/**
 * Collider geometry in world units, shared by the editor and the runtime so both agree on what
 * "overlaps" means. A box is oriented: it turns and grows with the body it sits on. A capsule and a
 * polygon (#151) carry their points in the world already, and a polygon its convex pieces.
 */
import { type FrameOutline, frameOutline } from '../model/frameOutline';
import { angleOf, apply, type Mat, scaleOf } from '../model/matrix';
import { convexPieces, pointsOf, signedArea } from '../model/polygon';
import type { Project } from '../model/Project';
import { type PropertyBag, type PropertyValue, textOf, type Vec2 } from '../model/Properties';
import { dot } from '../util/vec';
import {
  roundedContact,
  roundedContains,
  roundedExit,
  roundedExtent,
  type Contact,
  preferredOnTie,
  type Rounded,
} from './convex';
import { defaultsFor, ONE_WAY_ANGLE_DEFAULT, ONE_WAY_ANGLE_MAX } from './PropertySchema';

const DEFAULTS = defaultsFor('collider');

/** Overlaps this shallow count as touching, so two rotated boxes at rest do not jitter. */
const EPSILON = 1e-9;

export type ColliderShape =
  | { kind: 'box'; x: number; y: number; w: number; h: number; angle: number }
  | { kind: 'circle'; x: number; y: number; r: number }
  /** The segment `a`–`b` grown by `r`. */
  | { kind: 'capsule'; x: number; y: number; angle: number; a: Vec2; b: Vec2; r: number }
  /**
   * `outline` as drawn; `pieces` what collides – none when the outline is no polygon (see
   * `polygonProblem`). A frame's outline (#193) may be several rings: then `rings` holds them all,
   * `outline` the first. Read them through `outlinesOf`.
   */
  | {
      kind: 'polygon';
      x: number;
      y: number;
      angle: number;
      outline: Vec2[];
      rings?: Vec2[][];
      pieces: Vec2[][];
    };

type Box = Extract<ColliderShape, { kind: 'box' }>;
type Circle = Extract<ColliderShape, { kind: 'circle' }>;
type Polygon = Extract<ColliderShape, { kind: 'polygon' }>;
type Classic = Box | Circle;

/** Every outline a polygon is drawn with – one, or a frame's several (#193). */
export function outlinesOf(shape: Polygon): Vec2[][] {
  return shape.rings ?? [shape.outline];
}

/** Where a polygon collider keeps its corners (#151). */
export const COLLIDER_POINTS_KEY = 'points';
/** Which frame a collider of the shape "Frame collision" wears (#193): a frame id, as a sprite's texture holds it. */
const COLLIDER_FRAME_KEY = 'frame';

/** Whether the collider wears a frame's outline (#193), which only the project can resolve. */
function wearsFrame(props: PropertyBag): boolean {
  return props.shape === 'frame';
}

/** The frame a collider names, looked up in `project` – null for another shape or a dangling id. */
export function colliderFrame(project: Project | null, props: PropertyBag): FrameOutline | null {
  return wearsFrame(props) ? frameOutline(project, textOf(props[COLLIDER_FRAME_KEY] ?? '')) : null;
}

/** The four corners of a centred `w` × `h` box, clockwise on screen. */
function boxRing(w: number, h: number): Vec2[] {
  return [
    { x: -w / 2, y: -h / 2 },
    { x: w / 2, y: -h / 2 },
    { x: w / 2, y: h / 2 },
    { x: -w / 2, y: h / 2 },
  ];
}

/** A polygon's pieces in its own units, cut once per stored list rather than on every test. */
const piecesCache = new WeakMap<object, Vec2[][]>();

/** The corners of a polygon collider in its own units – the stored ones, or the default triangle. */
export function colliderPoints(props: PropertyBag): Vec2[] {
  return pointsOf(props[COLLIDER_POINTS_KEY] ?? DEFAULTS[COLLIDER_POINTS_KEY]);
}

function localPieces(value: PropertyValue | undefined): Vec2[][] {
  const key = typeof value === 'object' ? value : null;
  const known = key && piecesCache.get(key);
  if (known) return known;
  const pieces = convexPieces(pointsOf(value));
  if (key) piecesCache.set(key, pieces);
  return pieces;
}

