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优化碰撞算法

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This commit is contained in:
yhh
2020-12-03 20:43:59 +08:00
parent dac0ef1507
commit 8ce6b53cd5
7 changed files with 83 additions and 69 deletions
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5
source/bin/framework.d.ts vendored
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@@ -2722,10 +2722,7 @@ declare module es {
* @param min * @param min
* @param max * @param max
*/ */
static getInterval(axis: Vector2, polygon: Polygon, min: number, max: number): { static getInterval(axis: Vector2, polygon: Polygon, min: Ref<number>, max: Ref<number>): void;
min: number;
max: number;
};
/** /**
* *
* @param circle * @param circle

73
source/bin/framework.js
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@@ -5471,7 +5471,7 @@ var es;
return true; return true;
}; };
Collisions.lineToLineIntersection = function (a1, a2, b1, b2) { Collisions.lineToLineIntersection = function (a1, a2, b1, b2) {
var intersection = new es.Vector2(0, 0); var intersection = es.Vector2.zero;
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;
@@ -5507,8 +5507,8 @@ var es;
Collisions.rectToCircle = function (rect, cPosition, cRadius) { Collisions.rectToCircle = function (rect, cPosition, cRadius) {
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;
var edgeFrom = es.Vector2.zero; var edgeFrom;
var edgeTo = es.Vector2.zero; 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);
if ((sector & PointSectors.top) != 0) { if ((sector & PointSectors.top) != 0) {
edgeFrom = new es.Vector2(rect.x, rect.y); edgeFrom = new es.Vector2(rect.x, rect.y);
@@ -5523,6 +5523,12 @@ var es;
return true; return true;
} }
if ((sector & PointSectors.left) != 0) { if ((sector & PointSectors.left) != 0) {
edgeFrom = new es.Vector2(rect.x, rect.y);
edgeTo = new es.Vector2(rect.x, rect.y + rect.height);
if (this.circleToLine(cPosition, cRadius, edgeFrom, edgeTo))
return true;
}
if ((sector & 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.circleToLine(cPosition, cRadius, edgeFrom, edgeTo)) if (this.circleToLine(cPosition, cRadius, edgeFrom, edgeTo))
@@ -5957,25 +5963,25 @@ var es;
* @param layerMask * @param layerMask
*/ */
SpatialHash.prototype.overlapCircle = function (circleCenter, radius, results, layerMask) { SpatialHash.prototype.overlapCircle = function (circleCenter, radius, results, layerMask) {
var _this = this;
var bounds = new es.Rectangle(circleCenter.x - radius, circleCenter.y - radius, radius * 2, radius * 2); var bounds = new es.Rectangle(circleCenter.x - radius, circleCenter.y - radius, radius * 2, radius * 2);
this._overlapTestCircle.radius = radius; this._overlapTestCircle.radius = radius;
this._overlapTestCircle.position = circleCenter; this._overlapTestCircle.position = circleCenter;
var resultCounter = 0; var resultCounter = 0;
var potentials = this.aabbBroadphase(bounds, null, layerMask); var potentials = this.aabbBroadphase(bounds, null, layerMask);
for (var i = 0; i < potentials.size; i++) { potentials.forEach(function (collider) {
var collider = potentials[i];
if (collider instanceof es.BoxCollider) { if (collider instanceof es.BoxCollider) {
results[resultCounter] = collider; results[resultCounter] = collider;
resultCounter++; resultCounter++;
} }
else if (collider instanceof es.CircleCollider) { else if (collider instanceof es.CircleCollider) {
if (collider.shape.overlaps(this._overlapTestCircle)) { if (collider.shape.overlaps(_this._overlapTestCircle)) {
