + 2) % toFollow.points.length]; // Path wraps around
dir = Vector.sub(b, a);
}
// How far away are we from the path?
const d = Vector.dist(predictpos, normalPoint);
// Did we beat the worldRecord and find the closest line segment?
if (d < worldRecord) {
worldRecord = d;
normal = normalPoint;
// Look at the direction of the line segment so we can seek a little bit ahead of the normal
dir.normalize();
// This is an oversimplification
// Should be based on distance to path & velocity
dir.mult(25);
target = normal.copy();
target.add(dir);
}
if (worldRecord > toFollow.radius) {
return this.seek(target!);
}
}
if (this.debug && this.ctx) {
// Draw predicted future position
this.ctx.strokeStyle = 'red';
this.ctx.fillStyle = 'pink';
this.ctx.beginPath();
this.ctx.moveTo(this.position.x, this.position.y)
this.ctx.lineTo(predictpos.x, predictpos.y);
this.ctx.stroke();
this.ctx.beginPath();
this.ctx.arc(predictpos.x, predictpos.y, 4, 0, Constants.TWO_PI);
this.ctx.fill();
this.ctx.stroke();
// Draw normal position
this.ctx.beginPath();
this.ctx.arc(normal!.x, normal!.y, 4, 0, Constants.TWO_PI);
this.ctx.fill();
this.ctx.stroke();
// Draw actual target (red if steering towards it)
this.ctx.beginPath();
this.ctx.moveTo(predictpos.x, predictpos.y)
this.ctx.lineTo(target!.x, target!.y);
this.ctx.stroke();
// if (worldRecord > toFollow.radius) fill(255, 0, 0);
// noStroke();
this.ctx.beginPath();
this.ctx.arc(target!.x, target!.y, 8, 0, Constants.TWO_PI);
this.ctx.fill();
this.ctx.stroke();
}
}
}
seek(target: Vector, strength: number = 1) {
const desired = Vector.sub(target, this.position);
desired.normalize();
desired.mult(this.maxSpeed);
const steer = Vector.sub(desired, this.velocity);
steer.limit(this.maxForce);
this.applyForce(steer.mult(strength));
}
link(target: Mover) {
// const desired = target.velocity.copy();
// desired.normalize();
// desired.mult(-distance);
// const predicted = Vector.add(target.position, desired);
this.position = target.trailingPoint;
// const lastVel = this.velocity.copy();
this.seek(target.trailingPoint);
// this.velocity = target.velocity;
}
arrive(target: Vector) {
// const predicted = Vector.add(this.position, this.velocity.copy().normalize().mult(25));
const desired = Vector.sub(target, this.position);
const d = desired.mag();
let speed = this.maxSpeed;
if (d < 10) {
speed = map(d, 0, 100, 0, this.maxSpeed);
}
desired.setMag(speed);
const steer = Vector.sub(desired, this.velocity);
steer.limit(this.maxForce);
this.applyForce(steer);
}
}
function getNormalPoint(p: Vector, a: Vector, b: Vector) {
// Vector from a to p
const ap = Vector.sub(p, a);
// Vector from a to b
const ab = Vector.sub(b, a);
ab.normalize(); // Normalize the line
// Project vector "diff" onto line by using the dot product
ab.mult(ap.dot(ab));
const normalPoint = Vector.add(a, ab);
return normalPoint;
}

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import { Vector } from "../math/vector.ts";
export class Mover {
position: Vector;
velocity: Vector;
acceleration: Vector;
maxSpeed: number;
maxForce: number;
_trailingPoint: number;
protected _leadingPoint: number;
get trailingPoint() {
const desired = this.velocity.copy();
desired.normalize();
desired.mult(-this._trailingPoint);
return Vector.add(this.position, desired);
}
get leadingPoint() {
const desired = this.velocity.copy();
desired.normalize();
desired.mult(this._leadingPoint);
return Vector.add(this.position, desired);
}
ctx?: CanvasRenderingContext2D;
boundingBox: {
pos: Vector;
size: Vector;
}
constructor();
constructor(random: boolean);
constructor(pos?: Vector, vel?: Vector, acc?: Vector);
constructor(posOrRandom?: Vector | boolean, vel?: Vector, acc?: Vector) {
if (typeof posOrRandom === 'boolean' && posOrRandom) {
this.position = Vector.random2D(new Vector());
this.velocity = Vector.random2D(new Vector());
this.acceleration = new Vector()
} else {
this.position = posOrRandom || new Vector();
this.velocity = vel || new Vector();
this.acceleration = acc || new Vector()
}
this.boundingBox = {
size: new Vector(20, 10),
pos: new Vector(this.position.x - 10, this.position.y - 5)
}
this.maxSpeed = 3;
this.maxForce = .3;
this._trailingPoint = 0;
this._leadingPoint = 0;
this.init();
}
init() {
//
}
move() {
this.velocity.limit(this.maxSpeed);
this.acceleration.limit(this.maxForce);
this.velocity.add(this.acceleration);
this.position.add(this.velocity);
this.edges();
this.draw();
}
edges() {
if (!this.ctx) return;
if (this.position.x > this.ctx.canvas.width) this.position.x = 0;
if (this.position.y > this.ctx.canvas.height) this.position.y = 0;
if (this.position.x < 0) this.position.x = this.ctx.canvas.width;
if (this.position.y < 0) this.position.y = this.ctx.canvas.height;
}
draw() {
if (!this.ctx) return;
