not working FUCK YOU MATH

data/scripts/classes/obj.lua

@@ -3,6 +3,7 @@
 ---@field texture string
 ---@field texture_size integer
 ---@field position Vector3
+---@field rotation Vector3
 ---@field triangles table
 local Obj = {}
 
@@ -50,7 +51,7 @@ function Obj.create(model, texture, position)
     texture = texture.file,
     texture_size = texture.size,
     position = pos:copy(),
-
+    rotation = Vector3(),
     triangles = {}
   }
   obj.position = obj.position:copy()
@@ -112,12 +113,19 @@ function Obj.create(model, texture, position)
   return obj
 end
 
+local function rotate_vertex(obj, v)
+  local vec = Vector3(v)
+  --- YXZ (yaw pitch roll) minimizes gimbal lock
+  -- return vec:rotate(Vector3.UP, obj.rotation.y):rotate(Vector3.LEFT, obj.rotation.x):rotate(Vector3.FORWARD, obj.rotation.z)
+  return vec:rotate(Vector3.UP, obj.rotation.y):rotate(Vector3.LEFT, obj.rotation.x):rotate(Vector3.FORWARD, obj.rotation.z)
+end
+
 function Obj:draw()
   for _, triangle in ipairs(self.triangles) do
     local newt = util.shallow_copy(triangle)
-    newt.v0 = Vector3(triangle.v0) + self.position
+    newt.v0 = rotate_vertex(self, triangle.v0) + self.position
-    newt.v1 = Vector3(triangle.v1) + self.position
+    newt.v1 = rotate_vertex(self, triangle.v1) + self.position
-    newt.v2 = Vector3(triangle.v2) + self.position
+    newt.v2 = rotate_vertex(self, triangle.v2) + self.position
     draw_triangle(newt)
   end
 end

data/scripts/classes/player.lua

@@ -1,5 +1,6 @@
 local Vector3 = require("types.vector3")
 local Signal = require("types.signal")
+local AABB = require("types.aabb")
 
 local Player = {
   position = Vector3(0, 1, 0),
@@ -12,10 +13,82 @@ local Player = {
   yaw_speed = 0.05,
   
   accel = 0.3,
+  
+  aabb = nil,
+  test_intersect = nil,
 
   ThrowPressed = Signal.new(),
 }
 
+local aabb_offset = Vector3(-0.25, -1, -0.25)
+
+---@param aabb AABB
+---@param other AABB
+---@param velocity Vector3
+---@return Vector3, Vector3
+local function resolve_collision(aabb, other, velocity)
+  local my_min = aabb.min
+  local my_max = aabb:get_max()
+  local other_min = other.min
+  local other_max = other:get_max()
+  
+  local overlap_x = math.min(my_max.x - other_min.x, other_max.x - my_min.x)
+  local overlap_y = math.min(my_max.y - other_min.y, other_max.y - my_min.y)
+  local overlap_z = math.min(my_max.z - other_min.z, other_max.z - my_min.z)
+  
+  local min_overlap = math.min(overlap_x, overlap_y, overlap_z)
+  
+  local new_pos = my_min:copy()
+  local new_vel = velocity:copy()
+  
+  if min_overlap == overlap_x then
+    if velocity.x > 0 then
+      new_pos.x = other_min.x - (my_max.x - my_min.x)
+    elseif velocity.x < 0 then
+      new_pos.x = other_max.x
+    else
+      if my_min.x < other_min.x then
+        new_pos.x = other_min.x - (my_max.x - my_min.x)
+      else
+        new_pos.x = other_max.x
+      end
+    end
+    new_vel.x = 0
+  elseif min_overlap == overlap_y then
+    if velocity.y > 0 then
+      new_pos.y = other_min.y - (my_max.y - my_min.y)
+    elseif velocity.y < 0 then
+      new_pos.y = other_max.y
+    else
+      if my_min.y < other_min.y then
+        new_pos.y = other_min.y - (my_max.y - my_min.y)
+      else
+        new_pos.y = other_max.y
+      end
+    end
+    new_vel.y = 0
+  elseif min_overlap == overlap_z then
+    if velocity.z > 0 then
+      new_pos.z = other_min.z - (my_max.z - my_min.z)
+    elseif velocity.z < 0 then
+      new_pos.z = other_max.z
+    else
+      if my_min.z < other_min.z then
+        new_pos.z = other_min.z - (my_max.z - my_min.z)
+      else
+        new_pos.z = other_max.z
+      end
+    end
+    new_vel.z = 0
+  end
+  
+  return new_pos, new_vel
+end
+
+function Player:init()
+  self.aabb = AABB.new(Vector3(-0.25, 0, -0.25), Vector3(0.5, 1.1, 0.5))
+end
+
 function Player:tick(ctx)
   input_action{name = "left", control = "A"}
   input_action{name = "right", control = "D"}
@@ -34,17 +107,39 @@ function Player:tick(ctx)
 