results[resultCounter] = collider; results[resultCounter] = collider;
resultCounter++; resultCounter++;
} }
} }
else if (collider instanceof es.PolygonCollider) { else if (collider instanceof es.PolygonCollider) {
if (collider.shape.overlaps(this._overlapTestCircle)) { if (collider.shape.overlaps(_this._overlapTestCircle)) {
results[resultCounter] = collider; results[resultCounter] = collider;
resultCounter++; resultCounter++;
} }
@@ -5986,7 +5992,7 @@ var es;
// 如果我们所有的结果数据有了则返回 // 如果我们所有的结果数据有了则返回
if (resultCounter == results.length) if (resultCounter == results.length)
return resultCounter; return resultCounter;
} });
return resultCounter; return resultCounter;
}; };
/** /**
@@ -6277,7 +6283,7 @@ var es;
distanceSquared.value = Number.MAX_VALUE; distanceSquared.value = Number.MAX_VALUE;
edgeNormal.x = 0; edgeNormal.x = 0;
edgeNormal.y = 0; edgeNormal.y = 0;
var closestPoint = new es.Vector2(0, 0); var closestPoint = es.Vector2.zero;
var tempDistanceSquared = 0; var tempDistanceSquared = 0;
for (var i = 0; i < points.length; i++) { for (var i = 0; i < points.length; i++) {
var j = i + 1; var j = i + 1;
@@ -6677,23 +6683,19 @@ var es;
axis = secondEdges[edgeIndex - firstEdges.length]; axis = secondEdges[edgeIndex - firstEdges.length];
} }
// 求多边形在当前轴上的投影 // 求多边形在当前轴上的投影
var minA = 0; var minA = new es.Ref(0);
var minB = 0; var minB = new es.Ref(0);
var maxA = 0; var maxA = new es.Ref(0);
var maxB = 0; var maxB = new es.Ref(0);
var intervalDist = 0; var intervalDist = 0;
var ta = this.getInterval(axis, first, minA, maxA); this.getInterval(axis, first, minA, maxA);
minA = ta.min; this.getInterval(axis, second, minB, maxB);
minB = ta.max;
var tb = this.getInterval(axis, second, minB, maxB);
minB = tb.min;
maxB = tb.max;
// 将区间设为第二个多边形的空间。由轴上投影的位置差偏移。 // 将区间设为第二个多边形的空间。由轴上投影的位置差偏移。
var relativeIntervalOffset = es.Vector2.dot(polygonOffset, axis); var relativeIntervalOffset = es.Vector2.dot(polygonOffset, axis);
minA += relativeIntervalOffset; minA.value += relativeIntervalOffset;
maxA += relativeIntervalOffset; maxA.value += relativeIntervalOffset;
// 检查多边形投影是否正在相交 // 检查多边形投影是否正在相交
intervalDist = this.intervalDistance(minA, maxA, minB, maxB); intervalDist = this.intervalDistance(minA.value, maxA.value, minB.value, maxB.value);
if (intervalDist > 0) if (intervalDist > 0)
isIntersecting = false; isIntersecting = false;
// 对于多对多数据类型转换，添加一个Vector2?参数称为deltaMovement。为了提高速度，我们这里不使用它 // 对于多对多数据类型转换，添加一个Vector2?参数称为deltaMovement。为了提高速度，我们这里不使用它
@@ -6707,12 +6709,12 @@ var es;
minIntervalDistance = intervalDist; minIntervalDistance = intervalDist;
translationAxis = axis; translationAxis = axis;
if (es.Vector2.dot(translationAxis, polygonOffset) < 0) if (es.Vector2.dot(translationAxis, polygonOffset) < 0)
translationAxis = new es.Vector2(-translationAxis); translationAxis = new es.Vector2(-translationAxis.x, -translationAxis.y);
} }
} }
// 利用最小平移向量对多边形进行推入。 // 利用最小平移向量对多边形进行推入。
result.normal = translationAxis; result.normal = translationAxis;
result.minimumTranslationVector = es.Vector2.multiply(new es.Vector2(-translationAxis.x, -translationAxis.y), new es.Vector2(minIntervalDistance)); result.minimumTranslationVector = new es.Vector2(-translationAxis.x * minIntervalDistance, -translationAxis.y * minIntervalDistance);
return true; return true;
}; };
/** /**
@@ -6736,17 +6738,16 @@ var es;
*/ */
ShapeCollisions.getInterval = function (axis, polygon, min, max) { ShapeCollisions.getInterval = function (axis, polygon, min, max) {
