/// <summary>
/// 圆和边的平面动态相交检测（注意是边的平面 并不是线段）
/// </summary>
/// <param name="tedge"></param>
/// <param name="crd"></param>
/// <returns>是否在该段时间内相交</returns>
public static bool CheckCircle_LineContact(tableEdge tedge, CircleRunData crd, ref FP t_percent)
{
//Sc
TSVector2 Sc = PointToLineDir(tedge.start, tedge.end, crd.cur_pos);
//Se
TSVector2 Se = PointToLineDir(tedge.start, tedge.end, crd.next_pos);
TSVector2 Scnormal = Sc.normalized;
TSVector2 Senormal = Se.normalized;
//TSVector2 Scnormal = Sc.normalized;
//TSVector2 Senormal = Se.normalized;
//只有两种结果 同向和 反向
FP result = TSVector2.Dot(Scnormal, Senormal); //1同向,0垂直,-1反向
FP Scnorm = TSMath.Sqrt(TSMath.Abs(TSVector2.Dot(Sc, Sc))); //Sc模
FP Senorm = TSMath.Sqrt(TSMath.Abs(TSVector2.Dot(Se, Se))); //Se模
//FP radius_square = crd.radius * crd.radius;
if (result > 0 && Scnorm > crd.radius && Senorm > crd.radius)//Sc,Se同向，俩圆圆半径大于到直线距离,不相交
{
return(false);
}
else//相交 求t
{
FP S = 0;
if (result > 0)
{
S = Scnorm - Senorm;
}
else
{
S = Scnorm + Senorm;
}
//TSVector2 sce = Sc - Se;
//FP S = TSMath.Sqrt( TSVector2.Dot(sce, sce));
t_percent = (Scnorm - crd.radius) / S;//圆心到达撞击点的距离/圆心经过的总距离 来求出时间占比
if (t_percent > 1)
{
return(false);
Debug.Log("路程百分比大于1,注意!");
}
//if (t_percent < 0)
//{
// if (Detection.CheckCircle_tableEdgeEndContact(crd, tedge, ref t_percent))
// {
// Debug.Log("修正");
// }
//}
return(t_percent >= 0?true:false);
}
}
/// <summary>
/// 计算球和球的互相作用方向
/// </summary>
/// <returns></returns>
//public static TSVector2[] CheckCircle_CircleCollision(CircleRunData runCircle, CircleRunData staticCircle)
//{
// TSVector2 V = runCircle.next_pos - runCircle.cur_pos;
// TSVector2 U = staticCircle.next_pos - staticCircle.cur_pos;
// TSVector2 AB = staticCircle.cur_pos - runCircle.cur_pos;
// TSVector2 BA = runCircle.cur_pos - staticCircle.cur_pos;
// TSVector2 Vx = TSVector2.Dot(V, AB.normalized)*AB.normalized;
// TSVector2 Vy = V - Vx;
// TSVector2 Ux = TSVector2.Dot(U, BA.normalized) * BA.normalized;
// TSVector2 Uy = U - Ux;
// V = Ux + Vy;//反弹后的方向
// U = Vx + Uy;//反弹后的方向
// return new TSVector2[2] { V,U };
//}
//public static TSVector2[] CheckCircle_CircleCollision(TSVector2 V, TSVector2 U)
//{
// TSVector2 Vx = new TSVector2(V.x, 0);
// TSVector2 Vy = new TSVector2(0, V.y);
// TSVector2 Ux = new TSVector2(U.x, 0);
// TSVector2 Uy = new TSVector2(0, U.y);
// V = Ux + Vy;//反弹后的方向
// U = Vx + Uy;//反弹后的方向
// return new TSVector2[2] { V, U };
//}
/// <summary>
/// 圆和圆的动态相交检测(根据相对运动,抽象为一方是运动,另一方是静止)
/// </summary>
/// <param name="cd"></param>
/// <param name="crd"></param>
/// <returns></returns>
public static bool CheckCircle_CircleContact(CircleRunData runCircle, CircleRunData staticCircle, FP deltaTime, ref FP _percent)
{
TSVector2 VA = runCircle.next_pos - runCircle.cur_pos;
TSVector2 VB = staticCircle.next_pos - staticCircle.cur_pos;
//两个运动方向描述为一方运动另一方静止 so
TSVector2 VAB = VA - VB; //runCircle相对于staticCircle的运动方向pc
TSVector2 Idir = staticCircle.cur_pos - runCircle.cur_pos; //射线起点到静态圆的方向
