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修复RealtimeCollisions.intersectMovingCircleBox计算问题

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This commit is contained in:
yhh
2020-12-09 17:56:48 +08:00
parent 838795fd34
commit 24da0b79c2
6 changed files with 54 additions and 37 deletions
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10
source/bin/framework.d.ts vendored
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@@ -1638,10 +1638,12 @@ declare class TimeUtils {
static timeToMillisecond(time: string, partition?: string): string; static timeToMillisecond(time: string, partition?: string): string;
} }
declare module es { declare module es {
/** 贝塞尔帮助类 */ /**
* 三次方和二次方贝塞尔帮助器(cubic and quadratic bezier helper)
*/
class Bezier { class Bezier {
/** /**
* 二次贝塞尔曲线 * 求解二次曲折线
* @param p0 * @param p0
* @param p1 * @param p1
* @param p2 * @param p2
@@ -2370,8 +2372,8 @@ declare module es {
bottomRight = 6 bottomRight = 6
} }
class Collisions { class Collisions {
static isLineToLine(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): boolean; static lineToLine(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): boolean;
static lineToLineIntersection(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): Vector2; static lineToLineIntersection(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2, intersection?: Vector2): boolean;
static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2): Vector2; static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2): Vector2;
static circleToCircle(circleCenter1: Vector2, circleRadius1: number, circleCenter2: Vector2, circleRadius2: number): boolean; static circleToCircle(circleCenter1: Vector2, circleRadius1: number, circleCenter2: Vector2, circleRadius2: number): boolean;
static circleToLine(circleCenter: Vector2, radius: number, lineFrom: Vector2, lineTo: Vector2): boolean; static circleToLine(circleCenter: Vector2, radius: number, lineFrom: Vector2, lineTo: Vector2): boolean;

40
source/bin/framework.js
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@@ -4214,12 +4214,14 @@ var TimeUtils = /** @class */ (function () {
}()); }());
var es; var es;
(function (es) { (function (es) {
/** 贝塞尔帮助类 */ /**
* 三次方和二次方贝塞尔帮助器(cubic and quadratic bezier helper)
*/
var Bezier = /** @class */ (function () { var Bezier = /** @class */ (function () {
function Bezier() { function Bezier() {
} }
/** /**
* 二次贝塞尔曲线 * 求解二次曲折线
* @param p0 * @param p0
* @param p1 * @param p1
* @param p2 * @param p2
@@ -5886,7 +5888,7 @@ var es;
var Collisions = /** @class */ (function () { var Collisions = /** @class */ (function () {
function Collisions() { function Collisions() {
} }
Collisions.isLineToLine = function (a1, a2, b1, b2) { Collisions.lineToLine = function (a1, a2, b1, b2) {
var b = es.Vector2.subtract(a2, a1); var b = es.Vector2.subtract(a2, a1);
var d = es.Vector2.subtract(b2, b1); var d = es.Vector2.subtract(b2, b1);
var bDotDPerp = b.x * d.y - b.y * d.x; var bDotDPerp = b.x * d.y - b.y * d.x;
@@ -5902,23 +5904,27 @@ var es;
return false; return false;
return true; return true;
}; };
Collisions.lineToLineIntersection = function (a1, a2, b1, b2) { Collisions.lineToLineIntersection = function (a1, a2, b1, b2, intersection) {
var intersection = es.Vector2.zero; if (intersection === void 0) { intersection = new es.Vector2(); }
intersection.x = 0;
intersection.y = 0;