/** The capsule in a `w` × `h` box: rounded along the longer side, the radius half the shorter one. */
function capsuleCore(w: number, h: number): { a: Vec2; b: Vec2; r: number } {
  if (h >= w) return { a: { x: 0, y: -(h - w) / 2 }, b: { x: 0, y: (h - w) / 2 }, r: w / 2 };
  return { a: { x: -(w - h) / 2, y: 0 }, b: { x: (w - h) / 2, y: 0 }, r: h / 2 };
}

/**
 * The shape as it sits in the world: sized by the transform's scale, turned (and mirrored) with it.
 * A collider of the shape "Frame collision" (#193) needs its frame from `colliderFrame`. Without one it is drawn
 * as the frame's box, or its own width × height, and collides with nothing.
 */
export function colliderShape(props: PropertyBag, m: Mat, frame?: FrameOutline | null): ColliderShape {
  const scale = scaleOf(m);
  if (props.shape === 'circle')
    return {
      kind: 'circle',
      x: m.tx,
      y: m.ty,
      r: Math.max(0, Number(props.radius ?? DEFAULTS.radius)) * scale,
    };
  const w = Math.max(0, Number(props.width ?? DEFAULTS.width));
  const h = Math.max(0, Number(props.height ?? DEFAULTS.height));
  if (props.shape === 'capsule') {
    const core = capsuleCore(w, h);
    return {
      kind: 'capsule',
      x: m.tx,
      y: m.ty,
      angle: angleOf(m),
      a: apply(m, core.a),
      b: apply(m, core.b),
      r: core.r * scale,
    };
  }
  if (props.shape === 'polygon') {
    const value = props[COLLIDER_POINTS_KEY] ?? DEFAULTS[COLLIDER_POINTS_KEY];
    return {
      kind: 'polygon',
      x: m.tx,
      y: m.ty,
      angle: angleOf(m),
      outline: pointsOf(value).map((p) => apply(m, p)),
      pieces: localPieces(value).map((piece) => piece.map((p) => apply(m, p))),
    };
  }
  if (wearsFrame(props)) {
    const worn = frame && frame.pieces.length > 0;
    const rings = worn ? frame.rings : [frame ? boxRing(frame.w, frame.h) : boxRing(w, h)];
    const placed = rings.map((ring) => ring.map((p) => apply(m, p)));
    return {
      kind: 'polygon',
      x: m.tx,
      y: m.ty,
      angle: angleOf(m),
      outline: placed[0] ?? [],
      rings: placed,
      pieces: worn ? frame.pieces.map((piece) => piece.map((p) => apply(m, p))) : [],
    };
  }
  return { kind: 'box', x: m.tx, y: m.ty, w: w * scale, h: h * scale, angle: angleOf(m) };
}

/** Whether the collider only reports overlaps (true) or also blocks movement (false). */
export function isTrigger(props: PropertyBag): boolean {
  return Boolean(props.isTrigger ?? DEFAULTS.isTrigger);
}

/** The side a one-way collider blocks from, in its own axes (y points down). */
const ONE_WAY_SIDES: Record<string, Vec2> = {
  up: { x: 0, y: -1 },
  down: { x: 0, y: 1 },
  left: { x: -1, y: 0 },
  right: { x: 1, y: 0 },
};

/**
 * The world direction a one-way shape blocks from, and `cone`, the cosine of its angle: a contact
 * whose normal lies within that angle of the direction is a landing, any other passes through.
 */
export interface OneWaySide extends Vec2 {
  cone: number;
}

