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修复normalized

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This commit is contained in:
yhh
2021-06-29 18:40:34 +08:00
parent 96a41eb2cc
commit ea482dab48
17 changed files with 286 additions and 200 deletions
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50
source/src/ECS/Components/Physics/ArcadeRigidbody.ts
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@@ -54,7 +54,7 @@ module es {
/**
* 该刚体的速度
*/
public velocity: Vector2 = es.Vector2.zero;
public velocity: Vector2 = Vector2.zero;
/**
* 质量为0的刚体被认为是不可移动的。改变速度和碰撞对它们没有影响
@@ -151,14 +151,17 @@ module es {
}
if (this.shouldUseGravity)
this.velocity = Vector2.add(this.velocity, Vector2.multiplyScaler(Physics.gravity, Time.deltaTime));
this.velocity.addEqual(Physics.gravity.scale(Time.deltaTime));
this.entity.position = Vector2.add(this.entity.position, Vector2.multiplyScaler(this.velocity, Time.deltaTime));
let collisionResult = new CollisionResult();
// 捞取我们在新的位置上可能会碰撞到的任何东西
let neighbors = Physics.boxcastBroadphaseExcludingSelfNonRect(this._collider, this._collider.collidesWithLayers.value);
for (let neighbor of neighbors) {
let neighbors = Physics.boxcastBroadphaseExcludingSelf(this._collider, this._collider.bounds, this._collider.collidesWithLayers.value);
for (const neighbor of neighbors) {
if (!neighbor)
continue;
// 如果邻近的对撞机是同一个实体，则忽略它
if (neighbor.entity.equals(this.entity)) {
continue;
@@ -173,9 +176,8 @@ module es {
} else {
// 没有ArcadeRigidbody，所以我们假设它是不动的，只移动我们自己的
this.entity.position = Vector2.subtract(this.entity.position, collisionResult.minimumTranslationVector);
let relativeVelocity = this.velocity.clone();
this.calculateResponseVelocity(relativeVelocity, collisionResult.minimumTranslationVector, relativeVelocity);
this.velocity.add(relativeVelocity);
const relativeVelocity = this.calculateResponseVelocity(this.velocity, collisionResult.minimumTranslationVector);
this.velocity.addEqual(relativeVelocity);
}
}
}
@@ -188,12 +190,12 @@ module es {
*/
public processOverlap(other: ArcadeRigidbody, minimumTranslationVector: Vector2) {
if (this.isImmovable) {
other.entity.position = Vector2.add(other.entity.position, minimumTranslationVector);
other.entity.position = other.entity.position.add(minimumTranslationVector);
} else if (other.isImmovable) {
other.entity.position = Vector2.subtract(other.entity.position, minimumTranslationVector);
this.entity.position = this.entity.position.sub(minimumTranslationVector);
} else {
this.entity.position = Vector2.subtract(this.entity.position, Vector2.multiplyScaler(minimumTranslationVector, 0.5));
other.entity.position = Vector2.add(other.entity.position, Vector2.multiplyScaler(minimumTranslationVector, 0.5));
this.entity.position = this.entity.position.sub(minimumTranslationVector.scale(0.5));
other.entity.position = other.entity.position.add(minimumTranslationVector.scale(0.5));
}
}
@@ -208,15 +210,16 @@ module es {
// 然后，响应的一部分会根据质量加到每个物体上
let relativeVelocity = Vector2.subtract(this.velocity, other.velocity);
this.calculateResponseVelocity(relativeVelocity, minimumTranslationVector, relativeVelocity);
relativeVelocity = this.calculateResponseVelocity(relativeVelocity, minimumTranslationVector);
// 现在，我们使用质量来线性缩放两个刚体上的响应
let totalinverseMass = this._inverseMass + other._inverseMass;
let ourResponseFraction = this._inverseMass / totalinverseMass;
let otherResponseFraction = other._inverseMass / totalinverseMass;
const totalinverseMass = this._inverseMass + other._inverseMass;
const ourResponseFraction = this._inverseMass / totalinverseMass;
const otherResponseFraction = other._inverseMass / totalinverseMass;
this.velocity = Vector2.add(this.velocity, Vector2.multiplyScaler(relativeVelocity, ourResponseFraction));
other.velocity = Vector2.subtract(other.velocity, Vector2.multiplyScaler(relativeVelocity, otherResponseFraction));
this.velocity = Vector2.add(this.velocity, relativeVelocity.scale(ourResponseFraction));
other.velocity = Vector2.subtract(other.velocity, relativeVelocity.scale(otherResponseFraction));
}
/**
@@ -225,11 +228,10 @@ module es {
* @param minimumTranslationVector
* @param responseVelocity
*/
public calculateResponseVelocity(relativeVelocity: Vector2, minimumTranslationVector: Vector2, responseVelocity: Vector2 = es.Vector2.zero) {
public calculateResponseVelocity(relativeVelocity: Vector2, minimumTranslationVector: Vector2) {
// 首先，我们得到反方向的归一化MTV：表面法线
let inverseMTV = Vector2.multiplyScaler(minimumTranslationVector, -1);
let normal = Vector2.normalize(inverseMTV);
// 速度是沿碰撞法线和碰撞平面分解的。
// 弹性将影响沿法线的响应（法线速度分量），摩擦力将影响速度的切向分量（切向速度分量）
let n = Vector2.dot(relativeVelocity, normal);
@@ -246,10 +248,10 @@ module es {
coefficientOfFriction = 1.01;
// 弹性影响速度的法向分量，摩擦力影响速度的切向分量
let r = Vector2.multiplyScaler(normalVelocityComponent, -(1 + this._elasticity))
.subtract(Vector2.multiplyScaler(tangentialVelocityComponent, coefficientOfFriction));
responseVelocity.x = r.x;
responseVelocity.y = r.y;
return normalVelocityComponent
.scale(1 + this._elasticity)
.sub(tangentialVelocityComponent.scale(coefficientOfFriction))
.scale(-1);
}
}
}