var b = es.Vector2.subtract(a2, a1); var b = es.Vector2.subtract(a2, a1);
var d = es.Vector2.subtract(b2, b1); var d = es.Vector2.subtract(b2, b1);
var bDotDPerp = b.x * d.y - b.y * d.x; var bDotDPerp = b.x * d.y - b.y * d.x;
// 如果b*d = 0，表示这两条直线平行，因此有无穷个交点 // 如果b*d = 0，表示这两条直线平行，因此有无穷个交点
if (bDotDPerp == 0) if (bDotDPerp == 0)
return intersection; return false;
var c = es.Vector2.subtract(b1, a1); var c = es.Vector2.subtract(b1, a1);
var t = (c.x * d.y - c.y * d.x) / bDotDPerp; var t = (c.x * d.y - c.y * d.x) / bDotDPerp;
if (t < 0 || t > 1) if (t < 0 || t > 1)
return intersection; return false;
var u = (c.x * b.y - c.y * b.x) / bDotDPerp; var u = (c.x * b.y - c.y * b.x) / bDotDPerp;
if (u < 0 || u > 1) if (u < 0 || u > 1)
return intersection; return false;
intersection = es.Vector2.add(a1, new es.Vector2(t * b.x, t * b.y)); var temp = es.Vector2.add(a1, new es.Vector2(t * b.x, t * b.y));
return intersection; intersection.x = temp.x;
intersection.y = temp.y;
return true;
}; };
Collisions.closestPointOnLine = function (lineA, lineB, closestTo) { Collisions.closestPointOnLine = function (lineA, lineB, closestTo) {
var v = es.Vector2.subtract(lineB, lineA); var v = es.Vector2.subtract(lineB, lineA);
@@ -5937,8 +5943,10 @@ var es;
return es.Vector2.distanceSquared(circleCenter, point) < radius * radius; return es.Vector2.distanceSquared(circleCenter, point) < radius * radius;
}; };
Collisions.rectToCircle = function (rect, cPosition, cRadius) { Collisions.rectToCircle = function (rect, cPosition, cRadius) {
// 检查矩形是否包含圆的中心点
if (this.rectToPoint(rect.x, rect.y, rect.width, rect.height, cPosition)) if (this.rectToPoint(rect.x, rect.y, rect.width, rect.height, cPosition))
return true; return true;
// 对照相关边缘检查圆圈
var edgeFrom; var edgeFrom;
var edgeTo; var edgeTo;
var sector = this.getSector(rect.x, rect.y, rect.width, rect.height, cPosition); var sector = this.getSector(rect.x, rect.y, rect.width, rect.height, cPosition);
@@ -5985,25 +5993,25 @@ var es;
if ((both & PointSectors.top) != 0) { if ((both & PointSectors.top) != 0) {
edgeFrom = new es.Vector2(rect.x, rect.y); edgeFrom = new es.Vector2(rect.x, rect.y);
edgeTo = new es.Vector2(rect.x + rect.width, rect.y); edgeTo = new es.Vector2(rect.x + rect.width, rect.y);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
if ((both & PointSectors.bottom) != 0) { if ((both & PointSectors.bottom) != 0) {
edgeFrom = new es.Vector2(rect.x, rect.y + rect.height); edgeFrom = new es.Vector2(rect.x, rect.y + rect.height);
edgeTo = new es.Vector2(rect.x + rect.width, rect.y + rect.height); edgeTo = new es.Vector2(rect.x + rect.width, rect.y + rect.height);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
if ((both & PointSectors.left) != 0) { if ((both & PointSectors.left) != 0) {
edgeFrom = new es.Vector2(rect.x, rect.y); edgeFrom = new es.Vector2(rect.x, rect.y);
edgeTo = new es.Vector2(rect.x, rect.y + rect.height); edgeTo = new es.Vector2(rect.x, rect.y + rect.height);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
if ((both & PointSectors.right) != 0) { if ((both & PointSectors.right) != 0) {
edgeFrom = new es.Vector2(rect.x + rect.width, rect.y); edgeFrom = new es.Vector2(rect.x + rect.width, rect.y);
edgeTo = new es.Vector2(rect.x + rect.width, rect.y + rect.height); edgeTo = new es.Vector2(rect.x + rect.width, rect.y + rect.height);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
} }
@@ -7061,14 +7069,14 @@ var es;
} }
