public void OnInspectorGUI()
{
var foldout = EditorGUILayout.Foldout(SilkDebug.GetFoldoutValue(DebugName), DebugName);
SilkDebug.SetFoldoutValue(DebugName, foldout);
if (foldout || true)
{
EditorGUILayout.ObjectField("MySilk", MySilk, typeof(Silk), true);
EditorGUILayout.IntField("IndexOnSilk", IndexOnSilk);
EditorGUILayout.ObjectField("Joint", Joint, typeof(ConfigurableJoint), true);
EditorGUILayout.FloatField("_jointLength", _jointLength);
EditorGUILayout.FloatField("RealLength", RealLength);
}
}
void FixedUpdate()
{
var curPos = transform.position.ToVector2();
RaycastHit hit;
if (Physics.SphereCast(_lastPos, _sphereCollider.radius, (curPos - _lastPos).normalized, out hit,
(curPos - _lastPos).magnitude, LayerManager.LayerMask.Ground))
{
SilkDebug.DrawCross(_lastPos, 10, Color.cyan, 1);
SilkDebug.DrawCross(curPos, 10, Color.cyan, 1);
Debug.DrawLine(_lastPos, curPos, Color.gray, 1);
Debug.Break();
}
_lastPos = curPos;
}
/// <summary>
/// 如果没有相切的错误，就返回true，否则返回false
/// </summary>
/// <returns></returns>
public bool CheckSeperate()
{
var dir = (FarPoint.Position - NearPoint.Position).normalized;
var hit = Physics2D.Raycast(NearPoint.Position, dir, (FarPoint.Position - NearPoint.Position).magnitude,
LayerManager.LayerMask.SilkJoint);
if (hit)
{
SilkDebug.DrawCross(hit.point, 0.3f, Color.red);
var curLine = new Vector4(NearPoint.Position.x, NearPoint.Position.y, FarPoint.Position.x, FarPoint.Position.y);
SilkDebug.DrawLine(LastLine, Color.green);
SilkDebug.DrawLine(curLine, Color.black);
LineCollisionHit lineHit;
var bl = LineCollision.TryGetLineCollisionPoint(LastLine, curLine, out lineHit, LayerManager.LayerMask.SilkJoint,
PhysicsConfig.SurfaceLayerThickness);
var tmpDrawer = lineHit.Collider.GetComponent <TmpDrawCircleCollider2D>();
if (tmpDrawer != null)
{
tmpDrawer.DrawArc(lineHit.Point);
Debug.LogFormat("line to circle distance:{0} @{1}",
Vector2.Distance(lineHit.Point, tmpDrawer.transform.position.ToVector2()) -
tmpDrawer.GetComponent <CircleCollider2D>().radius, Time.frameCount);
}
SilkDebug.DrawCross(lineHit.Point, 0.4f, Color.black);
if (bl)
{
var jointItem = lineHit.Collider.gameObject.layer == LayerManager.Layer.Ground
? null
: lineHit.Collider.GetComponent <Rigidbody2D>();
MySilk.SeperateSegment(IndexOnSilk, lineHit.Point, jointItem);
}
else
{
Debug.LogWarningFormat("Tangency Error[{0}]", IndexOnSilk);
return(false);
}
}
return(true);
}
///// <summary>
///// 计算碰撞点
///// </summary>
///// <param name="vertex"></param>
///// <param name="sidePoint1"></param>
///// <param name="sidePoint2"></param>
///// <param name="collisionPoint"></param>
///// <returns>有没有碰撞</returns>
//public static bool TryGetLineCollisionPoint(Vector2 vertex, Vector2 sidePoint1, Vector2 sidePoint2, out Vector2 collisionPoint)
//{
// throw new Exception("TODO");
//}
/// <summary>
/// 应该只在start时无碰撞end时有碰撞的情况返回true，给出有效hit。对运动物体会出错
/// </summary>
/// <param name="startLine"></param>
/// <param name="endLine"></param>
/// <param name="hitInfo"></param>
/// <param name="layerMask"></param>
/// <param name="epsilon"></param>
/// <returns></returns>
public static bool TryGetLineCollisionPoint(Vector4 startLine, Vector4 endLine, out LineCollisionHit hitInfo, LayerMask layerMask, float epsilon)
{
hitInfo = new LineCollisionHit();
RaycastHit2D curHit;
if (!CheckLineCollision(endLine, out curHit, layerMask))
{
Debug.LogWarning("Penetration may happen!");
return(false); //endLine没撞到就别调用这个方法
}
var startLineRay = new Ray2D(startLine.P1(), startLine.Direction());
RaycastHit2D startLineHit;//活动物体就不考虑碰撞了，现在只考虑地形
if (curHit.collider.Raycast(startLineRay, out startLineHit, startLine.Length()))
{
SilkDebug.DrawCross(startLineHit.point, 0.1f, new Color(0.6f, 0.6f, 0));