//FP Idir_length_square = TSVector2.Dot(Idir, Idir);
FP Idir_length_square = Idir.LengthSquared();
FP static_radius_square = (staticCircle.radius * 2) * (staticCircle.radius * 2);
//Func<TSVector2,FP,FP> calHitInfo = (e_dir,a_projvalue) =>
////可以在返回true的时候再计算，后优化
//{
// //TSVector2 e_dir = staticCircle.cur_pos - runCircle.cur_pos;
// //FP a_projvalue = TSMath.Abs(TSVector2.Dot(e_dir, VAB.normalized));
// a_projvalue = TSMath.Abs(a_projvalue);
// FP b_squar = TSVector2.Dot(e_dir, e_dir) - a_projvalue * a_projvalue;
// FP f = TSMath.Sqrt(static_radius_square - b_squar);
// FP t = a_projvalue - f;//碰撞到静态圆所走的路程，总路程是runCircle.cur_pos+VAB*delataTime;
// return t /*/ (VAB * deltaTime).magnitude*/;//求出占比
//};
if (Idir_length_square < static_radius_square) //射线起点在圆心内部,相交
{
//_percent = calHitInfo();
//_percent = 1;//一开始就相交的
//Debug.Log("射线起点在圆心内部");
return(false);
}
else//射线起点在圆心外部的情况
{
FP a_projvalue = TSVector2.Dot(Idir, VAB.normalized);
if (a_projvalue < 0)//球体位于射线原点的后面 不相交
{
return(false);
}
else
{
FP m_square = Idir_length_square - a_projvalue * a_projvalue; //球心到投影点距离的平方
if (m_square - static_radius_square > 0) //预测不相交
{
return(false);
}
else//有可能有交点，因为有可能距离不够
{
//var t = calHitInfo(Idir, a_projvalue);
FP b_squar = m_square;
FP f = TSMath.Sqrt(static_radius_square - b_squar); //理论上来说 f是开跟后的结果,应该有俩个值？
FP t1 = a_projvalue - f; //碰撞到静态圆所走的路程，总路程是runCircle.cur_pos+VAB*delataTime;
FP t2 = a_projvalue + f;
FP per = 0;
bool isFlag = false;
if (t1 > 0 && t1 - VAB.magnitude < 0)
{
isFlag = true;
if (VAB.magnitude < 0)
{
Debug.Log("除数不能为0");
}
per = t1 / VAB.magnitude;
}
if (t2 > 0 && t2 - VAB.magnitude < 0)
{
isFlag = true;
if (VAB.magnitude < 0)
{
Debug.Log("除数不能为0");
}
var per2 = t2 / VAB.magnitude;
if (per2 < per)
{
per = per2;
}
}
_percent = per;
if (isFlag && _percent < FP.EN4)
{
return(false);
}
return(isFlag);
}
}
}
}
/// <summary>
/// 检测圆是否和线段的端点相交,参考了俩个动态圆的动态相交测试,都是转化为射线和圆的相交测试
/// </summary>
/// <returns></returns>
public static bool CheckCircle_tableEdgeEndContact(CircleRunData runCircle, tableEdge segement, ref FP _percent, ref TSVector2 _nearestPos)
{
TSVector2 cirPos = runCircle.cur_pos;
TSVector2 nearestPos = TSVector2.zero;
//先确定圆的起始位置离哪个端点最近
if (TSVector2.DistanceSquared(runCircle.cur_pos, segement.start) < TSVector2.DistanceSquared(runCircle.cur_pos, segement.end))
{
_nearestPos = nearestPos = segement.start;
}
else
{
_nearestPos = nearestPos = segement.end;
}
//TSVector2 VA = runCircle.next_pos - runCircle.cur_pos;
//TSVector2 VB = staticCircle.next_pos - staticCircle.cur_pos;
//两个运动方向描述为一方运动另一方静止 so
//TSVector2 VAB = VA - VB;//runCircle相对于staticCircle的运动方向pc
TSVector2 VAB = runCircle.next_pos - runCircle.cur_pos; //动态圆射线运动方向
TSVector2 Idir = nearestPos - cirPos; //射线起点到静态圆的方向
//FP Idir_length_square = TSVector2.Dot(Idir, Idir);
FP Idir_length_square = Idir.LengthSquared();
FP static_radius_square = runCircle.radius * runCircle.radius;
if (Idir_length_square < static_radius_square)//射线起点在圆心内部,相交
{
//_percent = calHitInfo();
//_percent = 1;//一开始就相交的
