public static bool CircleCastCircle(Vector3 orgCenterStart, float orgRaduis, Vector3 orgCenterEnd, Vector3 testCenter, float testRadius, out CircleHitInfo hitInfo)
{
float saveY = orgCenterStart.y;
orgCenterStart.y = orgCenterEnd.y = testCenter.y = 0;
Quaternion quat = Quaternion.LookRotation(orgCenterEnd - orgCenterStart);
Quaternion quatInverce = Quaternion.Inverse(quat);
Vector3 _orgCenterStart = quatInverce * (orgCenterStart - orgCenterStart);
Vector3 _orgCenterEnd = quatInverce * (orgCenterEnd - orgCenterStart);
Vector3 _testCenter = quatInverce * (testCenter - orgCenterStart);
float radiusSum = orgRaduis + testRadius;
bool hit = false;
if (_orgCenterStart.z <= _testCenter.z && _testCenter.z <= _orgCenterEnd.z && Mathf.Abs(_testCenter.x) <= radiusSum)
{
hit = true;
}
if (Vector3.Distance(_orgCenterStart, _testCenter) <= radiusSum && Vector3.Distance(_orgCenterEnd, _testCenter) <= radiusSum)
{
hit = true;
}
if (hit)
{
float d = Mathf.Sqrt(radiusSum * radiusSum - _testCenter.x * _testCenter.x);
float z = 0;
z = _testCenter.z - d;
Vector3 origin = new Vector3(0, 0, z);
origin = quat * origin + orgCenterStart;
origin.y = saveY;
Vector3 touchPos = origin + (testCenter - origin).normalized * orgRaduis / radiusSum;
touchPos.y = saveY;
hitInfo = new CircleHitInfo();
hitInfo.CenterPoint = origin;
hitInfo.TouchPoint = touchPos;
hitInfo.Normal = (origin - touchPos).normalized;
return(true);
}
else
{
hitInfo = new CircleHitInfo();
return(false);
}
}
void check()
{
CircleHitInfo hitInfo = null;
if (CircleCastCircle(from.transform.position, 0.5f, to.transform.position, stop.transform.position, 0.5f, out hitInfo))
{
marker.transform.position = hitInfo.CenterPoint;
}
else
{
Debug.Log("Cast不到");
marker.transform.position = new Vector3(10, 10, 10);
}
}
public static bool CircleCastCircle(Vector3 orgCenterStart, float orgRaduis, Vector3 orgCenterEnd, Vector3 testCenter, float testRadius, out CircleHitInfo hitInfo)
{
float saveY = orgCenterStart.y;
orgCenterStart.y = orgCenterEnd.y = testCenter.y = 0;
Quaternion quat = Quaternion.LookRotation(orgCenterEnd - orgCenterStart);
Quaternion quatInverce = Quaternion.Inverse(quat);
Vector3 _orgCenterStart = quatInverce * (orgCenterStart - orgCenterStart);
Vector3 _orgCenterEnd = quatInverce * (orgCenterEnd - orgCenterStart);
Vector3 _testCenter = quatInverce * (testCenter - orgCenterStart);
float radiusSum = orgRaduis + testRadius;
bool hit = false;
if(_orgCenterStart.z <= _testCenter.z && _testCenter.z <= _orgCenterEnd.z && Mathf.Abs(_testCenter.x) <= radiusSum)
{
hit = true;
}
if(Vector3.Distance(_orgCenterStart, _testCenter) <= radiusSum && Vector3.Distance(_orgCenterEnd, _testCenter) <= radiusSum)
{
hit = true;
}
if(hit)
{
float d = Mathf.Sqrt(radiusSum * radiusSum - _testCenter.x * _testCenter.x);
float z = 0;
z = _testCenter.z - d;
Vector3 origin = new Vector3(0, 0, z);
origin = quat * origin + orgCenterStart;
origin.y = saveY;
Vector3 touchPos = origin + (testCenter - origin).normalized * orgRaduis / radiusSum;
touchPos.y = saveY;
hitInfo = new CircleHitInfo();
hitInfo.CenterPoint = origin;
hitInfo.TouchPoint = touchPos;
hitInfo.Normal = (origin - touchPos).normalized;
return true;
}
else
{
hitInfo = new CircleHitInfo();
return false;
}
}
void check()
{
float hitDistance = 9999;
CircleHitInfo hitInfo = null;
bool anyHit = false;
foreach (Segment seg in Segments)
{
CircleHitInfo _hitInfo = null;
if (CircleCastSegment(From.transform.position, 0.5f, To.transform.position, seg.Start.position, seg.End.position, out _hitInfo))
{
anyHit = true;
float _distance = Vector3.Distance(From.transform.position, _hitInfo.CenterPoint);
if (_distance < hitDistance)
{
hitDistance = _distance;
hitInfo = _hitInfo;
}
}
}
}
public static bool CircleCastSegment(Vector3 orgCenterStart, float orgRaduis, Vector3 orgCenterEnd, Vector3 segmentStart, Vector3 segmentEnd, out CircleHitInfo hitInfo)
{
hitInfo = null;
