public static ColliderPrefab CreateColliderPrefab(ColliderData data)
{
CBaseShape collider = null;
if (LMath.Abs(data.deg - 45) < 1)
{
}
//warning data.deg is unity deg
//changed unity deg to ccw deg
var collisionDeg = -data.deg + 90;
if (data.radius > 0)
{
//circle
collider = new CCircle(data.radius);
}
else
{
//obb
collider = new COBB(data.size, collisionDeg);
}
collider.high = data.high;
var colFab = new ColliderPrefab();
colFab.parts.Add(new ColliderPart()
{
transform = new CTransform2D(data.pos, data.y, data.deg),
collider = collider
});
return(colFab);
}
public bool ContainsCircle(LVector2 circleCenter, LFloat radius)
{
var center = _bounds.center;
var dx = LMath.Abs(circleCenter.x - center.x);
var dy = LMath.Abs(circleCenter.y - center.y);
if (dx > (_bounds.width / 2 + radius))
{
return(false);
}
if (dy > (_bounds.height / 2 + radius))
{
return(false);
}
if (dx <= (_bounds.width / 2))
{
return(true);
}
if (dy <= (_bounds.height / 2))
{
return(true);
}
var dsx = (dx - _bounds.width / 2);
var dsy = (dy - _bounds.height / 2);
var cornerDist = dsx * dsx + dsy * dsy;
return(cornerDist <= (radius * radius));
}
public static bool TestAABBAABB(LVector2 posA, LFloat rA, LVector2 sizeA, LVector2 posB, LFloat rB,
LVector2 sizeB)
{
var diff = posA - posB;
var allRadius = rA + rB;
//circle 判定
if (diff.sqrMagnitude > allRadius * allRadius)
{
return(false);
}
var absX = LMath.Abs(diff.x);
var absY = LMath.Abs(diff.y);
//AABB and AABB
var allSize = sizeA + sizeB;
if (absX > allSize.x)
{
return(false);
}
if (absY > allSize.y)
{
return(false);
}
return(true);
}
/// <summary>
///
/// </summary>
/// <param name="o">射线起点</param>
/// <param name="d">射线终点</param>
/// <param name="min">矩形的左下角坐标</param>
/// <param name="max">矩形的右上角坐标</param>
/// <param name="tmin">返回距离</param>
/// <returns></returns>
public static bool TestRayAABB(LVector2 o, LVector2 d, LVector2 min, LVector2 max, out LFloat tmin)
{
tmin = LFloat.zero;
LFloat tmax = LFloat.FLT_MAX;
for (int i = 0; i < 2; i++)
{
if (LMath.Abs(d[i]) < LFloat.EPSILON)
{
if (o[i] < min[i] || o[i] > max[i])
{
return(false);
}
}
else
{
LFloat ood = LFloat.one / d[i];
LFloat t1 = (min[i] - o[i]) * ood;
LFloat t2 = (max[i] - o[i]) * ood;
if (t1 > t2)
{
var temp = t1;
t1 = t2;
t2 = temp;
}
tmin = LMath.Max(tmin, t1);
tmax = LMath.Min(tmax, t2);
if (tmin > tmax)
{
return(false);
}
}
}
return(true);
}
public static bool TestAABBOBB(LVector2 posA, LFloat rA, LVector2 sizeA, LVector2 posB, LFloat rB, LVector2 sizeB,
LVector2 upB)
{
var diff = posA - posB;
var allRadius = rA + rB;
//circle 判定
if (diff.sqrMagnitude > allRadius * allRadius)
{
return(false);
}
var absUPX = LMath.Abs(upB.x); //abs(up dot aabb.right)
var absUPY = LMath.Abs(upB.y); //abs(right dot aabb.right)
{
//轴 投影 AABBx
var distX = absUPX * sizeB.y + absUPY * sizeB.x;
if (LMath.Abs(diff.x) > distX + sizeA.x)
{
return(false);
}
//轴 投影 AABBy
//absUPX is abs(right dot aabb.up)
//absUPY is abs(up dot aabb.up)
var distY = absUPY * sizeB.y + absUPX * sizeB.x;
if (LMath.Abs(diff.y) > distY + sizeA.y)
{
return(false);
}
}
{
var right = new LVector2(upB.y, -upB.x);
var diffPObbX = LVector2.Dot(diff, right);
var diffPObbY = LVector2.Dot(diff, upB);
//absUPX is abs(aabb.up dot right )
