public static void Test()
{
Line2d line1 = new Line2d();
line1.m_point1 = new Vector2L(0, 0);
line1.m_point2 = new Vector2L(100, 100);
Line2d line2 = new Line2d();
line2.m_point1 = new Vector2L(0, 100);
line2.m_point2 = new Vector2L(100, 0);
Vector2L intersectionPoint = new Vector2L();
if (Line2dWithLine2d(line1, line2, ref intersectionPoint))
{
Debug.Log("双线相交 交点 " + intersectionPoint);
}
else
{
Debug.Log("双线没有相交");
}
List <Vector2L> pointList = new List <Vector2L> {
new Vector2L(-4.5f, -10f),
new Vector2L(-4.5f, 10f),
new Vector2L(4.5f, 10f),
new Vector2L(4.5f, -10f)
};
Convex2d convex1 = new Convex2d(new Vector2L(-5, 0), QuaternionL.Euler(Vector3L.zero), pointList);
Convex2d convex2 = new Convex2d(new Vector2L(+5, 0), QuaternionL.Euler(Vector3L.zero), pointList);
Debug.Log("凸多边形相交测试1 " + (Convex2dWithConvex2d(convex1, convex2, false, true) != null));
Convex2d convex3 = new Convex2d(new Vector2L(+5, 0), QuaternionL.Euler(new Vector3L(0, -90, 0)), pointList);
Debug.Log("凸多边形相交测试2 " + (Convex2dWithConvex2d(convex1, convex3, false, true) != null));
Circle2d circle = new Circle2d(new Vector3L(-5, 0), 5);
Debug.Log("圆与凸多边形相交测试1 " + (Circle2dWithConvex2d(circle, convex2, false, true) != null));
Debug.Log("圆与凸多边形相交测试2 " + (Circle2dWithConvex2d(circle, convex3, false, true) != null));
}
/// <summary>
/// 根据Separating Axis Theorem理论实现
/// https://www.sevenson.com.au/actionscript/sat/
/// https://github.com/sevdanski/SAT_AS3
/// </summary>
/// <param name="convex1"></param>
/// <param name="convex2"></param>
/// <returns></returns>
public static CollisionInfo Circle2dWithConvex2d(Circle2d circleA, Convex2d polygonA, bool flip, bool docalc)
{
CollisionInfo result = new CollisionInfo();
if (flip)
{
result.shapeA = polygonA;
result.shapeB = circleA;
}
else
{
result.shapeA = circleA;
result.shapeB = polygonA;
}
result.shapeAContained = true;
result.shapeBContained = true;
// get the offset
Vector2L vOffset = new Vector2L(polygonA.m_pos.x - circleA.m_pos.x, polygonA.m_pos.y - circleA.m_pos.y);
// get the vertices
List <Vector2L> p1 = polygonA.GetRotateList();
// find the closest point
Vector2L closestPoint = new Vector2L();
FloatL minDist = FloatL.MaxValue;
foreach (var iter in p1)
{
FloatL currentDist = (circleA.m_pos - (polygonA.m_pos + iter)).sqrMagnitude;
if (currentDist < minDist)
{
minDist = currentDist;
closestPoint = polygonA.m_pos + iter;
}
}
// make a normal of this vector
Vector2L vAxis = closestPoint - circleA.m_pos;
vAxis.Normalize();
// project polygon A
FloatL min0 = Vector2L.Dot(vAxis, p1[0]);
FloatL max0 = min0;
for (int j = 1; j < p1.Count; ++j)
{
FloatL t = Vector2L.Dot(vAxis, p1[j]);
if (t < min0)
{
min0 = t;
}
if (t > max0)
{
max0 = t;
}
}
// project circle A
FloatL min1 = Vector2L.Dot(vAxis, Vector2L.zero);
FloatL max1 = min1 + circleA.m_radius;
min1 -= circleA.m_radius;
// shift polygonA's projected points
FloatL sOffset = Vector2L.Dot(vAxis, vOffset);
min0 += sOffset;
max0 += sOffset;
// test for intersections
FloatL d0 = min0 - max1;
FloatL d1 = min1 - max0;
if (d0 > 0 || d1 > 0)
{
// gap found
return(null);
}
FloatL shortestDist = FloatL.MaxValue;
if (docalc)
{
FloatL distmin = (max1 - min0) * -1; //Math.min(dist0, dist1);
if (flip)
{
distmin *= -1;
}
FloatL distminAbs = (distmin < 0) ? distmin * -1 : distmin;
// check for containment
if (!flip)
{
if (max0 > max1 || min0 < min1)
{
result.shapeAContained = false;
}
if (max1 > max0 || min1 < min0)
{
result.shapeBContained = false;
}
}
else
{
if (max0 < max1 || min0 > min1)
{
result.shapeAContained = false;
}
if (max1 < max0 || min1 > min0)
{
result.shapeBContained = false;
}
}
// this distance is shorter so use it...
