Babylon.js/Babylon/Collisions/babylon.collisionWorker.ts

module BABYLON {

    //If this file is included in the main thread, this will be initialized.
    export var WorkerIncluded: boolean = true;

    export class CollisionCache {
        private _meshes: { [n: number]: SerializedMesh; } = {};
        private _geometries: { [s: number]: SerializedGeometry; } = {};

        public getMeshes(): { [n: number]: SerializedMesh; } {
            return this._meshes;
        }

        public getGeometries(): { [s: number]: SerializedGeometry; } {
            return this._geometries;
        }

        public getMesh(id: any): SerializedMesh {
            return this._meshes[id];
        }

        public addMesh(mesh: SerializedMesh) {
            this._meshes[mesh.uniqueId] = mesh;
        }

        public getGeometry(id: string): SerializedGeometry {
            return this._geometries[id];
        }

        public addGeometry(geometry: SerializedGeometry) {
            this._geometries[geometry.id] = geometry;
        }
    }

    export class CollideWorker {

        private collisionsScalingMatrix = BABYLON.Matrix.Zero();
        private collisionTranformationMatrix = BABYLON.Matrix.Zero();

        constructor(public collider: BABYLON.Collider, private _collisionCache: CollisionCache, private finalPosition: BABYLON.Vector3) {

        }

        public collideWithWorld(position: BABYLON.Vector3, velocity: BABYLON.Vector3, maximumRetry: number, excludedMeshUniqueId?: number) {

            //TODO CollisionsEpsilon should be defined here and not in the engine.
            var closeDistance = /*BABYLON.Engine.CollisionsEpsilon * 10.0*/ 0.01;
            //is initializing here correct? A quick look - looks like it is fine.
            
            if (this.collider.retry >= maximumRetry) {
                this.finalPosition.copyFrom(position);
                return;
            }

            this.collider._initialize(position, velocity, closeDistance);

            // Check all meshes
            var meshes = this._collisionCache.getMeshes();
            var keys = Object.keys(meshes);
            var len = keys.length;
            var uniqueId;

            for (var i = 0; i < len; ++i) {
                uniqueId = keys[i];
                if (parseInt(uniqueId) != excludedMeshUniqueId) {
                    var mesh: SerializedMesh = meshes[uniqueId];
                    if (mesh.checkCollisions)
                        this.checkCollision(mesh);
                }
            }

            if (!this.collider.collisionFound) {
                position.addToRef(velocity, this.finalPosition);
                return;
            }

            if (velocity.x !== 0 || velocity.y !== 0 || velocity.z !== 0) {
                this.collider._getResponse(position, velocity);
            }

            if (velocity.length() <= closeDistance) {
                this.finalPosition.copyFrom(position);
                return;
            }

            this.collider.retry++;
            this.collideWithWorld(position, velocity, maximumRetry, excludedMeshUniqueId);
        }

        private checkCollision(mesh: SerializedMesh) {

            if (!this.collider._canDoCollision(BABYLON.Vector3.FromArray(mesh.sphereCenter), mesh.sphereRadius, BABYLON.Vector3.FromArray(mesh.boxMinimum), BABYLON.Vector3.FromArray(mesh.boxMaximum))) {
                return;
            };

            // Transformation matrix
            BABYLON.Matrix.ScalingToRef(1.0 / this.collider.radius.x, 1.0 / this.collider.radius.y, 1.0 / this.collider.radius.z, this.collisionsScalingMatrix);
            var worldFromCache = BABYLON.Matrix.FromArray(mesh.worldMatrixFromCache);
            worldFromCache.multiplyToRef(this.collisionsScalingMatrix, this.collisionTranformationMatrix);

            this.processCollisionsForSubMeshes(this.collisionTranformationMatrix, mesh);
            //return colTransMat;
        }

        private processCollisionsForSubMeshes(transformMatrix: BABYLON.Matrix, mesh: SerializedMesh): void {
            var len: number;
            var subMeshes;

            // No Octrees for now
            //if (this._submeshesOctree && this.useOctreeForCollisions) {
            //    var radius = collider.velocityWorldLength + Math.max(collider.radius.x, collider.radius.y, collider.radius.z);
            //    var intersections = this._submeshesOctree.intersects(collider.basePointWorld, radius);

            //    len = intersections.length;
            //    subMeshes = intersections.data;
            //} else {
                subMeshes = mesh.subMeshes;
                len = subMeshes.length;
            //}

            if (!mesh.geometryId) {
                console.log("no mesh geometry id");
                return;
            }

            var meshGeometry = this._collisionCache.getGeometry(mesh.geometryId);
            if (!meshGeometry) {
                console.log("couldn't find geometry", mesh.geometryId);
                return;
            }

            for (var index = 0; index < len; index++) {
                var subMesh = subMeshes[index];