//absUPY is abs(aabb.right dot right)
//轴 投影 OBBx
var distX = absUPX * sizeA.y + absUPY * sizeA.x;
if (LMath.Abs(diffPObbX) > distX + sizeB.x)
{
return(false);
}
//absUPX is abs(aabb.right dot up )
//absUPY is abs(aabb.up dot up)
//轴 投影 OBBy
var distY = absUPY * sizeA.y + absUPX * sizeA.x;
if (LMath.Abs(diffPObbY) > distY + sizeB.y)
{
return(false);
}
}
return(true);
}
public LFloat height; // 高
/**
* 数据检测，客户端的顶点坐标和三角形数据有可能是重复的ç∂
* TODO 小三角形合并成大三角形或多边形；判断顶点是否在寻路层中，寻路层中的顶点不能作为路径点；两点所连线段是否穿过阻挡区，不穿过，直接获取坐标点
*/
public void check(int scale)
{
amendmentSameVector(pathTriangles, pathVertices);
scaleVector(pathVertices, scale);
this.width = LMath.Abs(this.getEndX() - this.getStartX());
this.height = LMath.Abs(this.getEndZ() - this.getStartZ());
}
public static LFloat RoundIfNear(LFloat val, LFloat roundDist)
{
var roundVal = LMath.Round(val);
var diff = LMath.Abs(val - roundVal);
if (diff < roundDist)
{
return(roundVal);
}
return(val);
}
public static bool CheckCollision(LVector2 posA, LFloat rA, LVector2 sizeA, LVector2 posB, LFloat rB,
LVector2 sizeB)
{
var diff = posA - posB;
var allRadius = rA + rB;
//circle 判定
if (diff.sqrMagnitude > allRadius * allRadius)
{
return(false);
}
var isBoxA = sizeA != LVector2.zero;
var isBoxB = sizeB != LVector2.zero;
if (!isBoxA && !isBoxB)
{
return(true);
}
var absX = LMath.Abs(diff.x);
var absY = LMath.Abs(diff.y);
if (isBoxA && isBoxB)
{
//AABB and AABB
var allSize = sizeA + sizeB;
if (absX > allSize.x)
{
return(false);
}
if (absY > allSize.y)
{
return(false);
}
return(true);
}
else
{
//AABB & circle
var size = sizeB;
var radius = rA;
if (isBoxA)
{
size = sizeA;
radius = rB;
}
var x = LMath.Max(absX - size.x, LFloat.zero);
var y = LMath.Max(absY - size.y, LFloat.zero);
return(x * x + y * y < radius * radius);
}
}
public static LVector2 GetIntersectPoint(LVector2 p0, LVector2 p1, LVector2 p2, LVector2 p3)
{
var diff = p2 - p0;
var d1 = p1 - p0;
var d2 = p3 - p2;
var demo = LMath.Cross2D(d1, d2); //det
if (LMath.Abs(demo) < LFloat.EPSILON) //parallel
{
return(p0);
}
var t1 = LMath.Cross2D(diff, d2) / demo; // Cross2D(diff,-d2)
return(p0 + (p1 - p0) * t1);
}
private void _OnTriggerEnter(ColliderProxy other)
{
if (_curPart.collider.IsCircle && _curPart.collider.deg > 0)
{
var deg = (other.Transform2D.pos - owner.transform.pos).ToDeg();
var degDiff = owner.transform.deg.Abs() - deg;
if (LMath.Abs(degDiff) <= _curPart.collider.deg)
{
_tempTargets.Add(other);
}
}
else
{
_tempTargets.Add(other);
}
}
//private static readonly HashSet<Entity> _tempEntities = new HashSet<Entity>();
private void _OnTriggerEnter(ColliderProxy other)
{
if (CurPart.collider.IsCircle && CurPart.collider.deg > 0)
{
var deg = (other.Transform2D.pos - entity.transform.pos).ToDeg();
var degDiff = entity.transform.deg.Abs() - deg;
if (LMath.Abs(degDiff) <= CurPart.collider.deg)
{
_tempEntities.Add(other.Entity);
}
}
else
{
_tempEntities.Add(other.Entity);
}
}
public void DoUpdate(LFloat deltaTime)
{
var curPos = Transform2D.pos;
if (_prePos != curPos)
{
_prePos = curPos;
IsMoved = true;
}
var curDeg = Transform2D.deg;
if (LMath.Abs(curDeg - _preDeg) > DegGap)
{
_preDeg = curDeg;
IsMoved = true;
}
}
/// <summary>
/// sqrt(a^2 + b^2) without under/overflow.