/** The angle held to 0 … 90°, anything unreadable the default. */
export function oneWayAngle(value: PropertyValue | undefined): number {
  const angle = Number(value ?? ONE_WAY_ANGLE_DEFAULT);
  if (typeof value === 'boolean' || !Number.isFinite(angle)) return ONE_WAY_ANGLE_DEFAULT;
  return Math.min(ONE_WAY_ANGLE_MAX, Math.max(0, angle));
}

/** The cone of an angle in degrees, a hair wide so a normal exactly on its edge still lands. */
export function oneWayCone(angle: number): number {
  return Math.cos((angle * Math.PI) / 180) - 1e-9;
}

/**
 * The world direction a one-way collider blocks from – its top face for the default "up", turned
 * and mirrored with it – with its cone, or null for a collider that blocks from everywhere.
 */
export function oneWayFacing(props: PropertyBag, m: Mat): OneWaySide | null {
  if (!(props.oneWay ?? DEFAULTS.oneWay)) return null;
  const side = ONE_WAY_SIDES[textOf(props.oneWayDirection ?? DEFAULTS.oneWayDirection)] ?? ONE_WAY_SIDES.up!;
  const x = m.a * side.x + m.c * side.y;
  const y = m.b * side.x + m.d * side.y;
  const length = Math.hypot(x, y);
  const cone = oneWayCone(oneWayAngle(props.oneWayAngle));
  return length > 0 ? { x: x / length, y: y / length, cone } : null;
}

/** Whether a contact with that normal (towards the mover) lands on the side a one-way shape blocks from. */
export function landsOn(normal: Vec2, facing: OneWaySide): boolean {
  return dot(normal, facing) >= facing.cone;
}

/** The shape with every point moved by `move` and turned by `turn` more – a body carrying it moved rigidly. */
export function movedShape(shape: ColliderShape, move: (p: Vec2) => Vec2, turn: number): ColliderShape {
  const centre = move(shape);
  switch (shape.kind) {
    case 'circle':
      return { ...shape, ...centre };
    case 'box':
      return { ...shape, ...centre, angle: shape.angle + turn };
    case 'capsule':
      return { ...shape, ...centre, angle: shape.angle + turn, a: move(shape.a), b: move(shape.b) };
    case 'polygon':
      return {
        ...shape,
        ...centre,
        angle: shape.angle + turn,
        outline: shape.outline.map(move),
        ...(shape.rings && { rings: shape.rings.map((ring) => ring.map(move)) }),
        pieces: shape.pieces.map((piece) => piece.map(move)),
      };
  }
}

/** The size in the collider's own units, before any transform; a worn frame (#193) is its own size. */
export function colliderSize(props: PropertyBag, frame?: FrameOutline | null): { w: number; h: number } {
  if (wearsFrame(props) && frame) return { w: frame.w, h: frame.h };
  // Centred like every footprint, so it reaches as far as the farthest corner on each axis.
  if (props.shape === 'polygon') {
    const points = colliderPoints(props);
    return {
      w: 2 * points.reduce((max, p) => Math.max(max, Math.abs(p.x)), 0),
      h: 2 * points.reduce((max, p) => Math.max(max, Math.abs(p.y)), 0),
    };
  }
  if (props.shape === 'circle') {
    const d = Math.max(0, Number(props.radius ?? DEFAULTS.radius)) * 2;
    return { w: d, h: d };
  }
  return {
    w: Math.max(0, Number(props.width ?? DEFAULTS.width)),
    h: Math.max(0, Number(props.height ?? DEFAULTS.height)),
  };
}

function axesOf(box: Box): [Vec2, Vec2] {
  const cos = Math.cos(box.angle);
  const sin = Math.sin(box.angle);
  return [
    { x: cos, y: sin },
    { x: -sin, y: cos },
  ];
}

/** A world point in the box's own frame: origin at its centre, axes along its sides. */
function toBoxFrame(box: Box, p: Vec2): Vec2 {
  const [ux, uy] = axesOf(box);
  const d = { x: p.x - box.x, y: p.y - box.y };
  return { x: dot(d, ux), y: dot(d, uy) };
}