var dot = es.Vector2.dot(polygon.points[0], axis); var dot = es.Vector2.dot(polygon.points[0], axis);
min = max = dot; min.value = max.value = dot;
for (var i = 1; i < polygon.points.length; i++) { for (var i = 1; i < polygon.points.length; i++) {
dot = es.Vector2.dot(polygon.points[i], axis); dot = es.Vector2.dot(polygon.points[i], axis);
if (dot < min) { if (dot < min.value) {
min = dot; min.value = dot;
} }
else if (dot > max) { else if (dot > max.value) {
max = dot; max.value = dot;
} }
} }
return { min: min, max: max };
}; };
/** /**
* *
@@ -6755,23 +6756,31 @@ var es;
* @param result * @param result
*/ */
ShapeCollisions.circleToPolygon = function (circle, polygon, result) { ShapeCollisions.circleToPolygon = function (circle, polygon, result) {
// 圆圈在多边形中的位置坐标
var poly2Circle = es.Vector2.subtract(circle.position, polygon.position); var poly2Circle = es.Vector2.subtract(circle.position, polygon.position);
// 首先，我们需要找到从圆到多边形的最近距离
var distanceSquared = new es.Ref(0); var distanceSquared = new es.Ref(0);
var closestPoint = es.Polygon.getClosestPointOnPolygonToPoint(polygon.points, poly2Circle, distanceSquared, result.normal); var closestPoint = es.Polygon.getClosestPointOnPolygonToPoint(polygon.points, poly2Circle, distanceSquared, result.normal);
// 确保距离的平方小于半径的平方，否则我们不会相撞。
// 请注意，如果圆完全包含在多边形中，距离可能大于半径。
// 正因为如此，我们还要确保圆的位置不在多边形内。
var circleCenterInsidePoly = polygon.containsPoint(circle.position); var circleCenterInsidePoly = polygon.containsPoint(circle.position);
if (distanceSquared.value > circle.radius * circle.radius && !circleCenterInsidePoly) if (distanceSquared.value > circle.radius * circle.radius && !circleCenterInsidePoly)
return false; return false;
// 算出MTV。我们要注意处理完全包含在多边形中的圆或包含其中心的圆
var mtv; var mtv;
if (circleCenterInsidePoly) { if (circleCenterInsidePoly) {
mtv = es.Vector2.multiply(result.normal, new es.Vector2(Math.sqrt(distanceSquared.value) - circle.radius)); mtv = es.Vector2.multiply(result.normal, new es.Vector2(Math.sqrt(distanceSquared.value) - circle.radius));
} }
else { else {
// 如果我们没有距离，这意味着圆心在多边形的边缘上。只需根据它的半径移动它
if (distanceSquared.value == 0) { if (distanceSquared.value == 0) {
mtv = es.Vector2.multiply(result.normal, new es.Vector2(circle.radius)); mtv = new es.Vector2(result.normal.x * circle.radius, result.normal.y * circle.radius);
} }
else { else {
var distance = Math.sqrt(distanceSquared.value); var distance = Math.sqrt(distanceSquared.value);
mtv = es.Vector2.multiply(new es.Vector2(-es.Vector2.subtract(poly2Circle, closestPoint)), new es.Vector2((circle.radius - distanceSquared.value) / distance)); mtv = new es.Vector2(-poly2Circle.x + closestPoint.x, -poly2Circle.y + closestPoint.y)
.multiply(new es.Vector2((circle.radius - distance) / distance));
} }
} }
result.minimumTranslationVector = mtv; result.minimumTranslationVector = mtv;

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

13
source/src/Physics/Collision.ts
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@@ -34,7 +34,7 @@ module es {
} }
public static lineToLineIntersection(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): Vector2 { public static lineToLineIntersection(a1: Vector2, a2: Vector2, b1: Vector2, b2: Vector2): Vector2 {
let intersection = new Vector2(0, 0); let intersection = Vector2.zero;
let b = Vector2.subtract(a2, a1); let b = Vector2.subtract(a2, a1);
let d = Vector2.subtract(b2, b1); let d = Vector2.subtract(b2, b1);
@@ -83,8 +83,8 @@ module es {
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;