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static LFloat Hypot(LFloat a, LFloat b)
{
LFloat r;
if (LMath.Abs(a) > LMath.Abs(b))
{
r = b / a;
r = LMath.Abs(a) * LMath.Sqrt(1 + r * r);
}
else if (b != 0)
{
r = a / b;
r = LMath.Abs(b) * LMath.Sqrt(1 + r * r);
}
else
{
r = 0d;
}
return(r);
}
/// <summary>
///
/// </summary>
/// <param name="o">射线的起点</param>
/// <param name="d1">射线的终点</param>
/// <param name="p2">多边形的顶点</param>
/// <param name="p3">多边形相邻的顶点（和p2 组成线段）</param>
/// <returns>返回大于等于0时 说明相交</returns>
public static LFloat TestRaySegment(LVector2 o, LVector2 d1, LVector2 p2, LVector2 p3)
{
LVector2 diff = p2 - o;
LVector2 d2 = p3 - p2;
// 叉乘的结果如过为0 说明平行
LFloat dome = LMath.Cross2D(d1, d2);
if (LMath.Abs(dome) < LFloat.EPSILON)
{
return(LFloat.negOne);
}
LFloat t1 = LMath.Cross2D(d2, diff);
LFloat t2 = LMath.Cross2D(d1, diff);
if (t1 >= 0 && (t2 >= 0 && t2 <= 1))
{
return(t1);
}
return(LFloat.negOne);
}
public static LFloat TestRaySegment(LVector2 o, LVector2 d1, LVector2 p2, LVector2 p3)
{
var diff = p2 - o;
var d2 = p3 - p2;
var demo = Cross2D(d1, d2); //det
if (LMath.Abs(demo) < LFloat.EPSILON) //parallel
{
return(LFloat.negOne);
}
var t1 = Cross2D(d2, diff) / demo; // Cross2D(diff,-d2)
var t2 = Cross2D(d1, diff) / demo; //Dot(v1,pd0) == cross(d0,d1)
if (t1 >= 0 && (t2 >= 0 && t2 <= 1))
{
return(t1);
}
return(LFloat.negOne);
}
public static bool TestCircleAABB(LVector2 posA, LFloat rA, LVector2 posB, LFloat rB, LVector2 sizeB)
{
var diff = posA - posB;
var allRadius = rA + rB;
//circle 判定
if (diff.sqrMagnitude > allRadius * allRadius)
{
return(false);
}
var absX = LMath.Abs(diff.x);
var absY = LMath.Abs(diff.y);
//AABB & circle
var size = sizeB;
var radius = rA;
var x = LMath.Max(absX - size.x, LFloat.zero);
var y = LMath.Max(absY - size.y, LFloat.zero);
return(x * x + y * y < radius * radius);
}
public static bool TestCircleOBB(LVector2 posA, LFloat rA, LVector2 posB, LFloat rB, LVector2 sizeB,
LVector2 up)
{
var diff = posA - posB;
var allRadius = rA + rB;
//circle 判定CollisionHelper
if (diff.sqrMagnitude > allRadius * allRadius)
{
return(false);
}
//空间转换
var absX = LMath.Abs(LVector2.Dot(diff, new LVector2(up.y, -up.x)));
var absY = LMath.Abs(LVector2.Dot(diff, up));
var size = sizeB;
var radius = rA;
var x = LMath.Max(absX - size.x, LFloat.zero);
var y = LMath.Max(absY - size.y, LFloat.zero);
return(x * x + y * y < radius * radius);
}
