新增shapecollision 用于计算多边形碰撞

source/src/ECS/Components/Physics/Collider.ts

@@ -1,6 +1,7 @@
 abstract class Collider extends Component{
     public shape: Shape;
     public physicsLayer = 1 << 0;
+    public isTrigger: boolean;
 
     public get bounds(): Rectangle {
         return this.shape.bounds;

source/src/Math/Rectangle.ts

@@ -46,8 +46,59 @@ class Rectangle {
             this.top < value.bottom;
     }
 
-    public static fromMinMax(minX: number, minY: number, maxX: number, maxY: number){
-        
+    public contains(value: Vector2) {
+        return ((((this.x <= value.x) && (value.x < (this.x + this.width))) &&
+            (this.y <= value.y)) &&
+            (value.y < (this.y + this.height)));
+    }
+
+    public static fromMinMax(minX: number, minY: number, maxX: number, maxY: number) {
+        return new Rectangle(minX, minY, maxX - minX, maxY - minY);
+    }
+
+    public getClosestPointOnRectangleBorderToPoint(point: Point): {res: Vector2, edgeNormal: Vector2} {
+        let edgeNormal = new Vector2(0, 0);
+
+        let res = new Vector2(0, 0);
+        res.x = MathHelper.clamp(point.x, this.left, this.right);
+        res.y = MathHelper.clamp(point.y, this.top, this.bottom);
+
+        if (this.contains(res)){
+            let dl = res.x - this.left;
+            let dr = this.right - res.x;
+            let dt = res.y - this.top;
+            let db = this.bottom - res.y;
+
+            let min = MathHelper.minOf(dl, dr, dt, db);
+            if (min == dt){
+                res.y = this.top;
+                edgeNormal.y = -1;
+            } else if(min == db){
+                res.y = this.bottom;
+                edgeNormal.y = 1;
+            } else if(min == dl){
+                res.x = this.left;
+                edgeNormal.x = -1;
+            } else{
+                res.x = this.right;
+                edgeNormal.x = 1;
+            }
+        } else {
+            if (res.x == this.left){
+                edgeNormal.x = -1;
+            }
+            if (res.x == this.right){
+                edgeNormal.x = 1;
+            }
+            if (res.y == this.top){
+                edgeNormal.y = -1;
+            }
+            if (res.y == this.bottom){
+                edgeNormal.y = 1;
+            }
+        }
+
+        return {res: res, edgeNormal: edgeNormal};
     }
 
     public calculateBounds(parentPosition: Vector2, position: Vector2, origin: Vector2, scale: Vector2,
@@ -57,7 +108,7 @@ class Rectangle {
             this.y = parentPosition.y + position.y - origin.y * scale.y;
             this.width = width * scale.x;
             this.height = height * scale.y;
-        }else{
+        } else {
             let worldPosX = parentPosition.x + position.x;
             let worldPosY = parentPosition.y + position.y;
 

source/src/Math/Vector2.ts

@@ -52,6 +52,13 @@ class Vector2 {
         return Math.sqrt((this.x * this.x) + (this.y * this.y));
     }
 
+    public static normalize(value: Vector2){
+        let val = 1 / Math.sqrt((value.x * value.x) + (value.y * value.y));
+        value.x *= val;
+        value.y *= val;
+        return value;
+    }
+
     /**
      * 返回两个向量的点积
      * @param value1 

source/src/Physics/Physics.ts

@@ -1,6 +1,8 @@
 class Physics {
     private static _spatialHash: SpatialHash;
 
+    public static readonly allLayers: number = -1;
+
     public static overlapCircleAll(center: Vector2, randius: number, results: any[], layerMask = -1){
         return this._spatialHash.overlapCircle(center, randius, results, layerMask);
     }

source/src/Physics/Shapes/Circle.ts

@@ -8,4 +8,16 @@ class Circle extends Shape {
         this.radius = radius;
         this._originalRadius = radius;
     }
+
+    public pointCollidesWithShape(point: Vector2): CollisionResult {
+        return ShapeCollisions.pointToCicle(point, this);
+    }
+
+    public collidesWithShape(other: Shape): CollisionResult{
+        if (other instanceof Rect && (other as Rect).isUnrotated){
+            return ShapeCollisions.circleToRect(this, other as Rect);
+        }
+
+        throw new Error(`Collisions of Circle to ${other} are not supported`);
+    }
 }

source/src/Physics/Shapes/CollisionResult.ts

@@ -0,0 +1,5 @@
+class CollisionResult {
+    public minimumTranslationVector: Vector2;
+    public normal: Vector2;
+    public point: Vector2;
+}

source/src/Physics/Shapes/Polygon.ts

@@ -1,25 +1,33 @@
 ///<reference path="./Shape.ts" />
 class Polygon extends Shape {
     public points: Vector2[];
+    public isUnrotated: boolean = true;
+    private _polygonCenter: Vector2;
+    private _areEdgeNormalsDirty = true;
+    private _originalPoint: Vector2[]
 