5
source/src/ECS/Components/Physics/CharacterController.ts
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@@ -294,9 +294,8 @@ module es {
initialRayOriginY - i * this._verticalDistanceBetweenRays
);
// if we are grounded we will include oneWayPlatforms
// only on the first ray (the bottom one). this will allow us to
// walk up sloped oneWayPlatforms
// 如果我们接地，我们将只在第一条射线（底部）上包含 oneWayPlatforms。
// 允许我们走上倾斜的 oneWayPlatforms
if (
i === 0 &&
this.supportSlopedOneWayPlatforms &&

13
source/src/ECS/Components/Physics/Colliders/Collider.ts
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@@ -94,8 +94,8 @@ module es {
public setLocalOffset(offset: Vector2): Collider {
if (!this._localOffset.equals(offset)) {
this.unregisterColliderWithPhysicsSystem();
this._localOffset = offset;
this._localOffsetLength = this._localOffset.length();
this._localOffset.setTo(offset.x, offset.y);
this._localOffsetLength = this._localOffset.magnitude();
this._isPositionDirty = true;
this.registerColliderWithPhysicsSystem();
}
@@ -213,15 +213,15 @@ module es {
*/
public collidesWith(collider: Collider, motion: Vector2, result: CollisionResult = new CollisionResult()): boolean {
// 改变形状的位置，使它在移动后的位置，这样我们可以检查重叠
let oldPosition = this.entity.position.clone();
this.entity.position = Vector2.add(this.entity.position, motion);
const oldPosition = this.entity.position;
this.entity.position = this.entity.position.add(motion);
let didCollide = this.shape.collidesWithShape(collider.shape, result);
const didCollide = this.shape.collidesWithShape(collider.shape, result);
if (didCollide)
result.collider = collider;
// 将图形位置返回到检查前的位置
this.entity.position = oldPosition.clone();
this.entity.position = oldPosition;
return didCollide;
}
@@ -237,6 +237,7 @@ module es {
return true;
}
result.collider = null;
return false;
}

3
source/src/ECS/Components/Physics/Colliders/PolygonCollider.ts
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@@ -13,10 +13,9 @@ module es {
// 第一点和最后一点决不能相同。我们想要一个开放的多边形
let isPolygonClosed = points[0] == points[points.length - 1];
let linqPoints = new es.List(points);
// 最后一个移除
if (isPolygonClosed)
linqPoints.remove(linqPoints.last());
points = points.slice(0, points.length - 1);
let center = Polygon.findPolygonCenter(points);
this.setLocalOffset(center);

2
source/src/ECS/Components/Physics/Mover.ts
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@@ -60,7 +60,7 @@ module es {
let _internalcollisionResult: CollisionResult = new CollisionResult();
if (collider.collidesWith(neighbor, motion, _internalcollisionResult)) {
// 如果碰撞 则退回之前的移动量
motion.subtract(_internalcollisionResult.minimumTranslationVector);
motion.sub(_internalcollisionResult.minimumTranslationVector);
// 如果我们碰到多个对象，为了简单起见，只取第一个。
if (_internalcollisionResult.collider != null) {