this.ctx.fillStyle = 'white'
this.ctx.save();
this.ctx.translate(this.position.x, this.position.y);
this.ctx.rotate(this.velocity.heading() || 0);
this.ctx.translate(-this.position.x, -this.position.y);
// this.ctx.rotate(Math.PI)
// this.ctx.rotate(.5);
this.ctx.translate(-(this.boundingBox.size.x / 2), -(this.boundingBox.size.y / 2));
this.ctx.fillRect(this.position.x, this.position.y, this.boundingBox.size.x, this.boundingBox.size.y);
this.ctx.restore();
}
setContext(ctx: CanvasRenderingContext2D) {
this.ctx = ctx;
}
applyForce(force: Vector) {
this.acceleration.add(force);
}
static edges(point: Vector, width: number, height: number) {
if (point.x > width) point.x = 0;
if (point.y > height) point.y = 0;
if (point.x < 0) point.x = width;
if (point.y < 0) point.y = height;
}
}

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import { PathSegment } from "./math/path.ts";
import { Vector } from "./math/vector.ts";
import { Train } from "./train.ts";
export class Track extends PathSegment {
editable = false;
next: Track;
prev: Track;
id: string;
constructor(points: [Vector, Vector, Vector, Vector], next?: Track, prev?: Track) {
super(points);
this.id = crypto.randomUUID();
this.next = next || this;
this.prev = prev || this;
}
followTrack(train: Train): [Vector, number] {
const predict = train.velocity.copy();
predict.normalize();
predict.mult(1);
const predictpos = Vector.add(train.position, predict)
// const leading = train.leadingPoint;
// let closest = this.points[0];
// let closestDistance = this.getClosestPoint(leading);
let [closest, closestDistance, closestT] = this.getClosestPoint(predictpos);
// deno-lint-ignore no-this-alias
let mostValid: Track = this;
if (this.next !== this) {
const [point, distance, t] = this.next.getClosestPoint(predictpos);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
mostValid = this.next;
closestT = t;
}
}
if (this.prev !== this) {
const [point, distance, t] = this.next.getClosestPoint(predictpos);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
mostValid = this.next;
closestT = t;
}
}
train.currentTrack = mostValid;
train.arrive(closest);
// if (predictpos.dist(closest) > 2) train.arrive(closest);
return [closest, closestT];
}
getNearestPoint(p: Vector) {
let [closest, closestDistance, closestT] = this.getClosestPoint(p);
// deno-lint-ignore no-this-alias
let mostValid: Track = this;
if (this.next !== this) {
const [point, distance, t] = this.next.getClosestPoint(p);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
mostValid = this.next;
closestT = t;
}
}
if (this.prev !== this) {
const [point, distance, t] = this.next.getClosestPoint(p);
if (distance < closestDistance) {
closest = point;
closestDistance = distance;
mostValid = this.next;
closestT = t;
}
}
return closest;
}
getAllPointsInRange(v: Vector, r: number) {
const points: [number, PathSegment][] = this.getPointsWithinRadius(v, r).concat(this.next.getPointsWithinRadius(v, r), this.prev.getPointsWithinRadius(v, r))
return points;
}
draw(): void {
super.draw();
if (this.ctx && this.editable)
for (const e of this.points) {
this.ctx.fillStyle = 'blue';
e.drawDot(this.ctx);
}
}
}
export class Spline<T extends PathSegment = PathSegment> {
segments: T[] = [];
ctx?: CanvasRenderingContext2D;
constructor(segs: T[]) {
this.segments = segs;
}
setContext(ctx: CanvasRenderingContext2D) {
this.ctx = ctx;
for (const segment of this.segments) {
segment.setContext(ctx);
}
}
draw() {
for (const segment of this.segments) {
segment.draw();
}
}
}
export const generateSquareTrack = () => {
const first = new Track([new Vector(20, 40), new Vector(20, 100), new Vector(20, 300), new Vector(20, 360)]);
const second = new Track([first.points[3], new Vector(20, 370), new Vector(30, 380), new Vector(40, 380)]);
const third = new Track([second.points[3], new Vector(100, 380), new Vector(300, 380), new Vector(360, 380)]);
const fourth = new Track([third.points[3], new Vector(370, 380), new Vector(380, 370), new Vector(380, 360)]);
const fifth = new Track([fourth.points[3], new Vector(380, 300), new Vector(380, 100), new Vector(380, 40)]);
const sixth = new Track([fifth.points[3], new Vector(380, 30), new Vector(370, 20), new Vector(360, 20)]);
const seventh = new Track([sixth.points[3], new Vector(300, 20), new Vector(100, 20), new Vector(40, 20)]);
const eighth = new Track([seventh.points[3], new Vector(30, 20), new Vector(20, 30), first.points[0]]);
const tracks = [first, second, third, fourth, fifth, sixth, seventh, eighth];
for (const [i, track] of tracks.entries()) {
track.next = tracks[(i + 1) % tracks.length];
track.prev = tracks.at(i - 1)!;
}
// first.next = second;
// first.prev = eighth;
// second.next = third;
// second.prev = first;
// third.