//Debug.Log("射线起点在圆心内部");
return(false);
}
else//射线起点在圆心外部的情况
{
FP a_projvalue = TSVector2.Dot(Idir, VAB.normalized);
if (a_projvalue < 0)//球体位于射线原点的后面 不相交
{
return(false);
}
else
{
FP m_square = Idir_length_square - a_projvalue * a_projvalue; //球心到投影点距离的平方
if (m_square - static_radius_square > 0) //预测不相交
{
return(false);
}
else//有可能有交点，因为有可能距离不够
{
//var t = calHitInfo(Idir, a_projvalue);
FP b_squar = m_square;
FP f = TSMath.Sqrt(static_radius_square - b_squar); //理论上来说 f是开跟后的结果,应该有俩个值？
FP t1 = a_projvalue - f; //碰撞到静态圆所走的路程，总路程是runCircle.cur_pos+VAB*delataTime;
FP t2 = a_projvalue + f;
FP per = 0;
bool isFlag = false;
if (t1 > 0 && t1 - VAB.magnitude < FP.EN8)
{
isFlag = true;
if (VAB.magnitude < 0)
{
Debug.Log("除数不能为0");
}
per = t1 / VAB.magnitude;
}
if (t2 > 0 && t2 - VAB.magnitude < 0)
{
isFlag = true;
if (VAB.magnitude < 0)
{
Debug.Log("除数不能为0");
}
var per2 = t2 / VAB.magnitude;
if (per2 < per)
{
per = per2;
}
}
_percent = per;
if (_percent > 1)
{
Debug.Log("路程百分比大于1,注意!");
}
if (isFlag && _percent < FP.EN4)
{
return(false);
}
return(isFlag);
}
}
}
}
void UpdatePhysicStep(FP _deltaTime)
{
step++;
//AddTestData(step,balls);
for (int k = 0; k < balls.Count; k++)
{
var ball = balls[k];
ball.deltaTime = _deltaTime;
ball.lockcheck = false;
}
testnumber = 0;
FP leftSyncTime = _deltaTime;
while (true)
{
testnumber++;
if (testnumber > 100)
{
if (testnumber > 200)
{
Debug.Log("防止死循环");
break;
}
}
//List<BaseHit> baseHits = new List<BaseHit>();
baseHits.Clear();
FP _percent = 0;
for (int i = 0; i < balls.Count - 1; i++)
{
var ball = balls[i];
//CircleRunData run_crd = new CircleRunData(ball.GetPos(), ball.PredictPos(leftSyncTime), ball.GetRadius());
CircleRunData run_crd = run_crdPool.New();
run_crd.Init(ball.GetPos(), ball.PredictPos(leftSyncTime), ball.GetRadius());
for (int j = i + 1; j < balls.Count; j++)
{
var otherball = balls[j];
//CircleRunData static_crd = new CircleRunData(otherball.GetPos(), otherball.PredictPos(leftSyncTime), otherball.GetRadius());
CircleRunData static_crd = run_crdPool.New();
static_crd.Init(otherball.GetPos(), otherball.PredictPos(leftSyncTime), otherball.GetRadius());
if (Detection.CheckCircle_CircleContact(run_crd, static_crd, ball.deltaTime, ref _percent))
{
var obj = fastHitBallPool.New();
obj.Init(ball, otherball, _percent);
baseHits.Add(obj);
//baseHits.Add(new fastHitBall(ball, otherball, _percent));
}
}
}
for (int ii = 0; ii < balls.Count; ii++)
{
var ball = balls[ii];
TSVector2 predictEndPos = ball.GetPos() + ball.GetMoveDir() * 100;
//CircleRunData run_crd = new CircleRunData(ball.GetPos(), ball.PredictPos(leftSyncTime), ball.GetRadius());
CircleRunData run_crd = run_crdPool.New();
run_crd.Init(ball.GetPos(), ball.PredictPos(leftSyncTime), ball.GetRadius());
//在当前速度下,预测圆最先和哪条边碰撞
for (int jj = 0; jj < tableEdges.Count; jj++)
{
TSVector2 predictCirclePos = TSVector2.zero;
if (Detection.CheckCloseSegement(tableEdges[jj], ball.moveDir))
//if (Detection.CheckCloseEdge(tableEdges[jj].start, tableEdges[jj].end, ball.GetPos(), predictEndPos))