   local direction = ((camera_forward * forward_input) + (camera_right * strafe_input)):normalized()
   local target_vel = direction * self.speed
-  self.velocity = self.velocity:lerp(target_vel, self.accel)
+  -- self.velocity = self.velocity:lerp(target_vel, self.accel)
-
+  self.velocity = target_vel:copy()
+  self.position = self.position + self.velocity
+  if self.aabb:intersects(self.test_intersect) then
+    local new_pos, new_vel = resolve_collision(self.aabb, self.test_intersect, self.velocity)
+    self.position:set(
+      new_pos.x - aabb_offset.x,
+      new_pos.y - aabb_offset.y,
+      new_pos.z - aabb_offset.z
+    )
+    self.aabb.min:set(
+      self.position.x + aabb_offset.x,
+      self.position.y + aabb_offset.y,
+      self.position.z + aabb_offset.z
+    )
+    self.velocity:sett(new_vel)
+  end
   if input_action_just_pressed{name = "throw"} then
     self.ThrowPressed:emit(self.position:copy(), camera_forward:copy())
   end
+  -- self.aabb.min = self.position + aabb_offset
+  self.aabb.min:set(
+    self.position.x + aabb_offset.x,
+    self.position.y + aabb_offset.y,
+    self.position.z + aabb_offset.z
+  )
 
   if ctx.mouse_capture then
     self.yaw = self.yaw + self.mouse_sensitivity * ctx.mouse_movement.x
   end
 
-  self.position = self.position + self.velocity
+  
+  self.aabb:draw()
 end
 
 return Player

data/scripts/game.lua

@@ -2,10 +2,16 @@ util = require "util"
 local player = require "classes.player"
 local Vector3 = require "types.vector3"
 local List = require "types.list"
+local AABB = require "types.aabb"
+
+local test_aabb = AABB.new(
+  Vector3(-1, 0, 3),
+  Vector3(1, 2, 1)
+)
 
 local Obj = require "classes.obj"
 
-local cube = Obj.create("models/unit_cube.obj", {file = "images/measure002a.png", size = 512}, Vector3(0, 1, 0))
+local cube = Obj.create("models/unit_cube.obj", {file = "images/measure002a.png", size = 512}, Vector3(0, 1, 1))
 
 local Feed = require "classes.feed"
 ---@type List
@@ -44,7 +50,9 @@ end
 function game_tick()
   -- ctx.initialization_needed is true first frame and every time dynamic reload is performed
   if ctx.initialization_needed then
-    audio_play{audio = "music/bg1.xm", loops = true, channel = "music"}
+    player:init()
+    player.test_intersect = test_aabb
+    -- audio_play{audio = "music/bg1.xm", loops = true, channel = "music"}
     player.ThrowPressed:connect(create_feed)
 