RealtimeCollisions.intersectMovingCircleBox = function (s, b, movement, time) { RealtimeCollisions.intersectMovingCircleBox = function (s, b, movement, time) {
// 计算将b按球面半径r扩大后的AABB // 计算将b按球面半径r扩大后的AABB
var e = b.bounds; var e = b.bounds.clone();
e.inflate(s.radius, s.radius); e.inflate(s.radius, s.radius);
// 将射线与展开的矩形e相交，如果射线错过了e，则以无交点退出，否则得到交点p和时间t作为结果。 // 将射线与展开的矩形e相交，如果射线错过了e，则以无交点退出，否则得到交点p和时间t作为结果。
var ray = new es.Ray2D(es.Vector2.subtract(s.position, movement), s.position); var ray = new es.Ray2D(es.Vector2.subtract(s.position, movement), s.position);
if (!e.rayIntersects(ray, time) && time.value > 1) if (!e.rayIntersects(ray, time) && time.value > 1)
return false; return false;
// 求交点 // 求交点
var point = es.Vector2.add(ray.start, es.Vector2.add(ray.direction, new es.Vector2(time.value))); var point = es.Vector2.add(ray.start, es.Vector2.multiply(ray.direction, new es.Vector2(time.value)));
// 计算交点p位于b的哪个最小面和最大面之外。注意，u和v不能有相同的位集，它们之间必须至少有一个位集。 // 计算交点p位于b的哪个最小面和最大面之外。注意，u和v不能有相同的位集，它们之间必须至少有一个位集。
var u, v = 0; var u, v = 0;
if (point.x < b.bounds.left) if (point.x < b.bounds.left)

2
source/bin/framework.min.js vendored
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File diff suppressed because one or more lines are too long

6
source/src/Math/Bezier.ts
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@@ -1,8 +1,10 @@
module es { module es {
/** 贝塞尔帮助类 */ /**
* 三次方和二次方贝塞尔帮助器(cubic and quadratic bezier helper)
*/
export class Bezier { export class Bezier {
/** /**
* 二次贝塞尔曲线 * 求解二次曲折线
* @param p0 * @param p0
* @param p1 * @param p1
* @param p2 * @param p2

29
source/src/Physics/Collision.ts
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@@ -12,7 +12,7 @@ module es {
} }
export class Collisions { export class Collisions {
public static isLineToLine(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): boolean { public static lineToLine(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): boolean {
let b = Vector2.subtract(a2, a1); let b = Vector2.subtract(a2, a1);
let d = Vector2.subtract(b2, b1); let d = Vector2.subtract(b2, b1);
let bDotDPerp = b.x * d.y - b.y * d.x; let bDotDPerp = b.x * d.y - b.y * d.x;
@@ -33,8 +33,9 @@ module es {
return true; return true;
} }
public static lineToLineIntersection(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): Vector2 { public static lineToLineIntersection(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2, intersection: Vector2 = new Vector2()): boolean {
let intersection = Vector2.zero; intersection.x = 0;
intersection.y = 0;
let b = Vector2.subtract(a2, a1); let b = Vector2.subtract(a2, a1);
let d = Vector2.subtract(b2, b1); let d = Vector2.subtract(b2, b1);
@@ -42,20 +43,22 @@ module es {
// 如果b*d = 0，表示这两条直线平行，因此有无穷个交点 // 如果b*d = 0，表示这两条直线平行，因此有无穷个交点
if (bDotDPerp == 0) if (bDotDPerp == 0)
return intersection; return false;
let c = Vector2.subtract(b1, a1); let c = Vector2.subtract(b1, a1);
let t = (c.x * d.y - c.y * d.x) / bDotDPerp; let t = (c.x * d.y - c.y * d.x) / bDotDPerp;
if (t < 0 || t > 1) if (t < 0 || t > 1)
return intersection; return false;
let u = (c.x * b.y - c.y * b.x) / bDotDPerp; let u = (c.x * b.y - c.y * b.x) / bDotDPerp;
if (u < 0 || u > 1) if (u < 0 || u > 1)
return intersection; return false;
intersection = Vector2.add(a1, new Vector2(t * b.x, t * b.y)); let temp = Vector2.add(a1, new Vector2(t * b.x, t * b.y));
intersection.x = temp.x;
intersection.y = temp.y;
