/// <summary>
/// 返回一个最极端的闵科夫斯基差，根据前形状，和传入的形状
/// </summary>
/// <param name="other"></param>
/// <param name="direction"></param>
/// <returns></returns>
private Vector3 MinkowskiDiffSupport(GJKCollider other, Vector3 direction)
{
//搜索direction方向最远的点
Vector3 my_support = support.Support(direction);
Vector3 other_support = other.support.Support(-direction);
//闵可夫斯基差
Vector3 result = my_support - other_support;
return(result);
}
/// <summary>
/// 碰撞函数
/// </summary>
/// <param name="other"></param>
/// <returns></returns>
public bool CollidesWithOther(GJKCollider other)
{
Vector3 newest_point;
//任意方向，暂定vector3.right
Vector3 direction = Vector3.right;
Vector3 C = MinkowskiDiffSupport(other, direction);
//如果该点和原点方向相反，直接返回false
if (Vector3.Dot(C, direction) < 0)
{
return(false);
}
//取反
direction = -C;
Vector3 B = MinkowskiDiffSupport(other, direction);
//如果该点和原点方向相反，直接返回false
if (Vector3.Dot(B, direction) < 0)
{
return(false);
}
//设置下一个方向为垂直于该线 BC X BO X BC
direction = Cross_ABA(C - B, -B);
//单形，已经包含两个点，B 和C
List <Vector3> simplex = new List <Vector3>
{
B, C
};
//在最大迭代次数范围内迭代
for (int i = 0; i < MAX_ITERATIONS; i++)
{
newest_point = MinkowskiDiffSupport(other, direction);
//搜索方向的最远点仍然没有接近原点，false
if (Vector3.Dot(newest_point, direction) < 0)
{
return(false);
}
//对单形状进行操作，
//如果单形是包含原点的四面体，则返回true
if (DoSimplex(newest_point, ref simplex, ref direction))
{
return(true);
}
}
//超过迭代次数，如果还没检测到，直接返回false
return(false);
}
public void OnMyCollisionEnter(GJKCollider other)
{
Debug.Log(other.gameObject.name + " enter");
}