     -- spawn some ducks
@@ -85,8 +93,12 @@ function game_tick()
     texture = "images/measure001a.png",
     texture_region = { x = 0, y = 0, w = 512, h = 512 },
   }
-  draw_quad(util.merge(q, params))
+  -- draw_quad(util.merge(q, params))
-  cube.position.x = math.sin(ctx.frame_number * 0.01)
+  cube.position.y = math.sin(ctx.frame_number * 0.05)
-  cube.position.z = math.cos(ctx.frame_number * 0.01)
+  -- cube.position.z = math.cos(ctx.frame_number * 0.01)
+  cube.rotation.x = cube.rotation.x + 0.01
+  cube.rotation.z = cube.rotation.z + 0.01
   cube:draw()
+  
+  test_aabb:draw()
 end

data/scripts/types/aabb.lua

@@ -0,0 +1,85 @@
+local Vector3 = require "types.vector3"
+
+---@class AABB
+local AABB = {
+  min = Vector3(),
+  size = Vector3(),
+}
+
+local RED = {
+  r = 255,
+  g = 0,
+  b = 0,
+  a = 255,
+}
+
+setmetatable(AABB, AABB)
+
+AABB.__index = AABB
+
+---@param position Vector3
+---@param size Vector3
+---@return AABB
+function AABB.new(position, size)
+  position = position or Vector3()
+  size = size or Vector3(1, 1, 1)
+  local aabb = {
+    min = position,
+    size = size,
+  }
+
+  return setmetatable(aabb, AABB)
+end
+
+function AABB:get_max()
+  return self.min + self.size
+end
+
+function AABB:draw()
+  local max = self:get_max()
+  -- bottom rectangle
+  draw_line_3d{start = self.min, finish = Vector3(max.x, self.min.y, self.min.z)}
+  draw_line_3d{start = self.min, finish = Vector3(self.min.x, self.min.y, max.z)}
+  draw_line_3d{start = Vector3(max.x, self.min.y, max.z), finish = Vector3(self.min.x, self.min.y, max.z)}
+  draw_line_3d{start = Vector3(max.x, self.min.y, max.z), finish = Vector3(max.x, self.min.y, self.min.z)}
+  -- bottom rectangle diagonal
+  draw_line_3d{start = self.min, finish = Vector3(max.x, self.min.y, max.z), color = RED}
+  -- top rectangle
+  draw_line_3d{start = Vector3(self.min.x, max.y, self.min.z), finish = Vector3(max.x, max.y, self.min.z)}
+  draw_line_3d{start = Vector3(self.min.x, max.y, self.min.z), finish = Vector3(self.min.x, max.y, max.z)}
+  draw_line_3d{start = Vector3(max.x, max.y, max.z), finish = Vector3(self.min.x, max.y, max.z)}
+  draw_line_3d{start = Vector3(max.x, max.y, max.z), finish = Vector3(max.x, max.y, self.min.z)}
+  -- top rectangle diagonal
+  draw_line_3d{start = Vector3(max.x, max.y, max.z), finish = Vector3(self.min.x, max.y, self.min.z), color = RED}
+  -- hull
+  draw_line_3d{start = self.min, finish = Vector3(self.min.x, max.y, self.min.z)}
+  draw_line_3d{start = self.min, finish = Vector3(max.x, max.y, self.min.z), color = RED}
+
+  draw_line_3d{start = Vector3(max.x, self.min.y, self.min.z), finish = Vector3(max.x, max.y, self.min.z)}
+  draw_line_3d{start = Vector3(max.x, self.min.y, self.min.z), finish = Vector3(max.x, max.y, max.z), color = RED}
+
+  draw_line_3d{start = Vector3(max.x, self.min.y, max.z), finish = Vector3(max.x, max.y, max.z)}
+  draw_line_3d{start = Vector3(max.x, self.min.y, max.z), finish = Vector3(self.min.x, max.y, max.z), color = RED}
+
+  draw_line_3d{start = Vector3(self.min.x, self.min.y, max.z), finish = Vector3(self.min.x, max.y, max.z)}
+  draw_line_3d{start = Vector3(self.min.x, self.min.y, max.z), finish = Vector3(self.min.x, max.y, self.min.z), color = RED}
+end
+
+---returns true if the point is inside this aabb
+---@param point Vector3
+---@return boolean
+function AABB:has_point(point)
+  local max = self:get_max()
+  return point > self.min and point < max
+end
+
+---returns true if `other` intersects this AABB
+---@param other AABB
+---@return boolean
+function AABB:intersects(other)
+  local my_max = self:get_max()
+  local other_max = other:get_max()
+  return self.min <= other_max and my_max >= other.min
+end
+
+return AABB