return new Spline<Track>([first, second, third, fourth, fifth, sixth, seventh, eighth]);
}

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import { drawLine } from "./drawing/line.ts";
import { ComplexPath, PathSegment } from "./math/path.ts";
import { Vector } from "./math/vector.ts";
import { Follower } from "./physics/follower.ts";
import { Mover } from "./physics/mover.ts";
import { Track } from "./track.ts";
export class Train extends Follower {
nodes?: Vector[];
currentTrack: Track;
speed: number;
follower?: TrainCar;
followers?: TrainCar[];
constructor(track: Track, length: number) {
super(track.points[0].copy());
this.maxSpeed = 2;
this.speed = 1;
this.currentTrack = track;
this.velocity = this.currentTrack.tangent(0).normalize().mult(this.maxSpeed);
this.addCar(length);
this.maxForce = .2;
}
init(): void {
this.boundingBox.size.set(30, 10);
this._trailingPoint = 30;
}
move(): void {
this.follow();
super.move();
this.follower?.move()
// this.draw();
}
follow(): void {
const [_, t] = this.currentTrack.followTrack(this);
// this.position = this.currentTrack.getPointAtT(t);
this.velocity = this.currentTrack.tangent(t);
this.velocity.normalize().mult(this.speed || this.maxSpeed);
// if (nearest.dist(this.position) > 10)
// this.seek(nearest);
}
// draw(): void {
// if (!this.ctx) return;
// const ctx = this.ctx;
// // const [a, b] = this.nodes;
// ctx.strokeStyle = 'blue'
// ctx.lineWidth = 10;
// // drawLine(ctx, a.x, a.y, b.x, b.y);
// super.draw()
// }
setContext(ctx: CanvasRenderingContext2D): void {
super.setContext(ctx);
this.follower?.setContext(ctx);
}
addCar(length: number,) {
console.log(length);
if (length)
this.follower = new TrainCar(this.currentTrack, length - 1);
this.follower?.setTarget(this);
this.follower?.position.set(this.trailingPoint);
this._trailingPoint -= 2;
}
}
class TrainCar extends Train {
// constructor(n: [Vector, Vector], track: Track) {
// super(track);
// this.nodes = n;
// }
target?: Train;
setTarget(t: Train) {
this.target = t;
}
init(): void {
this.boundingBox.size.set(20, 10)
this._trailingPoint = 25;
this.maxSpeed = this.maxSpeed * 2;
this.maxForce = this.maxForce * 2;
// this.speed = 0;
}
// follow(): void {
// if (!this.target) return;
// const points = this.currentTrack.getAllPointsInRange(this.target.position, this.target._trailingPoint);
// let closest = this.target.position;
// let closestTan = this.target.velocity;
// for (const [t, path] of points) {
// const point = path.getPointAtT(t);
// if (point.dist(this.target.trailingPoint) < this.target.trailingPoint.dist(closest)) {
// closest = point;
// closestTan = path.tangent(t);
// }
// }
// // this.position.set(closest);
// this.seek(closest);
// this.velocity.set(closestTan.normalize().mult(this.target.speed));
// }
move(): void {
// if (!this.target) return;
// const r = 30;
// const points = this.currentTrack.getAllPointsInRange(this.target.position, this.target._trailingPoint);
// let closest = this.target.position;
// let closestTan = this.target.velocity;
// for (const [t, path] of points) {
// const point = path.getPointAtT(t);
// if (point.dist(this.target.trailingPoint) < this.target.trailingPoint.dist(closest)) {
// closest = point;
// closestTan = path.tangent(t);
// }
// }
// // this.position.set(closest);
// // this.seek(closest);
// this.velocity.set(closestTan.normalize().mult(this.target.speed));
// super.move();
// if (this.target && this.position.dist(this.target.trailingPoint) < 2) {
// this.velocity.setMag(0);
// } else if (this.target) {
// this.velocity.setMag(this.target.velocity.mag());
// }
// if (this.target) {
// this.position.set(this.target.trailingPoint);
// this.speed = this.target.speed;
// }
// const [pos,t] = this.currentTrack.followTrack(this);
// this.position = pos.copy()
// if (this.target) {
// const points = this.currentTrack.getPointWithinRadius(this.target.position, 30);