Debug.LogWarningFormat("Penetration may happen at {0},{1}! startLine={2} endLine={3}, distanceToCenter={4}", startLineHit.point.x, startLineHit.point.y, startLine, endLine, CalcPointToLineVertical(startLine, curHit.collider.transform.position).magnitude);
return(false); //startLine都碰撞到这个东西了上一帧就该处理
}
var latestHit = curHit;
var vertical = CalcPointToLineVertical(startLine, latestHit.point);
var iterationTimes = 0;
while (vertical.magnitude >= epsilon)
{
iterationTimes++;
if (iterationTimes > 50)
{
Debug.LogFormat("iteration too many times > 50!");
break;
}
var midLine = Vector4.Lerp(startLine, endLine, 0.5f);
if (CheckLineCollision(midLine, out curHit, layerMask))
{
latestHit = curHit;
endLine = midLine;
}
else
{
startLine = midLine;
}
vertical = CalcPointToLineVertical(startLine, latestHit.point);
}
var nearHitInfo = latestHit;
#region 计算FarHit
var vectorF2N = new Vector2(endLine.x, endLine.y) - new Vector2(endLine.z, endLine.w);
var fnRay = new Ray2D(new Vector2(endLine.z, endLine.w), vectorF2N); //Far->Near的射线
var hits = Physics2D.RaycastAll(fnRay.origin, fnRay.direction, vectorF2N.magnitude, layerMask);
if (hits.Length == 0) //不可能没有的
{
SilkDebug.DrawCross(new Vector2(endLine.x, endLine.y), 0.1f, new Color(0.5f, 0.5f, 0.1f));
SilkDebug.DrawCross(new Vector2(endLine.z, endLine.w), 0.1f, new Color(0.4f, 0.4f, 0.3f));
Debug.LogError("Error Cannot find farHit @" + Time.frameCount);
Debug.LogWarningFormat("hits.Length == 0; startLine={0} endLine={1}, distanceToCenter={2}", startLine, endLine, CalcPointToLineVertical(startLine, curHit.collider.transform.position).magnitude);
return(false);
}
if (hits.Length > 1)//很少见，穿透了多次地形
{
Debug.LogWarning("hits.Length > 1 ! Very rare!");
var rightHits = hits.Where(x => x.collider == nearHitInfo.collider).ToList(); //取出碰撞到指定碰撞器的
rightHits.Sort((x, y) => (int)Mathf.Sign(x.distance - y.distance)); //按到FarPoint的远近排序
}
var farHitInfo = hits[hits.Length - 1]; //取出最远的
#endregion
SilkDebug.DrawCross(nearHitInfo.point, 0.2f, Color.yellow);
SilkDebug.DrawCross(farHitInfo.point, 0.2f, Color.yellow);
#region 计算尖点和角平分线
Vector2 c1 = nearHitInfo.point;
Vector2 c2 = farHitInfo.point;
var n1 = nearHitInfo.normal;
var n2 = farHitInfo.normal;
var n1v = new Vector2(-n1.y, n1.x); //n1的垂线，右手螺旋，即c1所在边
var n2v = new Vector2(-n2.y, n2.x); //n2的垂线，右手螺旋，即c2所在边
Vector2 vertex; //顶点，尖点
if (Vector2.Dot(n2v, n1) == 0)
{
vertex = (c1 + c2) * 0.5f;//如果n1v,n2v平行，则无交点，取c1,c2中点。不太可能发生
}
else
{
vertex = c2 + Vector2.Dot(c1 - c2, n1) / Vector2.Dot(n2v, n1) * n2v; //找到尖点
}
var bisector = (n2v - n1v).normalized; //角平分线，不保证方向
var bv = new Vector2(-bisector.y, bisector.x); //角平分线的垂线
//找startLine与角平分线的交点
var p1 = new Vector2(startLine.x, startLine.y); //p1,p2是startLine线段的两个端点
var p2 = new Vector2(startLine.z, startLine.w); //p1,p2是startLine线段的两个端点
var p1p2 = p2 - p1;
var v = p1 + Vector2.Dot(vertex - p1, bv) / Vector2.Dot(p1p2, bv) * p1p2; //那个我们需要的碰撞点，浮于碰撞器表面一个缓冲值以内
//如果碰撞点离碰撞器过近（小于SurfaceLayerMinThickness），则强行拉回此值之外
var vertex2v = v - vertex;
if (vertex2v.magnitude < PhysicsConfig.SurfaceLayerMinThickness)
{
//找endLine与角平分线的交点
var p1endLine = new Vector2(endLine.x, endLine.y);
var p2endLine = new Vector2(endLine.z, endLine.w);
var p1p2endLine = p2endLine - p1endLine;
var vendLine = p1endLine + Vector2.Dot(vertex - p1endLine, bv) / Vector2.Dot(p1p2endLine, bv) * p1p2endLine;
Debug.LogFormat("OutPush vertex={0} v={1} distance={2}", vertex, v, vertex2v.magnitude);
v = v + (v - vendLine).normalized * PhysicsConfig.SurfaceLayerMinThickness;
}
SilkDebug.DrawCross(vertex, 0.3f, Color.magenta);
Debug.DrawRay(vertex, bisector);
SilkDebug.DrawLine(startLine, Color.blue);
SilkDebug.DrawLine(endLine, Color.blue);
#endregion
hitInfo = new LineCollisionHit(nearHitInfo.collider, (v - p1).magnitude, (v - vertex).normalized, v);
return(true);
}
