/// <summary>
/// 获得多边形在一条直线上的投影范围
/// </summary>
/// <param name="list"></param>
/// <param name="axis"></param>
/// <returns></returns>
static CustomVector2 GetMapPointMinMaxDis(List <CustomVector3> list, CustomVector2 axis)
{
CustomVector2 point = new CustomVector2(list[0].x, list[0].z);
FixedPointF min = CustomVector2.Dot(point, axis);
FixedPointF max = min;
for (int i = 1; i < list.Count; i++)
{
point = new CustomVector2(list[i].x, list[i].z);
FixedPointF doc = CustomVector2.Dot(point, axis);
if (doc < min)
{
min = doc;
}
if (doc > max)
{
max = doc;
}
}
point.x = min;
point.y = max;
return(point);
}
/// <summary>
/// 检查凸两个圆是否重合
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static bool CheckCircleAndCircle(CustomCircleCollider a, CustomCircleCollider b)
{
//障碍物之间的碰撞不处理
if (a.mIsobstacle && b.mIsobstacle)
{
return(false);
}
bool mInit = false;
//a在左
bool a_at_left = true;
//偏移向量
CustomVector2 offsetvec = new CustomVector2(0, 0);
//偏移值
FixedPointF offsetfac = new FixedPointF(0);
//圆心连线
CustomVector3 vec3 = a.mTrans.Position - b.mTrans.Position;
CustomVector2 axis = new CustomVector2(vec3.x, vec3.z);
FixedPointF x = axis.x;
FixedPointF y = axis.y;
FixedPointF temp = x * x + y * y;
FixedPointF z = FixedPointF.Sqrt(temp);
//圆心重合，x轴推开
if (z == FixedPointF.zero)
{
axis.x = new FixedPointF(1000, 1000);
axis.y = new FixedPointF(0, 1000);
}
else
{
axis.x = x / z;
axis.y = y / z;
}
CustomVector3 apos = a.mTrans.Position;
CustomVector2 point = new CustomVector2(apos.x, apos.z);
FixedPointF mapPoint = CustomVector2.Dot(point, axis);
FixedPointF min = mapPoint - a.mRadius;
FixedPointF max = mapPoint + a.mRadius;
CustomVector2 proj_a = new CustomVector2(min, max);
CustomVector3 bpos = b.mTrans.Position;
point = new CustomVector2(bpos.x, bpos.z);
mapPoint = CustomVector2.Dot(point, axis);
min = mapPoint - b.mRadius;
max = mapPoint + b.mRadius;
CustomVector2 proj_b = new CustomVector2(min, max);
if (!Check_Overlap(proj_a, proj_b))
{
return(false);
}
else
{
bool a_at_left_temp = false;
FixedPointF offsetfac_temp = new FixedPointF(0);
Set_PushVec(proj_a, proj_b, ref a_at_left_temp, ref offsetfac_temp);
if (!mInit)
{
a_at_left = a_at_left_temp;
offsetfac = offsetfac_temp;
offsetvec = axis;
mInit = true;
}
else
{
if (offsetfac_temp < offsetfac)
{
a_at_left = a_at_left_temp;
offsetfac = offsetfac_temp;
offsetvec = axis;
}
}
}
Push(a, b, offsetfac, offsetvec, a_at_left);
return(true);
}
/// <summary>
/// 检查凸多边形和圆是否重合
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static bool CheckPolygonAndCircle(CustomPolygonCollider a, CustomCircleCollider b)
{
//障碍物之间的碰撞不处理
if (a.mIsobstacle && b.mIsobstacle)
{
return(false);
}
List <CustomVector3> a_worldBound = a.LocalToWorldBound;
bool mInit = false;
//a在左
bool a_at_left = true;
//偏移向量
CustomVector2 offsetvec = new CustomVector2(0, 0);
//偏移值
FixedPointF offsetfac = new FixedPointF(0);
//顶点连线
//斜率k
List <CustomVector2> a_edges = new List <CustomVector2>();
for (int i = 0; i < a_worldBound.Count; i++)
{
int point1_index = i;
int point2_index = (i + 1) % a_worldBound.Count;
CustomVector3 offset = a_worldBound[point2_index] - a_worldBound[point1_index];
a_edges.Add(new CustomVector2(offset.x, offset.z));
}
for (int i = 0; i < a_edges.Count; i++)
{
CustomVector2 axis = a_edges[i];
axis = Vec_normal(axis);
FixedPointF x = axis.x;
FixedPointF y = axis.y;
FixedPointF temp = x * x + y * y;
FixedPointF z = FixedPointF.Sqrt(temp);
axis.x = x / z;
axis.y = y / z;
//求圆在法线上的投影边界
CustomVector3 vec3 = b.mTrans.Position;
CustomVector2 point = new CustomVector2(vec3.x, vec3.z);
FixedPointF mapPoint = CustomVector2.Dot(point, axis);
FixedPointF min = mapPoint - b.mRadius;
FixedPointF max = mapPoint + b.mRadius;
CustomVector2 proj_b = new CustomVector2(min, max);
CustomVector2 proj_a = GetMapPointMinMaxDis(a_worldBound, axis);
if (!Check_Overlap(proj_a, proj_b))
{
return(false);
}
else
{
bool a_at_left_temp = false;
FixedPointF offsetfac_temp = new FixedPointF(0);
Set_PushVec(proj_a, proj_b, ref a_at_left_temp, ref offsetfac_temp);
if (!mInit)
{
a_at_left = a_at_left_temp;
offsetfac = offsetfac_temp;
offsetvec = axis;
mInit = true;
}
else
{
if (offsetfac_temp < offsetfac)
{
a_at_left = a_at_left_temp;
offsetfac = offsetfac_temp;
offsetvec = axis;
}
}
}
}
Push(a, b, offsetfac, offsetvec, a_at_left);
return(true);
}