data/scripts/types/vector3.lua

@@ -155,6 +155,20 @@ function Vector3:__tostring()
   return "Vector3(" .. tostring(self.x) .. ", " .. tostring(self.y) .. ", " .. tostring(self.z) .. ")"
 end
 
+-- note: the < and <= operators of this class are component-wise rather than lexicographic (that is, htey are useful for bounds checking but are not suitable for sorting.)
+
+function Vector3:__lt(b)
+  local err, other = coerce(b, true)
+  if err then return nil end
+  return self.x < other.x and self.y < other.y and self.z < other.z
+end
+
+function Vector3:__le(b)
+  local err, other = coerce(b, true)
+  if err then return nil end
+  return self.x <= other.x and self.y <= other.y and self.z <= other.z
+end
+
 Vector3.__index = Vector3
 
 --------API--------
@@ -220,14 +234,48 @@ function Vector3:rotated(axis, angle)
     return vaxis
   end
 
----@diagnostic disable-next-line: undefined-field
   vaxis = vaxis:normalized()
   local cosa = math.cos(angle)
   local sina = math.sin(angle)
   -- __mul is only defined for the left operand (table), numbers don't get metatables.
   -- as such, the ordering of operations here is specific
-  local v = (self * cosa) + (vaxis * ((1 - cosa) * self:dot(vaxis))) + (vaxis:cross(self) * sina)
+  return (self * cosa) + (vaxis * ((1 - cosa) * self:dot(vaxis))) + (vaxis:cross(self) * sina)
-  return Vector3(v)
+end
+
+---In-place version of rotated.
+---@param axis Vector3
+---@param angle number
+---@return Vector3
+function Vector3:rotate(axis, angle)
+  local cosa = math.cos(angle)
+  local sina = math.sin(angle)
+
+  local dot = self:dot(axis)
+  local cross = axis:cross(self)
+
+  self.x = self.x * cosa + axis.x * ((1 - cosa) * dot) + cross.x * sina
+  self.y = self.y * cosa + axis.y * ((1 - cosa) * dot) + cross.y * sina
+  self.z = self.z * cosa + axis.z * ((1 - cosa) * dot) + cross.z * sina
+
+  return self
+end
+
+---In place set.
+---@param x number
+---@param y number
+---@param z number
+---@return Vector3
+function Vector3:set(x, y, z)
+  self.x, self.y, self.z = x, y, z
+  return self
+end
+
+---In place set.
+---@param t vectorlike
+---@return Vector3
+function Vector3:sett(t)
+  self.x, self.y, self.z = t.x, t.y, t.z
+  return self
 end
 
 ---Returns a copy of this vector.
@@ -293,12 +341,18 @@ function Vector3:horizontal()
 end
 ---- CONSTANTS
 
+---@type Vector3
 Vector3.UP = Vector3(0, 1, 0)
-Vector3.DOWN = -Vector3.UP
+---@type Vector3
+Vector3.DOWN = Vector3(0, -1, 0)
+---@type Vector3
 Vector3.FORWARD = Vector3(0, 0, -1)
-Vector3.BACK = -Vector3.FORWARD
+---@type Vector3
+Vector3.BACK = Vector3(0, 0, 1)
+---@type Vector3
 Vector3.RIGHT = Vector3(1, 0, 0)
-Vector3.LEFT = -Vector3.RIGHT
+---@type Vector3
+Vector3.LEFT = Vector3(-1, 0, 0)
 
 -------------------
 return Vector3