return intersection; return true;
} }
public static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2) { public static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2) {
@@ -80,9 +83,11 @@ module es {
} }
public static rectToCircle(rect: Rectangle, cPosition: Vector2, cRadius: number): boolean { public static rectToCircle(rect: Rectangle, cPosition: Vector2, cRadius: number): boolean {
// 检查矩形是否包含圆的中心点
if (this.rectToPoint(rect.x, rect.y, rect.width, rect.height, cPosition)) if (this.rectToPoint(rect.x, rect.y, rect.width, rect.height, cPosition))
return true; return true;
// 对照相关边缘检查圆圈
let edgeFrom: Vector2; let edgeFrom: Vector2;
let edgeTo: Vector2; let edgeTo: Vector2;
let sector = this.getSector(rect.x, rect.y, rect.width, rect.height, cPosition); let sector = this.getSector(rect.x, rect.y, rect.width, rect.height, cPosition);
@@ -135,28 +140,28 @@ module es {
if ((both & PointSectors.top) != 0) { if ((both & PointSectors.top) != 0) {
edgeFrom = new Vector2(rect.x, rect.y); edgeFrom = new Vector2(rect.x, rect.y);
edgeTo = new Vector2(rect.x + rect.width, rect.y); edgeTo = new Vector2(rect.x + rect.width, rect.y);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
if ((both & PointSectors.bottom) != 0) { if ((both & PointSectors.bottom) != 0) {
edgeFrom = new Vector2(rect.x, rect.y + rect.height); edgeFrom = new Vector2(rect.x, rect.y + rect.height);
edgeTo = new Vector2(rect.x + rect.width, rect.y + rect.height); edgeTo = new Vector2(rect.x + rect.width, rect.y + rect.height);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
if ((both & PointSectors.left) != 0) { if ((both & PointSectors.left) != 0) {
edgeFrom = new Vector2(rect.x, rect.y); edgeFrom = new Vector2(rect.x, rect.y);
edgeTo = new Vector2(rect.x, rect.y + rect.height); edgeTo = new Vector2(rect.x, rect.y + rect.height);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
if ((both & PointSectors.right) != 0) { if ((both & PointSectors.right) != 0) {
edgeFrom = new Vector2(rect.x + rect.width, rect.y); edgeFrom = new Vector2(rect.x + rect.width, rect.y);
edgeTo = new Vector2(rect.x + rect.width, rect.y + rect.height); edgeTo = new Vector2(rect.x + rect.width, rect.y + rect.height);
if (this.isLineToLine(edgeFrom, edgeTo, lineFrom, lineTo)) if (this.lineToLine(edgeFrom, edgeTo, lineFrom, lineTo))
return true; return true;
} }
} }

4
source/src/Physics/Shapes/RealtimeCollisions.ts
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@@ -2,7 +2,7 @@ module es {
export class RealtimeCollisions { export class RealtimeCollisions {
public static intersectMovingCircleBox(s: Circle, b: Box, movement: Vector2, time: Ref<number>): boolean { public static intersectMovingCircleBox(s: Circle, b: Box, movement: Vector2, time: Ref<number>): boolean {
// 计算将b按球面半径r扩大后的AABB // 计算将b按球面半径r扩大后的AABB
let e = b.bounds; let e = b.bounds.clone();
e.inflate(s.radius, s.radius); e.inflate(s.radius, s.radius);
// 将射线与展开的矩形e相交，如果射线错过了e，则以无交点退出，否则得到交点p和时间t作为结果。 // 将射线与展开的矩形e相交，如果射线错过了e，则以无交点退出，否则得到交点p和时间t作为结果。
@@ -11,7 +11,7 @@ module es {
return false; return false;
// 求交点 // 求交点
let point = Vector2.add(ray.start, Vector2.add(ray.direction, new Vector2(time.value))); let point = Vector2.add(ray.start, Vector2.multiply(ray.direction, new Vector2(time.value)));
// 计算交点p位于b的哪个最小面和最大面之外。注意，u和v不能有相同的位集，它们之间必须至少有一个位集。 // 计算交点p位于b的哪个最小面和最大面之外。注意，u和v不能有相同的位集，它们之间必须至少有一个位集。
let u, v = 0; let u, v = 0;