let edgeFrom: Vector2 = Vector2.zero; let edgeFrom: Vector2;
let edgeTo: Vector2 = Vector2.zero; 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);
if ((sector & PointSectors.top) != 0){ if ((sector & PointSectors.top) != 0){
@@ -102,6 +102,13 @@ module es {
} }
if ((sector & PointSectors.left) != 0){ if ((sector & PointSectors.left) != 0){
edgeFrom = new Vector2(rect.x, rect.y);
edgeTo = new Vector2(rect.x, rect.y + rect.height);
if (this.circleToLine(cPosition, cRadius, edgeFrom, edgeTo))
return true;
}
if ((sector & 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.circleToLine(cPosition, cRadius, edgeFrom, edgeTo)) if (this.circleToLine(cPosition, cRadius, edgeFrom, edgeTo))

2
source/src/Physics/Shapes/Polygon.ts
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@@ -167,7 +167,7 @@ module es {
distanceSquared.value = Number.MAX_VALUE; distanceSquared.value = Number.MAX_VALUE;
edgeNormal.x = 0; edgeNormal.x = 0;
edgeNormal.y = 0; edgeNormal.y = 0;
let closestPoint = new Vector2(0, 0); let closestPoint = Vector2.zero;
let tempDistanceSquared = 0; let tempDistanceSquared = 0;
for (let i = 0; i < points.length; i++) { for (let i = 0; i < points.length; i++) {

52
source/src/Physics/Shapes/ShapeCollisions/ShapeCollisions.ts
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@@ -32,25 +32,21 @@ module es {
} }
// 求多边形在当前轴上的投影 // 求多边形在当前轴上的投影
let minA = 0; let minA = new Ref(0);
let minB = 0; let minB = new Ref(0);
let maxA = 0; let maxA = new Ref(0);
let maxB = 0; let maxB = new Ref(0);
let intervalDist = 0; let intervalDist = 0;
let ta = this.getInterval(axis, first, minA, maxA); this.getInterval(axis, first, minA, maxA);
minA = ta.min; this.getInterval(axis, second, minB, maxB);
minB = ta.max;
let tb = this.getInterval(axis, second, minB, maxB);
minB = tb.min;
maxB = tb.max;
// 将区间设为第二个多边形的空间。由轴上投影的位置差偏移。 // 将区间设为第二个多边形的空间。由轴上投影的位置差偏移。
let relativeIntervalOffset = Vector2.dot(polygonOffset, axis); let relativeIntervalOffset = Vector2.dot(polygonOffset, axis);
minA += relativeIntervalOffset; minA.value += relativeIntervalOffset;
maxA += relativeIntervalOffset; maxA.value += relativeIntervalOffset;
// 检查多边形投影是否正在相交 // 检查多边形投影是否正在相交
intervalDist = this.intervalDistance(minA, maxA, minB, maxB); intervalDist = this.intervalDistance(minA.value, maxA.value, minB.value, maxB.value);
if (intervalDist > 0) if (intervalDist > 0)
isIntersecting = false; isIntersecting = false;
@@ -68,13 +64,13 @@ module es {
translationAxis = axis; translationAxis = axis;
if (Vector2.dot(translationAxis, polygonOffset) < 0) if (Vector2.dot(translationAxis, polygonOffset) < 0)
translationAxis = new Vector2(-translationAxis); translationAxis = new Vector2(-translationAxis.x, -translationAxis.y);
} }
} }
// 利用最小平移向量对多边形进行推入。 // 利用最小平移向量对多边形进行推入。
result.normal = translationAxis; result.normal = translationAxis;
result.minimumTranslationVector = Vector2.multiply(new Vector2(-translationAxis.x, -translationAxis.y), new Vector2(minIntervalDistance)); result.minimumTranslationVector = new Vector2(-translationAxis.x * minIntervalDistance, -translationAxis.y * minIntervalDistance);
return true; return true;
} }
@@ -100,20 +96,18 @@ module es {
* @param min * @param min
* @param max * @param max
*/ */
public static getInterval(axis: Vector2, polygon: Polygon, min: number, max: number) { public static getInterval(axis: Vector2, polygon: Polygon, min: Ref<number>, max: Ref<number>) {
let dot = Vector2.dot(polygon.points[0], axis); let dot = Vector2.dot(polygon.points[0], axis);
