/// <summary>
/// 获取小球滚动加速度
/// </summary>
/// <param name="velocity"></param>
/// <param name="areaType"></param>
/// <param name="poly"></param>
/// <returns></returns>
public Vector3 GetRollAcceleration(Vector3 velocity, AreaType areaType, GolfAIMapPolygon poly)
{
//根据配档的摩擦系数求加速度
Vector3 acc = CalcRollFrictionAcc(velocity, areaType, poly);
//加速度方向校正
acc = CalcTangentVelocity(acc, poly.Normal);
return(acc);
}
/// <summary>
/// 计算滚动点的摩擦力加速度
/// </summary>
/// <param name="velocity"></param>
/// <param name="areaType"></param>
/// <returns></returns>
public Vector3 CalcRollFrictionAcc(Vector3 velocity, AreaType areaType, GolfAIMapPolygon poly)
{
GroundmaterialConfig groundMatConfig = GroundmaterialDao.Inst.GetCfg((uint)areaType);
if (groundMatConfig == null)
{
return(Vector3.zero);
}
//摩擦系数
float u = groundMatConfig.Friction;
//获取小球在该三角面的加速度
Vector3 acc = poly.GetAcceleration(velocity, 1, u);
return(acc);
}
/// <summary>
/// 获取滚动进入的邻边多边形形
/// </summary>
/// <param name="s">起点，s点在目标三角形内</param>
/// <param name="e">终点</param>
/// <param name="TargetTri">目标三角形</param>
/// <param name="collision"></param>
/// <returns>true：有进入 false 未进入</returns>
public bool CheckIntoNearTriangle(Vector3 s, Vector3 e, GolfAIMapPolygon PolyTarget, ref GolfIntoTriCollision collision)
{
Vector3 hitPoint = Vector3.zero;
if (PolyTarget == null)
{
return(false);
}
// 判断是否在多边形内部
if (PolyTarget.CheckProjectionInArea(e) == true)
{
return(false);
}
//
if (collision == null)
{
collision = new GolfIntoTriCollision();
}
collision.ColType = CollisionType.Out;
List <Index2> l = m_Qtree.GetAllTri(e);
if (l == null || l.Count == 0)
{
return(false);
}
foreach (Index2 v in l)
{
GolfMaptriangle tri = GetMapTriangle(v);
if (tri.Parent == PolyTarget)
{
continue;
}
if (tri.GetLineIntersectPoint(s, e, ref hitPoint) == true)
{
collision.Poly = tri.Parent;
collision.Point = hitPoint;
return(true);
}
}
return(false);
}
/// <summary>
/// 求真实滚动点的速度
/// </summary>
/// <param name="startPosition"></param>
/// <param name="endPosition"></param>
/// <param name="velocity"></param>
/// <param name="areaType"></param>
/// <param name="poly"></param>
/// <param name="time"></param>
/// <returns></returns>
public Vector3 CalcRealRollVelocity(Vector3 startPosition, Vector3 endPosition, Vector3 velocity, AreaType areaType, GolfAIMapPolygon poly, float time, Vector3 acc, out float realTime)
{
Vector3 deltaPosition = endPosition - startPosition;
//求真实的时间间隔，根据公式解一元二次方程，有两个值，取正值
realTime = (-velocity.x + Mathf.Sqrt(velocity.x * velocity.x - (4 * 0.5f * acc.x * (-deltaPosition.x)))) / (2 * 0.5f * acc.x);
float vx = velocity.x + acc.x * realTime;
float vy = velocity.y + acc.y * realTime;
float vz = velocity.z + acc.z * realTime;
Vector3 endVelocity = new Vector3(vx, vy, vz);
//求与法线垂直方向的速度
Vector3 realVelocity = CalcTangentVelocity(endVelocity, poly.Normal);
return(endVelocity);
}
/// <summary>
/// 计算下一个预测的滚动点
/// </summary>
/// <param name="position"></param>
/// <param name="velocity"></param>
/// <param name="time"></param>
/// <param name="areaType"></param>
/// <param name="nextVelocity"></param>
/// <returns></returns>
public Vector3 CalcRollPoint(Vector3 position, Vector3 velocity, float time, AreaType areaType, GolfAIMapPolygon poly, ref Vector3 nextVelocity, ref Vector3 acc)
{
//速度方向校正，始终沿切线方向
Vector3 tangentVelocity = CalcTangentVelocity(velocity, poly.Normal);
acc = GetRollAcceleration(tangentVelocity, areaType, poly);
//切线方向x分量
nextVelocity.x = tangentVelocity.x + acc.x * time;
position.x = position.x + tangentVelocity.x * time + 0.5f * acc.x * time * time;
//切线方向y分量
nextVelocity.y = tangentVelocity.y + acc.y * time;
position.y = position.y + tangentVelocity.y * time + 0.5f * acc.y * time * time;
//切线方向z分量
nextVelocity.z = tangentVelocity.z + acc.z * time;
position.z = position.z + tangentVelocity.z * time + 0.5f * acc.z * time * time;
return(position);
}
/// <summary>
/// 设置三角形的父多边形
/// </summary>
/// <param name="parent"></param>
public void SetParent(GolfAIMapPolygon parent)
{
this.m_Parent = parent;
}