/** Half of the box's projection onto the unit direction `n`. */
function reach(box: Box, n: Vec2): number {
  const [ux, uy] = axesOf(box);
  return (box.w / 2) * Math.abs(dot(ux, n)) + (box.h / 2) * Math.abs(dot(uy, n));
}

/**
 * How wide the shape is along the unit direction `n` – a turned box measures its own slant. A
 * polygon measures its thinnest piece: that is what a step along `n` must not jump over.
 */
export function shapeExtent(shape: ColliderShape, n: Vec2): number {
  if (shape.kind === 'circle') return shape.r * 2;
  if (shape.kind === 'box') return reach(shape, n) * 2;
  const pieces = piecesOf(shape);
  return pieces.length ? Math.min(...pieces.map((piece) => roundedExtent(piece, n))) : 0;
}

/**
 * The shape as rounded convex pieces (see `convex.ts`): a box its corners, a circle its centre and
 * a capsule its segment, each grown by its radius, a polygon its pieces.
 */
export function piecesOf(shape: ColliderShape): Rounded[] {
  switch (shape.kind) {
    case 'box': {
      const [ux, uy] = axesOf(shape);
      const corner = (sx: number, sy: number) => ({
        x: shape.x + (sx * shape.w * ux.x + sy * shape.h * uy.x) / 2,
        y: shape.y + (sx * shape.w * ux.y + sy * shape.h * uy.y) / 2,
      });
      return [{ points: [corner(-1, -1), corner(1, -1), corner(1, 1), corner(-1, 1)], r: 0 }];
    }
    case 'circle':
      return [{ points: [{ x: shape.x, y: shape.y }], r: shape.r }];
    case 'capsule':
      return [{ points: [shape.a, shape.b], r: shape.r }];
    case 'polygon':
      return shape.pieces.map((points) => ({ points, r: 0 }));
  }
}

/** The area the shape covers, in world units squared. */
export function shapeArea(shape: ColliderShape): number {
  switch (shape.kind) {
    case 'box':
      return shape.w * shape.h;
    case 'circle':
      return Math.PI * shape.r * shape.r;
    case 'capsule':
      return (
        Math.PI * shape.r * shape.r + 2 * shape.r * Math.hypot(shape.b.x - shape.a.x, shape.b.y - shape.a.y)
      );
    case 'polygon':
      return shape.pieces.reduce((sum, piece) => sum + Math.abs(signedArea(piece)), 0);
  }
}

/** Box and circle keep their own exact tests; everything else goes through the rounded pieces. */
function isClassic(shape: ColliderShape): shape is Classic {
  return shape.kind === 'box' || shape.kind === 'circle';
}

export function shapeContains(shape: ColliderShape, point: Vec2): boolean {
  if (!isClassic(shape)) return piecesOf(shape).some((piece) => roundedContains(piece, point));
  if (shape.kind === 'circle')
    return (point.x - shape.x) ** 2 + (point.y - shape.y) ** 2 <= shape.r * shape.r;
  const local = toBoxFrame(shape, point);
  return Math.abs(local.x) * 2 <= shape.w && Math.abs(local.y) * 2 <= shape.h;
}

/** Distance from a point to an axis-aligned box centred at the origin; 0 inside. */
function distanceToBox(p: Vec2, hw: number, hh: number): number {
  const dx = Math.max(Math.abs(p.x) - hw, 0);
  const dy = Math.max(Math.abs(p.y) - hh, 0);
  return Math.hypot(dx, dy);
}