{
//预测是否和边所在平面碰撞
if (Detection.CheckCircle_LineContact(tableEdges[jj], run_crd, ref _percent) /*|| Detection.CheckCircle_tableEdgeEndContact(run_crd, tableEdges[jj], ref _percent)*/)
{
predictCirclePos = ball.PredictPos(leftSyncTime * _percent);
if (Detection.CheckCircle_SegementContact(predictCirclePos, tableEdges[jj], ball.radius))//然后检测离真实线段最近的点是否符合要求
{
var obj = fastEdgePool.New();
obj.Init(ball, tableEdges[jj], _percent, tableEdges[jj].normal);
baseHits.Add(obj);
}
else
{
_percent = 0;
}
}
else
{
//TSVector2 nearestPos = TSVector2.zero;
//if(Detection.CheckCircle_tableEdgeEndContact(run_crd, tableEdges[jj], ref _percent,ref nearestPos))//检测是否和线段的端点产生了碰撞
}
}
if (Detection._CheckCircle_tableEdgeEndContact(run_crd, tableEdges[jj].start, ref _percent))//检测是否和线段的左端点产生了碰撞
{
predictCirclePos = ball.PredictPos(leftSyncTime * _percent);
if (Detection.CheckCircle_SegementContact(predictCirclePos, tableEdges[jj], ball.radius))//然后检测离真实线段最近的点是否符合要求
{
var obj = fastEdgePool.New();
obj.Init(ball, tableEdges[jj], _percent, (predictCirclePos - tableEdges[jj].start).normalized);
baseHits.Add(obj);
}
else
{
_percent = 0;
}
}
else if (Detection._CheckCircle_tableEdgeEndContact(run_crd, tableEdges[jj].end, ref _percent))//检测是否和线段的右端点产生了碰撞
{
predictCirclePos = ball.PredictPos(leftSyncTime * _percent);
if (Detection.CheckCircle_SegementContact(predictCirclePos, tableEdges[jj], ball.radius))//然后检测离真实线段最近的点是否符合要求
{
var obj = fastEdgePool.New();
obj.Init(ball, tableEdges[jj], _percent, (predictCirclePos - tableEdges[jj].end).normalized);
baseHits.Add(obj);
}
else
{
_percent = 0;
}
}
else
{
_percent = 0;
}
}
}
if (baseHits.Count > 0)
{
var closedHit = baseHits.OrderBy((m) => m.t_percent).First();
closedHit.TagProcess();
var syncTime = closedHit.t_percent * leftSyncTime;
leftSyncTime -= syncTime;
if (leftSyncTime <= 0)
{
leftSyncTime = 0;
}
if (closedHit.hitType == HitType.Ball)
{
var _baseHit = closedHit as fastHitBall;
//_baseHit.runballObj.CalBallPos(_baseHit.t_percent * _baseHit.runballObj.deltaTime);
//_baseHit.staticballObj.CalBallPos(_baseHit.t_percent * _baseHit.staticballObj.deltaTime);
updateDirAndTimeByBall(_baseHit.t_percent, _baseHit.runballObj, _baseHit.staticballObj, syncTime);
}
else if (closedHit.hitType == HitType.Edge)
{
var _baseHit = closedHit as fastEdge;
//_baseHit.ball.CalBallPos(_baseHit.t_percent * _baseHit.ball.deltaTime);
//updateDirAndTimeByEdge(_baseHit.t_percent, _baseHit.tbe, _baseHit.ball, syncTime);
_updateDirAndTimeByEdge(_baseHit.t_percent, _baseHit.hitNormal, _baseHit.ball, syncTime);
}
for (int m = 0; m < balls.Count; m++)
{
var nothitBall = balls[m];
if (nothitBall.lockcheck == false)
{
nothitBall.UpdateBallPos(syncTime);
}
}
}
else
{
for (int n = 0; n < balls.Count; n++)
{
var nothitBall = balls[n];
//if (nothitBall.deltaTime > 0)
nothitBall.UpdateBallPos(leftSyncTime);
}
break;
}
run_crdPool.ResetAll();
fastEdgePool.ResetAll();
fastHitBallPool.ResetAll();
UnLockBalls();
}
//ClearTestData();
}