void updateDirAndTimeByEdge(FP _percent, tableEdge _tbe, BallObj ball, FP _deltaTime)
{
ball.UpdateBallPos(_deltaTime * _percent); //先更新到撞击点
var curReflcDir = Detection.CheckCircle_LineCollision(_tbe, ball.GetPos(), ball.GetRadius(), ball.GetMoveDir()); //计算碰撞响应
ball.UpdateMoveDir(curReflcDir); //更新实时方向
}
void AddTestData(tableEdge tbg, TSVector2 prepos, TSVector2 hitpos, TSVector2 premoveDir, TSVector2 aftmoveDir)
{
td.Add(new testData()
{
tbg = tbg, prehitPos = prepos, hitpos = hitpos, PremoveDir = premoveDir, AftmoveDir = aftmoveDir
});
}
public fastEdge(BallObj _ball, tableEdge _tbe, FP _t_percent)
{
ball = _ball;
tbe = _tbe;
t_percent = _t_percent;
deltaTime = ball.deltaTime;
hitType = HitType.Edge;
}
public void Init(BallObj _ball, tableEdge _tbe, FP _t_percent, TSVector2 _hitNormal)
{
ball = _ball;
tbe = _tbe;
t_percent = _t_percent;
deltaTime = ball.deltaTime;
hitType = HitType.Edge;
hitNormal = _hitNormal;
}
/// <summary>
/// 当球的运动矢量和边的法线点积小于零，证明和该边可能产生碰撞
/// </summary>
/// <param name="segement"></param>
/// <param name="dir"></param>
/// <returns></returns>
public static bool CheckCloseSegement(tableEdge segement, TSVector2 dir)
{
FP result = TSVector2.Dot(dir, segement.normal);
if (result < 0)
{
return(true);
}
return(false);
}
/// <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>
/// 圆碰撞的反弹方向
/// </summary>
/// <param name="tedge">线段</param>
/// <param name="circlePos">圆心</param>
/// <param name="radius">半径</param>
/// <param name="moveDir">圆的速度方向</param>
/// <returns></returns>
public static TSVector2 CheckCircle_LineCollision(tableEdge tedge, TSVector2 circlePos, FP radius, TSVector2 moveDir)
{
TSVector2 C = circlePos;
TSVector2 A = tedge.farstart;
TSVector2 B = tedge.farend;
TSVector2 V = moveDir;
TSVector2 AC = C - A;
TSVector2 AB = B - A;
TSVector2 ABnormal = TSVector2.Normalize(AB);
TSVector2 HC = AC - ABnormal * TSMath.Abs(TSVector2.Dot(AC, ABnormal));
TSVector2 HCnormal = TSVector2.Normalize(HC);
FP VP = TSMath.Abs(TSVector2.Dot(V, HCnormal));
if (TSMath.Abs(VP) > 10000)
{
Debug.Log("圆碰边速度过大");
}
TSVector2 VF = V + HCnormal * VP * 2;//反射方向
return(VF);
}
/// <summary>
/// 静态相交检测,主要是计算圆心到线段最近点的距离。
/// 圆心p(x, y), 半径r, 线段两端点p1(x1, y1)和p2(x2, y2)
/// </summary>
/// <returns></returns>
public static bool CheckCircle_SegementContact(TSVector2 cirPos, tableEdge segement, FP radius)
{
TSVector2 P1P = cirPos - segement.start;
TSVector2 P1P2 = segement.end - segement.start;
FP P2P2_len = P1P2.magnitude;
TSVector2 P1P2norm = P1P2.normalized;
FP u = TSVector2.Dot(P1P, P1P2norm);
TSVector2 nearestPos = TSVector2.zero;
// determine the nearest point on the lineseg
FP x0 = 0;
FP y0 = 0;
if (u <= 0)
{
// p is on the left of p1, so p1 is the nearest point on lineseg
nearestPos = segement.start;
}
else if (u >= P2P2_len)
{
// p is on the right of p2, so p2 is the nearest point on lineseg
nearestPos = segement.end;
}
else
{
// p0 = p1 + v2 * u
// note that v2 is already normalized.
nearestPos = segement.start + P1P2norm * u;
}
var dis = TSVector2.Distance(cirPos, nearestPos);
if (dis <= radius + FP.Epsilon)
{
return(true);
}
else
{
return(false);
}
}
/// <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);
}
}
}
}