/** Shapes that merely touch along an edge do not count as overlapping. */
export function shapesOverlap(a: ColliderShape, b: ColliderShape): boolean {
  if (!isClassic(a) || !isClassic(b)) {
    const others = piecesOf(b);
    return piecesOf(a).some((p) =>
      others.some((q) => roundedContact(p, q, { x: 0, y: 0 }).separation < -EPSILON),
    );
  }
  if (a.kind === 'box' && b.kind === 'box') {
    // Separating axes: the sides of both boxes. Apart along any one of them is apart.
    const centres = { x: a.x - b.x, y: a.y - b.y };
    for (const n of [...axesOf(a), ...axesOf(b)])
      if (reach(a, n) + reach(b, n) - Math.abs(dot(centres, n)) <= EPSILON) return false;
    return true;
  }
  if (a.kind === 'circle' && b.kind === 'circle') {
    const r = a.r + b.r;
    return (a.x - b.x) ** 2 + (a.y - b.y) ** 2 < r * r;
  }
  const { box, circle } = boxAndCircle(a, b);
  return distanceToBox(toBoxFrame(box, circle), box.w / 2, box.h / 2) < circle.r - EPSILON;
}

/**
 * How two shapes meet: `separation` is the gap between them (negative when they overlap, then its
 * size is the shortest way out) and `normal` the unit direction from `obstacle` towards `mover` that
 * gap is measured along – the face that was hit, or the direction from a hit corner. Where the
 * shapes give no direction (centres on top of each other) it runs against `travel`.
 */
export function contactBetween(
  mover: ColliderShape,
  obstacle: ColliderShape,
  travel: Vec2,
): { separation: number; normal: Vec2 } {
  if (!isClassic(mover) || !isClassic(obstacle)) return piecesContact(mover, obstacle, travel);
  const against = (n: Vec2, offset: number): Vec2 => {
    const sign = offset !== 0 ? Math.sign(offset) : dot(n, travel) > 0 ? -1 : 1;
    return { x: sign * n.x + 0, y: sign * n.y + 0 };
  };
  if (mover.kind === 'box' && obstacle.kind === 'box') {
    const centres = { x: mover.x - obstacle.x, y: mover.y - obstacle.y };
    let best = { separation: -Infinity, normal: { x: 0, y: 0 } };
    for (const n of [...axesOf(mover), ...axesOf(obstacle)]) {
      const offset = dot(centres, n);
      const separation = Math.abs(offset) - reach(mover, n) - reach(obstacle, n);
      const normal = against(n, offset);
      // On a tie (a corner on a corner) the face the travel runs into more squarely wins.
      if (
        separation > best.separation + EPSILON ||
        (separation > best.separation - EPSILON && dot(normal, travel) < dot(best.normal, travel))
      )
        best = { separation: Math.max(separation, best.separation), normal };
    }
    return best;
  }
  if (mover.kind === 'circle' && obstacle.kind === 'circle') {
    const d = { x: mover.x - obstacle.x, y: mover.y - obstacle.y };
    const length = Math.hypot(d.x, d.y);
    const normal = length > 0 ? { x: d.x / length, y: d.y / length } : against(unit(travel), 0);
    return { separation: length - mover.r - obstacle.r, normal };
  }
  const { box, circle } = boxAndCircle(mover, obstacle);
  const [ux, uy] = axesOf(box);
  const p = toBoxFrame(box, circle);
  const hw = box.w / 2;
  const hh = box.h / 2;
  // Local direction from the box towards the circle, and the gap along it.
  let dir: Vec2;
  let separation: number;
  if (Math.abs(p.x) > hw || Math.abs(p.y) > hh) {
    const d = { x: p.x - clamp(p.x, hw), y: p.y - clamp(p.y, hh) };
    const length = Math.hypot(d.x, d.y);
    dir = { x: d.x / length, y: d.y / length };
    separation = length - circle.r;
  } else {
    // The centre is inside: out through the nearer face.
    const sign = mover.kind === 'circle' ? 1 : -1;
    const local = { x: sign * dot(travel, ux), y: sign * dot(travel, uy) };
    const byX = hw - Math.abs(p.x) <= hh - Math.abs(p.y);
    dir = byX
      ? { x: p.x !== 0 ? Math.sign(p.x) : -Math.sign(local.x) || 1, y: 0 }
      : { x: 0, y: p.y !== 0 ? Math.sign(p.y) : -Math.sign(local.y) || 1 };
    separation = -(byX ? hw - Math.abs(p.x) : hh - Math.abs(p.y)) - circle.r;
  }
  const world = { x: dir.x * ux.x + dir.y * uy.x, y: dir.x * ux.y + dir.y * uy.y };
  // `world` runs from the box to the circle; the normal runs from the obstacle to the mover.
  const sign = mover.kind === 'circle' ? 1 : -1;
  return { separation, normal: { x: sign * world.x + 0, y: sign * world.y + 0 } };
}