result.distance = distmin;
result.vector = vAxis;
//
shortestDist = distminAbs;
}
// loop through all of the axis on the first polygon
for (int i = 0; i < p1.Count; i++)
{
// find the axis that we will project onto
vAxis = GetAxisNormal(p1, i);
// project polygon A
min0 = Vector2L.Dot(vAxis, p1[0]);
max0 = min0;
//
for (int j = 1; j < p1.Count; j++)
{
FloatL t = Vector2L.Dot(vAxis, p1[j]);
if (t < min0)
{
min0 = t;
}
if (t > max0)
{
max0 = t;
}
}
// project circle A
min1 = Vector2L.Dot(vAxis, new Vector2L(0, 0));
max1 = min1 + circleA.m_radius;
min1 -= circleA.m_radius;
// shift polygonA's projected points
sOffset = Vector2L.Dot(vAxis, vOffset);
min0 += sOffset;
max0 += sOffset;
// test for intersections
d0 = min0 - max1;
d1 = min1 - max0;
if (d0 > 0 || d1 > 0)
{
// gap found
return(null);
}
if (docalc)
{
// check for containment
if (!flip)
{
if (max0 > max1 || min0 < min1)
{
result.shapeAContained = false;
}
if (max1 > max0 || min1 < min0)
{
result.shapeBContained = false;
}
}
else
{
if (max0 < max1 || min0 > min1)
{
result.shapeAContained = false;
}
if (max1 < max0 || min1 > min0)
{
result.shapeBContained = false;
}
}
FloatL distmin = (max1 - min0) * -1;
if (flip)
{
distmin *= -1;
}
FloatL distminAbs = (distmin < 0) ? distmin * -1 : distmin;
if (distminAbs < shortestDist)
{
// this distance is shorter so use it...
result.distance = distmin;
result.vector = vAxis;
//
shortestDist = distminAbs;
}
}
}
// if you are here then no gap was found
return(result);
}
/// <summary>
/// 根据Separating Axis Theorem理论实现
/// https://www.sevenson.com.au/actionscript/sat/
/// https://github.com/sevdanski/SAT_AS3
/// </summary>
/// <param name="convex1"></param>
/// <param name="convex2"></param>
/// <returns></returns>
public static CollisionInfo Convex2dWithConvex2d(Convex2d polygonA, Convex2d polygonB, bool flip, bool docalc)
{
CollisionInfo result = new CollisionInfo();
result.shapeA = (flip) ? polygonB : polygonA;
result.shapeB = (flip) ? polygonA : polygonB;
result.shapeAContained = true;
result.shapeBContained = true;
// get the vertices
List <Vector2L> p1 = polygonA.GetRotateList();
List <Vector2L> p2 = polygonB.GetRotateList();
// get the offset
Vector2L vOffset = new Vector2L(polygonA.m_pos.x - polygonB.m_pos.x, polygonA.m_pos.y - polygonB.m_pos.y);
FloatL shortestDist = FloatL.MaxValue;
// loop through all of the axis on the first polygon
for (int i = 0; i < p1.Count; ++i)
{
// find the axis that we will project onto
Vector2L vAxis = GetAxisNormal(p1, i);
// project polygon A
FloatL min0 = Vector2L.Dot(vAxis, p1[0]);
FloatL max0 = min0;
for (int j = 1; j < p1.Count; ++j)
{
FloatL t = Vector2L.Dot(vAxis, p1[j]);
if (t < min0)
{
min0 = t;
}
if (t > max0)
{
max0 = t;
}
}
// project polygon B
FloatL min1 = Vector2L.Dot(vAxis, p2[0]);
FloatL max1 = min1;
for (int j = 1; j < p2.Count; ++j)
{
FloatL t = Vector2L.Dot(vAxis, p2[j]);
if (t < min1)
{
min1 = t;
}
if (t > max1)
{
max1 = t;
}
}
// shift polygonA's projected points
FloatL sOffset = Vector2L.Dot(vAxis, vOffset);
min0 += sOffset;
max0 += sOffset;
// test for intersections
FloatL d0 = min0 - max1;
FloatL d1 = min1 - max0;
if (d0 > 0 || d1 > 0)
{
// gap found
return(null);
}
if (docalc)
{
// check for containment
if (!flip)
{
if (max0 > max1 || min0 < min1)
{
result.shapeAContained = false;
}
if (max1 > max0 || min1 < min0)
{
result.shapeBContained = false;
}
}
else
{
if (max0 < max1 || min0 > min1)
{
result.shapeAContained = false;
}
if (max1 < max0 || min1 > min0)
{
result.shapeBContained = false;
}
}
FloatL distmin = (max1 - min0) * -1;
if (flip)
{
distmin *= -1;
}
FloatL distminAbs = (distmin < 0) ? distmin * -1 : distmin;
if (distminAbs < shortestDist)
{
// this distance is shorter so use it...
result.distance = distmin;
result.vector = vAxis;
shortestDist = distminAbs;
}
}
}
// if you are here then no gap was found
return(result);
}