                // Bounding test
                if (len > 1 && !this.checkSubmeshCollision(subMesh))
                    continue;

                this.collideForSubMesh(subMesh, transformMatrix, meshGeometry);
            }
        }

        private collideForSubMesh(subMesh: SerializedSubMesh, transformMatrix: BABYLON.Matrix, meshGeometry: SerializedGeometry): void {
            var positionsArray = [];
            for (var i = 0, len = meshGeometry.positions.length; i < len; i = i + 3) {
                var p = BABYLON.Vector3.FromArray([meshGeometry.positions[i], meshGeometry.positions[i + 1], meshGeometry.positions[i + 2]]);
                positionsArray.push(p);
            }
            if (!subMesh['_lastColliderWorldVertices'] || !subMesh['_lastColliderTransformMatrix'].equals(transformMatrix)) {
                subMesh['_lastColliderTransformMatrix'] = transformMatrix.clone();
                //The following two arrays should be initialized CORRECTLY to save some calculation time.
                subMesh['_lastColliderWorldVertices'] = [];
                subMesh['_trianglePlanes'] = [];
                var start = subMesh.verticesStart;
                var end = (subMesh.verticesStart + subMesh.verticesCount);
                for (var i = start; i < end; i++) {
                    subMesh['_lastColliderWorldVertices'].push(BABYLON.Vector3.TransformCoordinates(positionsArray[i], transformMatrix));
                }
            }        

            // Collide
            this.collider._collide(subMesh['_trianglePlanes'], subMesh['_lastColliderWorldVertices'], <any> meshGeometry.indices, subMesh.indexStart, subMesh.indexStart + subMesh.indexCount, subMesh.verticesStart, subMesh.hasMaterial);
        }

        private checkSubmeshCollision(subMesh: SerializedSubMesh) : boolean {
            return this.collider._canDoCollision(BABYLON.Vector3.FromArray(subMesh.sphereCenter), subMesh.sphereRadius, BABYLON.Vector3.FromArray(subMesh.boxMinimum), BABYLON.Vector3.FromArray(subMesh.boxMaximum));
        }


    }

    export interface ICollisionDetector {
        onInit(payload: InitPayload): void;
        onUpdate(payload: UpdatePayload): void;
        onCollision(payload: CollidePayload): void;
    }

    export class CollisionDetectorTransferable implements ICollisionDetector {
        private _collisionCache: CollisionCache;

        public onInit(payload: InitPayload) {
            this._collisionCache = new CollisionCache();
            var reply: WorkerReply = {
                error: WorkerReplyType.SUCCESS,
                taskType: WorkerTaskType.INIT
            }
            postMessage(reply, undefined);
        }

        public onUpdate(payload: UpdatePayload) {
            for (var id in payload.updatedGeometries) {
                if (payload.updatedGeometries.hasOwnProperty(id)) {
                    this._collisionCache.addGeometry(payload.updatedGeometries[id]);
                }
            }
            for (var uniqueId in payload.updatedMeshes) {
                if (payload.updatedMeshes.hasOwnProperty(uniqueId)) {
                    this._collisionCache.addMesh(payload.updatedMeshes[uniqueId]);
                }
            }

            var replay: WorkerReply = {
                error: WorkerReplyType.SUCCESS,
                taskType: WorkerTaskType.UPDATE
            }
            postMessage(replay, undefined);
        }

        public onCollision(payload: CollidePayload) {
            var finalPosition = BABYLON.Vector3.Zero();
            //create a new collider
            var collider = new BABYLON.Collider();
            collider.radius = BABYLON.Vector3.FromArray(payload.collider.radius);

            var colliderWorker = new CollideWorker(collider, this._collisionCache, finalPosition);
            colliderWorker.collideWithWorld(BABYLON.Vector3.FromArray(payload.collider.position), BABYLON.Vector3.FromArray(payload.collider.velocity), payload.maximumRetry, payload.excludedMeshUniqueId);
            var replyPayload: CollisionReplyPayload = {
                collidedMeshUniqueId: <any> collider.collidedMesh,
                collisionId: payload.collisionId,
                newPosition: finalPosition.asArray()
            }
            var reply: WorkerReply = {
                error: WorkerReplyType.SUCCESS,
                taskType: WorkerTaskType.COLLIDE,
                payload: replyPayload
            }
            postMessage(reply, undefined);
        }
    }

    //TypeScript doesn't know WorkerGlobalScope
    declare class WorkerGlobalScope { }

    //check if we are in a web worker, as this code should NOT run on the main UI thread
    try {
        if (self && self instanceof WorkerGlobalScope) {

            //Window hack to allow including babylonjs native code. the <any> is for typescript.
            window = <any> {};

            //scripts were not included, standalone worker
            if (!BABYLON.Collider) {
                importScripts("./babylon.collisionCoordinator.js");
                importScripts("./babylon.collider.js");
                importScripts("../Math/babylon.math.js");
            }

            var collisionDetector: ICollisionDetector = new CollisionDetectorTransferable();

            var onNewMessage = function (event: MessageEvent) {
                var message = <BabylonMessage> event.data;
                switch (message.taskType) {
                    case WorkerTaskType.INIT:
                        collisionDetector.onInit(<InitPayload> message.payload);
                        break;
                    case WorkerTaskType.COLLIDE:
                        collisionDetector.onCollision(<CollidePayload> message.payload);
                        break;
                    case WorkerTaskType.UPDATE:
                        collisionDetector.onUpdate(<UpdatePayload> message.payload);
                        break;
                }
            }

            self.onmessage = onNewMessage;
        }
    } catch (e) {
        console.log("single worker init");
    }
}