/** An axis-aligned rectangle in world units, as `shapeBounds` reports it. */
export interface ShapeBounds {
  left: number;
  top: number;
  right: number;
  bottom: number;
}

/**
 * The smallest world rectangle the shape fits in – what a broad phase looks at before working out
 * an exact contact (#184). A turned box measures its slant, a capsule and a circle their radius, a
 * polygon its outline (its pieces never reach beyond it).
 */
export function shapeBounds(shape: ColliderShape): ShapeBounds {
  const around = (x: number, y: number, hw: number, hh: number) => ({
    left: x - hw,
    top: y - hh,
    right: x + hw,
    bottom: y + hh,
  });
  switch (shape.kind) {
    case 'circle':
      return around(shape.x, shape.y, shape.r, shape.r);
    case 'box':
      return around(shape.x, shape.y, reach(shape, { x: 1, y: 0 }), reach(shape, { x: 0, y: 1 }));
    case 'capsule':
      return {
        left: Math.min(shape.a.x, shape.b.x) - shape.r,
        top: Math.min(shape.a.y, shape.b.y) - shape.r,
        right: Math.max(shape.a.x, shape.b.x) + shape.r,
        bottom: Math.max(shape.a.y, shape.b.y) + shape.r,
      };
    case 'polygon':
      return boundsOfPoints(outlinesOf(shape).flat());
  }
}

function boundsOfPoints(points: readonly Vec2[]): ShapeBounds {
  const bounds = { left: Infinity, top: Infinity, right: -Infinity, bottom: -Infinity };
  for (const p of points) {
    bounds.left = Math.min(bounds.left, p.x);
    bounds.top = Math.min(bounds.top, p.y);
    bounds.right = Math.max(bounds.right, p.x);
    bounds.bottom = Math.max(bounds.bottom, p.y);
  }
  return bounds;
}

/** The rectangle grown by `pad` on every side. */
export function grownBounds(b: ShapeBounds, pad: number): ShapeBounds {
  return { left: b.left - pad, top: b.top - pad, right: b.right + pad, bottom: b.bottom + pad };
}

/** Whether two rectangles share any area or edge – touching counts, so nothing near is dropped. */
export function boundsMeet(a: ShapeBounds, b: ShapeBounds): boolean {
  return a.left <= b.right && b.left <= a.right && a.top <= b.bottom && b.top <= a.bottom;
}

/** How deep two shapes overlap by the measure `shapesOverlap` uses: 0 when they only touch. */
export function overlapDepth(separation: number): number {
  return separation < -EPSILON ? -separation : 0;
}

function clamp(v: number, half: number): number {
  return Math.min(half, Math.max(-half, v));
}

function unit(v: Vec2): Vec2 {
  const length = Math.hypot(v.x, v.y);
  return length > 0 ? { x: v.x / length, y: v.y / length } : { x: 1, y: 0 };
}