// 必须圆线相切才算碰撞，即使线段端点在圆内部也不一定是碰撞
float saveY = orgCenterStart.y;
orgCenterStart.y = orgCenterEnd.y = segmentStart.y = segmentEnd.y = 0;
Quaternion quat = Quaternion.LookRotation(orgCenterEnd - orgCenterStart);
Quaternion quatInverce = Quaternion.Inverse(quat);
Vector3 _orgCenterStart = quatInverce * (orgCenterStart - orgCenterStart);
Vector3 _orgCenterEnd = quatInverce * (orgCenterEnd - orgCenterStart);
Vector3 _segmentStart = quatInverce * (segmentStart - orgCenterStart);
Vector3 _segmentEnd = quatInverce * (segmentEnd - orgCenterStart);
// 交换线段端点，便于计算
if (_segmentStart.z > _segmentEnd.z)
{
Vector3 temp = _segmentStart;
_segmentEnd = _segmentStart;
_segmentStart = temp;
}
// 情况X 已经碰撞/已经处于碰撞相对位置
if (Mathf.Abs(_segmentStart.x) < orgRaduis)
{
return(false);
}
// 情况一 平行 绝对无碰撞
if (_segmentStart.x == _segmentEnd.x)
{
return(false);
}
// 情况二 远离 在球运动方向上 垂线越来越长 (间隔变大) 无碰撞
if (_segmentStart.x * _segmentEnd.x > 0 && Mathf.Abs(_segmentEnd.x) > Mathf.Abs(_segmentStart.x))
{
return(false);
}
// 情况三 靠近 在球运动方向上 垂线越来越短 (间隔变小) 可能碰撞 <else of above>
// 计算向量 SegS -> Segment与Z轴交点
Vector3 SegDir = (_segmentEnd - _segmentStart).normalized;
Vector3 A = SegDir * SegDir.x / _segmentStart.x;
float ALen = A.magnitude;
// 计算切位圆心到两线交点向量
Vector3 P = A - new Vector3(-_segmentStart.x, 0, 0); // SegmentStart垂直Z轴垂点到两线交点向量
Vector3 PwEnd = Vector3.forward * ALen * orgRaduis / Mathf.Abs(_segmentStart.x);
Vector3 origin = P - PwEnd;
if (0 > origin.z || origin.z > _orgCenterEnd.z)
{
return(false);
}
Vector3 PB = A.normalized * PwEnd.magnitude * Mathf.Abs(_segmentStart.x) / orgRaduis;
Vector3 Vx = A - PB;
Vector3 touch = _segmentStart + Vx;
// 写返回值
hitInfo = new CircleHitInfo();
hitInfo.CenterPoint = quat * origin + orgCenterStart;
hitInfo.TouchPoint = quat * touch + orgCenterStart;
hitInfo.Normal = (hitInfo.TouchPoint - hitInfo.CenterPoint).normalized;
return(true);
}
public static bool CircleCastSegment(Vector3 orgCenterStart, float orgRaduis, Vector3 orgCenterEnd, Vector3 segmentStart, Vector3 segmentEnd, out CircleHitInfo hitInfo)
{
hitInfo = null;
// 必须圆线相切才算碰撞，即使线段端点在圆内部也不一定是碰撞
float saveY = orgCenterStart.y;
orgCenterStart.y = orgCenterEnd.y = segmentStart.y = segmentEnd.y = 0;
Quaternion quat = Quaternion.LookRotation(orgCenterEnd - orgCenterStart);
Quaternion quatInverce = Quaternion.Inverse(quat);
Vector3 _orgCenterStart = quatInverce * (orgCenterStart - orgCenterStart);
Vector3 _orgCenterEnd = quatInverce * (orgCenterEnd - orgCenterStart);
Vector3 _segmentStart = quatInverce * (segmentStart - orgCenterStart);
Vector3 _segmentEnd = quatInverce * (segmentEnd - orgCenterStart);
// 交换线段端点，便于计算
if(_segmentStart.z > _segmentEnd.z)
{
Vector3 temp = _segmentStart;
_segmentEnd = _segmentStart;
_segmentStart = temp;
}
// 情况X 已经碰撞/已经处于碰撞相对位置
if(Mathf.Abs(_segmentStart.x) < orgRaduis)
{
return false;
}
// 情况一 平行 绝对无碰撞
if(_segmentStart.x == _segmentEnd.x)
{
return false;
}
// 情况二 远离 在球运动方向上 垂线越来越长 (间隔变大) 无碰撞
if(_segmentStart.x * _segmentEnd.x > 0 && Mathf.Abs(_segmentEnd.x) > Mathf.Abs(_segmentStart.x))
{
return false;
}
// 情况三 靠近 在球运动方向上 垂线越来越短 (间隔变小) 可能碰撞 <else of above>
// 计算向量 SegS -> Segment与Z轴交点
Vector3 SegDir = (_segmentEnd - _segmentStart).normalized;
Vector3 A = SegDir * SegDir.x / _segmentStart.x;
float ALen = A.magnitude;
// 计算切位圆心到两线交点向量
Vector3 P = A - new Vector3(-_segmentStart.x, 0, 0); // SegmentStart垂直Z轴垂点到两线交点向量
Vector3 PwEnd = Vector3.forward * ALen * orgRaduis / Mathf.Abs(_segmentStart.x);
Vector3 origin = P - PwEnd;
if(0>origin.z || origin.z>_orgCenterEnd.z)
{
return false;
}
Vector3 PB = A.normalized * PwEnd.magnitude * Mathf.Abs(_segmentStart.x) / orgRaduis;
Vector3 Vx = A - PB;
Vector3 touch = _segmentStart + Vx;
// 写返回值
hitInfo = new CircleHitInfo();
hitInfo.CenterPoint = quat * origin + orgCenterStart;
hitInfo.TouchPoint = quat * touch + orgCenterStart;
hitInfo.Normal = (hitInfo.TouchPoint - hitInfo.CenterPoint).normalized;
return true;
}