min = max = dot; min.value = max.value = dot;
for (let i = 1; i < polygon.points.length; i++) { for (let i = 1; i < polygon.points.length; i++) {
dot = Vector2.dot(polygon.points[i], axis); dot = Vector2.dot(polygon.points[i], axis);
if (dot < min) { if (dot < min.value ) {
min = dot; min.value = dot;
} else if (dot > max) { } else if (dot > max.value) {
max = dot; max.value = dot;
} }
} }
return {min: min, max: max};
} }
/** /**
@@ -123,24 +117,32 @@ module es {
* @param result * @param result
*/ */
public static circleToPolygon(circle: Circle, polygon: Polygon, result: CollisionResult): boolean { public static circleToPolygon(circle: Circle, polygon: Polygon, result: CollisionResult): boolean {
// 圆圈在多边形中的位置坐标
let poly2Circle = Vector2.subtract(circle.position, polygon.position); let poly2Circle = Vector2.subtract(circle.position, polygon.position);
// 首先，我们需要找到从圆到多边形的最近距离
let distanceSquared = new Ref(0); let distanceSquared = new Ref(0);
let closestPoint = Polygon.getClosestPointOnPolygonToPoint(polygon.points, poly2Circle, distanceSquared, result.normal); let closestPoint = Polygon.getClosestPointOnPolygonToPoint(polygon.points, poly2Circle, distanceSquared, result.normal);
// 确保距离的平方小于半径的平方，否则我们不会相撞。
// 请注意，如果圆完全包含在多边形中，距离可能大于半径。
// 正因为如此，我们还要确保圆的位置不在多边形内。
let circleCenterInsidePoly = polygon.containsPoint(circle.position); let circleCenterInsidePoly = polygon.containsPoint(circle.position);
if (distanceSquared.value > circle.radius * circle.radius && !circleCenterInsidePoly) if (distanceSquared.value > circle.radius * circle.radius && !circleCenterInsidePoly)
return false; return false;
// 算出MTV。我们要注意处理完全包含在多边形中的圆或包含其中心的圆
let mtv: Vector2; let mtv: Vector2;
if (circleCenterInsidePoly) { if (circleCenterInsidePoly) {
mtv = Vector2.multiply(result.normal, new Vector2(Math.sqrt(distanceSquared.value) - circle.radius)); mtv = Vector2.multiply(result.normal, new Vector2(Math.sqrt(distanceSquared.value) - circle.radius));
} else { } else {
// 如果我们没有距离，这意味着圆心在多边形的边缘上。只需根据它的半径移动它
if (distanceSquared.value == 0) { if (distanceSquared.value == 0) {
mtv = Vector2.multiply(result.normal, new Vector2(circle.radius)); mtv = new Vector2(result.normal.x * circle.radius, result.normal.y * circle.radius);
} else { } else {
let distance = Math.sqrt(distanceSquared.value); let distance = Math.sqrt(distanceSquared.value);
mtv = Vector2.multiply(new Vector2(-Vector2.subtract(poly2Circle, closestPoint)), new Vector2((circle.radius - distanceSquared.value) / distance)); mtv = new Vector2(-poly2Circle.x + closestPoint.x, -poly2Circle.y + closestPoint.y)
.multiply(new Vector2((circle.radius - distance) / distance));
} }
} }

5
source/src/Physics/SpatialHash.ts
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@@ -209,8 +209,7 @@ module es {
let resultCounter = 0; let resultCounter = 0;
let potentials = this.aabbBroadphase(bounds, null, layerMask); let potentials = this.aabbBroadphase(bounds, null, layerMask);
for (let i = 0; i < potentials.size; i++) { potentials.forEach(collider => {
let collider = potentials[i];
if (collider instanceof BoxCollider) { if (collider instanceof BoxCollider) {
results[resultCounter] = collider; results[resultCounter] = collider;
resultCounter++; resultCounter++;
@@ -231,7 +230,7 @@ module es {
// 如果我们所有的结果数据有了则返回 // 如果我们所有的结果数据有了则返回
if (resultCounter == results.length) if (resultCounter == results.length)
return resultCounter; return resultCounter;
} });
return resultCounter; return resultCounter;
} }