-    constructor(vertCount: number, radius: number){
+    constructor(vertCount: number, radius: number) {
         super();
         this.setPoints(Polygon.buildSymmertricalPolygon(vertCount, radius));
     }
 
-    public setPoints(points: Vector2[]){
+    public setPoints(points: Vector2[]) {
         this.points = points;
         this.recalculateCenterAndEdgeNormals();
+
+        this._originalPoint = new Vector2[points.length];
+        this._originalPoint = points;
     }
 
-    public recalculateCenterAndEdgeNormals(){
-
+    public recalculateCenterAndEdgeNormals() {
+        this._polygonCenter = Polygon.findPolygonCenter(this.points);
+        this._areEdgeNormalsDirty = true;
     }
 
-    public static findPolygonCenter(points: Vector2[]){
+    public static findPolygonCenter(points: Vector2[]) {
         let x = 0, y = 0;
 
-        for (let i = 0; i < points.length; i++){
+        for (let i = 0; i < points.length; i++) {
             x += points[i].x;
             y += points[i].y;
         }
@@ -27,10 +35,58 @@ class Polygon extends Shape {
         return new Vector2(x / points.length, y / points.length);
     }
 
-    public static buildSymmertricalPolygon(vertCount: number, radius: number){
+    public static getClosestPointOnPolygonToPoint(points: Vector2[], point: Vector2): { closestPoint, distanceSquared, edgeNormal } {
+        let distanceSquared = Number.MAX_VALUE;
+        let edgeNormal = new Vector2(0, 0);
+        let closestPoint = new Vector2(0, 0);
+
+        let tempDistanceSquared;
+        for (let i = 0; i < points.length; i++) {
+            let j = i + 1;
+            if (j == points.length)
+                j = 0;
+
+            let closest = ShapeCollisions.closestPointOnLine(points[i], points[j], point);
+            tempDistanceSquared = Vector2.distanceSquared(point, closest);
+
+            if (tempDistanceSquared < distanceSquared) {
+                distanceSquared = tempDistanceSquared;
+                closestPoint = closest;
+
+                let line = Vector2.subtract(points[j], points[i]);
+                edgeNormal.x = -line.y;
+                edgeNormal.y = line.x;
+            }
+        }
+
+        edgeNormal = Vector2.normalize(edgeNormal);
+
+        return { closestPoint: closestPoint, distanceSquared: distanceSquared, edgeNormal: edgeNormal };
+    }
+
+    public pointCollidesWithShape(point: Vector2): CollisionResult {
+        return ShapeCollisions.pointToPoly(point, this);
+    }
+
+    public containsPoint(point: Vector2) {
+        point = Vector2.subtract(point, this.position);
+
+        let isInside = false;
+        for (let i = 0, j = this.points.length - 1; i < this.points.length; j = i++) {
+            if (((this.points[i].y > point.y) != (this.points[j].y > point.y)) &&
+                (point.x < (this.points[j].x - this.points[i].x) * (point.y - this.points[i].y) / (this.points[j].y - this.points[i].y) +
+                    this.points[i].x)) {
+                isInside = !isInside;
+            }
+        }
+
+        return isInside;
+    }
+
+    public static buildSymmertricalPolygon(vertCount: number, radius: number) {
         let verts = new Vector2[vertCount];
 
-        for (let i = 0; i < vertCount; i ++){
+        for (let i = 0; i < vertCount; i++) {
             let a = 2 * Math.PI * (i / vertCount);
             verts[i] = new Vector2(Math.cos(a), Math.sign(a) * radius);
         }

source/src/Physics/Shapes/Rect.ts

@@ -0,0 +1,8 @@
+class Rect extends Polygon {
+    public containsPoint(point: Vector2){
+        if (this.isUnrotated)
+            return this.bounds.contains(point);
+
+        return super.containsPoint(point);
+    }
+}

source/src/Physics/Shapes/Shape.ts

@@ -1,4 +1,6 @@
 abstract class Shape {
     public bounds: Rectangle;
     public position: Vector2;
+
+    public abstract pointCollidesWithShape(point: Vector2): CollisionResult;
 }