/**
 * How far `mover` has to travel along `direction` until it just clears `obstacle`; 0 when they are
 * apart already. This is what stops a moving object at a wall: it is pushed back against its
 * travel by exactly this much.
 */
export function exitDistance(mover: ColliderShape, obstacle: ColliderShape, direction: Vec2): number {
  const length = Math.hypot(direction.x, direction.y);
  if (length === 0 || !shapesOverlap(mover, obstacle)) return 0;
  const d = { x: direction.x / length, y: direction.y / length };
  if (!isClassic(mover) || !isClassic(obstacle)) {
    // Every overlapping pair of pieces has to come clear; once out, a pair stays out along the line.
    const others = piecesOf(obstacle);
    let exit = 0;
    for (const p of piecesOf(mover)) for (const q of others) exit = Math.max(exit, roundedExit(p, q, d));
    return exit;
  }
  if (mover.kind === 'box' && obstacle.kind === 'box') return boxesExit(mover, obstacle, d);
  if (mover.kind === 'circle' && obstacle.kind === 'circle') {
    const sep = { x: mover.x - obstacle.x, y: mover.y - obstacle.y };
    const r = mover.r + obstacle.r;
    const along = dot(sep, d);
    return -along + Math.sqrt(Math.max(0, along * along - dot(sep, sep) + r * r));
  }
  const { box, circle } = boxAndCircle(mover, obstacle);
  // Seen from the box: the circle's centre travels along `d` (or against it when the box moves).
  const [ux, uy] = axesOf(box);
  const sign = mover.kind === 'circle' ? 1 : -1;
  const v = { x: sign * dot(d, ux), y: sign * dot(d, uy) };
  const start = toBoxFrame(box, circle);
  return circleExit(start, v, box.w / 2, box.h / 2, circle.r);
}

/**
 * The travel along `d` at which the first separating axis opens – for two boxes that is the exact
 * moment they stop overlapping. Along an axis the boxes may be moving apart or, when the mover is
 * already past the obstacle's centre, deeper in and out the far side.
 */
function boxesExit(mover: Box, obstacle: Box, d: Vec2): number {
  const centres = { x: mover.x - obstacle.x, y: mover.y - obstacle.y };
  let best = Infinity;
  for (const n of [...axesOf(mover), ...axesOf(obstacle)]) {
    const speed = dot(d, n);
    if (Math.abs(speed) < 1e-12) continue;
    const span = reach(mover, n) + reach(obstacle, n);
    const offset = dot(centres, n);
    const apart = offset === 0 || Math.sign(speed) === Math.sign(offset);
    const t = (apart ? span - Math.abs(offset) : span + Math.abs(offset)) / Math.abs(speed);
    if (t < best) best = t;
  }
  return Number.isFinite(best) ? best : 0;
}

/**
 * A circle's centre starting at `start` (inside the box grown by `r`) moving along `v` in the box's
 * frame: the travel at which it is `r` away from the box. The distance to a box is convex along a
 * line, so the crossing is found by bisection – exact for sides and corners alike.
 */
function circleExit(start: Vec2, v: Vec2, hw: number, hh: number, r: number): number {
  const outside = (t: number) => distanceToBox({ x: start.x + v.x * t, y: start.y + v.y * t }, hw, hh) - r;
  let hi = 1;
  for (let i = 0; i < 64 && outside(hi) <= 0; i++) hi *= 2;
  let lo = 0;
  for (let i = 0; i < 60; i++) {
    const mid = (lo + hi) / 2;
    if (outside(mid) <= 0) lo = mid;
    else hi = mid;
  }
  return hi;
}

/**
 * The contact of two shapes made of pieces: the pair of pieces that overlaps deepest (or lies
 * closest); on a tie see `preferredOnTie`. A shape without pieces – a
 * polygon that is none – meets nothing.
 */
function piecesContact(mover: ColliderShape, obstacle: ColliderShape, travel: Vec2): Contact {
  let best: Contact = { separation: Infinity, normal: { x: 0, y: 0 } };
  const others = piecesOf(obstacle);
  for (const p of piecesOf(mover))
    for (const q of others) {
      const contact = roundedContact(p, q, travel);
      if (
        contact.separation < best.separation - EPSILON ||
        (contact.separation < best.separation + EPSILON &&
          preferredOnTie(contact.normal, best.normal, travel))
      )
        best = { separation: Math.min(contact.separation, best.separation), normal: contact.normal };
    }
  return best;
}

function boxAndCircle(a: Classic, b: Classic): { box: Box; circle: Circle } {
  return a.kind === 'box' ? { box: a, circle: b as Circle } : { box: b as Box, circle: a };
}