public static LFloat TestSegmentSegment(LVector2 p0, LVector2 p1, LVector2 p2, LVector2 p3)
{
LVector2 diff = p2 - p0;
LVector2 d1 = p1 - p0;
LVector2 d2 = p3 - p2;
var demo = LMath.Cross2D(d1, d2);
if (LMath.Abs(demo) < LFloat.EPSILON) //parallel
{
return(LFloat.negOne);
}
var t1 = LMath.Cross2D(d2, diff) / demo; // Cross2D(diff,-d2)
var t2 = LMath.Cross2D(d1, diff) / demo; //Dot(v1,pd0) == cross(d0,d1)
if ((t1 >= 0 && t1 <= 1) && (t2 >= 0 && t2 <= 1))
{
return(t1); // return p0 + (p1-p0) * t1
}
return(LFloat.negOne);
}
public static bool TestOBBOBB(LVector2 posA, LFloat rA, LVector2 sizeA, LVector2 upA, LVector2 posB,
LFloat rB,
LVector2 sizeB,
LVector2 upB)
{
var diff = posA - posB;
var allRadius = rA + rB;
//circle 判定
if (diff.sqrMagnitude > allRadius * allRadius)
{
return(false);
}
var rightA = new LVector2(upA.y, -upA.x);
var rightB = new LVector2(upB.y, -upB.x);
{
//轴投影到 A.right
var BuProjAr = LMath.Abs(LVector2.Dot(upB, rightA));
var BrProjAr = LMath.Abs(LVector2.Dot(rightB, rightA));
var DiffProjAr = LMath.Abs(LVector2.Dot(diff, rightA));
var distX = BuProjAr * sizeB.y + BrProjAr * sizeB.x;
if (DiffProjAr > distX + sizeA.x)
{
return(false);
}
//轴投影到 A.up
var BuProjAu = LMath.Abs(LVector2.Dot(upB, upA));
var BrProjAu = LMath.Abs(LVector2.Dot(rightB, upA));
var DiffProjAu = LMath.Abs(LVector2.Dot(diff, upA));
var distY = BuProjAu * sizeB.y + BrProjAu * sizeB.x;
if (DiffProjAu > distY + sizeA.y)
{
return(false);
}
}
{
//轴投影到 B.right
var AuProjBr = LMath.Abs(LVector2.Dot(upA, rightB));
var ArProjBr = LMath.Abs(LVector2.Dot(rightA, rightB));
var DiffProjBr = LMath.Abs(LVector2.Dot(diff, rightB));
var distX = AuProjBr * sizeA.y + ArProjBr * sizeA.x;
if (DiffProjBr > distX + sizeB.x)
{
return(false);
}
//轴投影到 B.right
var AuProjBu = LMath.Abs(LVector2.Dot(upA, upB));
var ArProjBu = LMath.Abs(LVector2.Dot(rightA, upB));
var DiffProjBu = LMath.Abs(LVector2.Dot(diff, upB));
var distY = AuProjBu * sizeA.y + ArProjBu * sizeA.x;
if (DiffProjBu > distY + sizeB.x)
{
return(false);
}
}
return(true);
}
public static bool IsZero(LFloat value)
{
return(LMath.Abs(value) <= GeometryUtil.FLOAT_ROUNDING_ERROR);
}
/// <summary>
/// 夹角大小
/// </summary>
/// <param name="a"></param>
/// <param name="b"></param>
/// <returns></returns>
public static LFloat Angle(LQuaternion a, LQuaternion b)
{
LFloat single = Dot(a, b);
return(LMath.Acos(LMath.Min(LMath.Abs(single), LFloat.one)) * 2 * (180 / LMath.PI));
}