source/src/Physics/Shapes/ShapeCollisions/ShapeCollisions.ts

@@ -0,0 +1,60 @@
+class ShapeCollisions {
+    public static circleToRect(circle: Circle, box: Rect): CollisionResult{
+        let result = new CollisionResult();
+        let closestPointOnBounds = box.bounds.getClosestPointOnRectangleBorderToPoint(circle.position).res;
+
+        if (box.containsPoint(circle.position)){
+            result.point = closestPointOnBounds;
+
+            let safePlace = Vector2.add(closestPointOnBounds, Vector2.subtract(result.normal, new Vector2(circle.radius, circle.radius)));
+        }
+
+        return result;
+    }
+
+    public static pointToCicle(point: Vector2, circle: Circle){
+        let result = new CollisionResult();
+
+        let distanceSquared = Vector2.distanceSquared(point, circle.position);
+        let sumOfRadii = 1 + circle.radius;
+        let collided = distanceSquared < sumOfRadii * sumOfRadii;
+        if (collided){
+            result.normal = Vector2.normalize(Vector2.subtract(point, circle.position));
+            let depth = sumOfRadii - Math.sqrt(distanceSquared);
+            result.minimumTranslationVector = Vector2.multiply(new Vector2(-depth, -depth), result.normal);
+            result.point = Vector2.add(circle.position, Vector2.multiply(result.normal, new Vector2(circle.radius, circle.radius)));
+
+            return result;
+        }
+
+        return result;
+    }
+
+    public static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2){
+        let v = Vector2.subtract(lineB, lineA);
+        let w = Vector2.subtract(closestTo, lineA);
+        let t = Vector2.dot(w, v) / Vector2.dot(v, v);
+        t = MathHelper.clamp(t, 0, 1);
+
+        return Vector2.add(lineA, Vector2.multiply(v, new Vector2(t, t)));
+    }
+
+    public static pointToPoly(point: Vector2, poly: Polygon){
+        let result = new CollisionResult();
+
+        if (poly.containsPoint(point)){
+            let distanceSquared: number;
+            let gpp = Polygon.getClosestPointOnPolygonToPoint(poly.points, Vector2.subtract(point, poly.position));
+            let closestPoint = gpp.closestPoint;
+            distanceSquared = gpp.distanceSquared;
+            result.normal = gpp.edgeNormal;
+
+            result.minimumTranslationVector = Vector2.multiply(result.normal, new Vector2(Math.sqrt(distanceSquared), Math.sqrt(distanceSquared)));
+            result.point = Vector2.add(closestPoint, poly.position);
+
+            return result;
+        }
+
+        return result;
+    }
+}

source/src/Physics/Verlet/Composites/Composite.ts

@@ -5,7 +5,7 @@ class Composite {
     public drawParticles: boolean = true;
     public drawConstraints: boolean = true;
     public particles: Particle[] = [];
-    public collidesWithLayers = -1;
+    public collidesWithLayers = Physics.allLayers;
 
     /**
      * 处理解决所有约束条件

source/src/Physics/Verlet/VerletWorld.ts

@@ -14,7 +14,8 @@ class VerletWorld {
     private _composites: Composite[] = [];
     private _fixedDeltaTimeSq: number;
 
-    private static _colliders = new Array(4);
+    private static _colliders: Collider[] = new Array(4);
+    private _tempCircle: Circle = new Circle(1);
 
     constructor(simulationBounds?: Rectangle){
         this.simulationBounds = simulationBounds;
@@ -43,8 +44,8 @@ class VerletWorld {
                         this.constrainParticleToBounds(p);
                     }
 
-                    // if (p.collidesWithColliders)
-                    //     this.handleCollisions(p, -1);
+                    if (p.collidesWithColliders)
+                        this.handleCollisions(p, composite.collidesWithLayers);
                 }
             }
         }
@@ -52,7 +53,26 @@ class VerletWorld {
 
     private handleCollisions(p: Particle, collidesWithLayers: number){
         let collidedCount = Physics.overlapCircleAll(p.position, p.radius, VerletWorld._colliders, collidesWithLayers);
-        // handle
+        for (let i = 0; i < collidedCount; i ++){
+            let collider = VerletWorld._colliders[i];
+            if (collider.isTrigger)
+                continue;
+
+            if (p.radius < 2){
+                let collisionResult = collider.shape.pointCollidesWithShape(p.position);
+                if (collisionResult){
+                    p.position = Vector2.subtract(p.position, collisionResult.minimumTranslationVector);
+                }
+            }else{
+                this._tempCircle.radius = p.radius;
+                this._tempCircle.position = p.position;
+
+                let collisionResult = this._tempCircle.collidesWithShape(collider.shape);
+                if (collisionResult){
+                    p.position = Vector2.subtract(p.position, collisionResult.minimumTranslationVector);
+                }
+            }
+        }
     }
 
     private constrainParticleToBounds(p: Particle){