// let closest = this.target.position;
// for (const [i,point] of points.entries()) {
// if (typeof point !== "number") break;
// const tracks = [this.currentTrack, this.currentTrack.next, this.currentTrack.prev];
// const a = tracks[i].getPointAtT(point);
// if (a.dist(this.target.trailingPoint) < closest.dist(this.target.trailingPoint)) {
// closest = a;
// }
// }
// this.position = closest;
// }
// this.draw();
if (this.target) {
if (this.position.dist(this.target.position) > this.target.position.dist(this.target.trailingPoint)) {
// this.velocity = this.currentTrack.tangent(t);
// this.velocity.normalize().mult(this.speed);
this.arrive(this.currentTrack.getNearestPoint(this.target.trailingPoint));
// if (this.position.dist())
// this.move()
this.speed = this.target.speed;
super.move();
} else {
this.draw()
}
}
// this.draw()
// this.follower?.move()
}
// draw(): void {
// if (!this.ctx) return;
// super.draw()
// this.ctx.fillStyle = 'red';
// this.position.drawDot(this.ctx);
// this.ctx.fillStyle = 'green';
// this.target?.trailingPoint.drawDot(this.ctx);
// }
edges(): void {
}
}
// export class Train extends Follower {
// currentSegment: Track;
// cars: TrainCar[] = [];
// id: string;
// constructor(path: Track);
// constructor(x: number, y: number, segment: Track);
// constructor(x: number | Track, y?: number, segment?: Track) {
// super(x instanceof Track ? x.points[0].copy() : new Vector(x, y))
// if (x instanceof Track) {
// this.currentSegment = x;
// } else if (segment) {
// this.currentSegment = segment;
// } else {
// throw new Error('Path not provided for train construction')
// }
// // super(new Vector(Math.floor(Math.random() * 200),Math.floor(Math.random() * 200)), Vector.random2D());
// this.id = crypto.randomUUID()
// this.boundingBox.size.set(40, 10)
// this.maxSpeed = 3;
// this.maxForce = .3;
// this.addCar();
// this._trailingPoint = 40;
// this._leadingPoint = 15;
// }
// move(): void {
// for (const car of this.cars) {
// car.move();
// }
// this.follow(this.currentSegment)
// super.move();
// }
// draw(): void {
// if (!this.ctx) return;
// // this.ctx.save();
// this.ctx.fillStyle = 'white';
// this.ctx.strokeStyle = 'red';
// super.draw();
// // this.ctx.restore();
// }
// addCar() {
// const last = this.cars[this.cars.length - 1];
// this.cars.push(new TrainCar(this, (last || this).velocity.copy().normalize().mult(-30), last));
// }
// setContext(ctx: CanvasRenderingContext2D): void {
// super.setContext(ctx);
// for (const car of this.cars) {
// car.setContext(ctx);
// }
// }
// follow(toFollow: Track): void {
// // const predict = this.velocity.copy();
// // predict.normalize();
// // predict.mult(25);
// // const predictpos = Vector.add(this.position, predict)
// const nearest = toFollow.getMostValidTrack(this);
// this.seek(nearest);
// }
// }
// export class TrainCar extends Follower {
// train?: Train;
// prevCar?: Mover;
// constructor(train: Train, pos: Vector, prevCar: Mover) {
// super(pos);
// this.train = train;
// this.boundingBox.size.set(20, 15);
// this.prevCar = prevCar || train;
// this.maxSpeed = 2;
// this.maxForce = .3;
// this._trailingPoint = 25;
// this._leadingPoint = 25;
// }
// move(): void {
// if (this.train && this.prevCar) {
// this.link(this.prevCar);
// // super.move();
// this.edges();
// this.ctx && (this.ctx.fillStyle = 'orange')
// this.draw();
// }
// else super.move();
// }
// edges(): void {
// if (!this.ctx || !this.train) return;
// if (this.train.position.x > this.ctx.canvas.width) this.position.x -= this.ctx.canvas.width;
// if (this.train.position.y > this.ctx.canvas.height) this.position.y -= this.ctx.canvas.height;
// if (this.train.position.x < 0) this.position.x += this.ctx.canvas.width;
// if (this.train.position.y < 0) this.position.y += this.ctx.canvas.height;
// }
// }