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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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51
source/src/Physics/Shapes/ShapeCollisions/ShapeCollisionsPolygon.ts
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@@ -9,8 +9,8 @@ module es {
public static polygonToPolygon(first: Polygon, second: Polygon, result: CollisionResult): boolean {
let isIntersecting = true;
let firstEdges = first.edgeNormals.slice();
let secondEdges = second.edgeNormals.slice();
const firstEdges = first.edgeNormals;
const secondEdges = second.edgeNormals;
let minIntervalDistance = Number.POSITIVE_INFINITY;
let translationAxis = es.Vector2.zero;
let polygonOffset = Vector2.subtract(first.position, second.position);
@@ -20,28 +20,20 @@ module es {
for (let edgeIndex = 0; edgeIndex < firstEdges.length + secondEdges.length; edgeIndex++) {
// 1. 找出当前多边形是否相交
// 多边形的归一化轴垂直于缓存给我们的当前边
if (edgeIndex < firstEdges.length) {
axis = firstEdges[edgeIndex];
} else {
axis = secondEdges[edgeIndex - firstEdges.length];
}
axis = edgeIndex < firstEdges.length ? firstEdges[edgeIndex] : secondEdges[edgeIndex - firstEdges.length];
// 求多边形在当前轴上的投影
let minA = new Ref(0);
let minB = new Ref(0);
let maxA = new Ref(0);
let maxB = new Ref(0);
let intervalDist = 0;
this.getInterval(axis, first, minA, maxA);
this.getInterval(axis, second, minB, maxB);
let {min: minA, max: maxA} = this.getInterval(axis, first);
const {min: minB, max: maxB} = this.getInterval(axis, second);
// 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);
minA.value += relativeIntervalOffset;
maxA.value += relativeIntervalOffset;
minA += relativeIntervalOffset;
maxA += relativeIntervalOffset;
// 检查多边形投影是否正在相交
intervalDist = this.intervalDistance(minA.value, maxA.value, minB.value, maxB.value);
intervalDist = this.intervalDistance(minA, maxA, minB, maxB);
if (intervalDist > 0)
isIntersecting = false;
@@ -56,16 +48,16 @@ module es {
intervalDist = Math.abs(intervalDist);
if (intervalDist < minIntervalDistance) {
minIntervalDistance = intervalDist;
translationAxis = axis;
translationAxis.setTo(axis.x, axis.y);
if (Vector2.dot(translationAxis, polygonOffset) < 0)
translationAxis = new Vector2(-translationAxis.x, -translationAxis.y);
translationAxis = translationAxis.scale(-1);
}
}
// 利用最小平移向量对多边形进行推入。
result.normal = translationAxis;
result.minimumTranslationVector = new Vector2(-translationAxis.x * minIntervalDistance, -translationAxis.y * minIntervalDistance);
result.minimumTranslationVector = translationAxis.scale(minIntervalDistance * -1);
return true;
}
@@ -77,18 +69,21 @@ module es {
* @param min
* @param max
*/
public static getInterval(axis: Vector2, polygon: Polygon, min: Ref<number>, max: Ref<number>) {
let dot = Vector2.dot(polygon.points[0], axis);
min.value = max.value = dot;
public static getInterval(axis: Vector2, polygon: Polygon): {min: number, max: number} {
const res = {min: 0, max: 0};
let dot: number;
dot = Vector2.dot( polygon.points[0], axis);
res.max = dot;
res.min = dot;
for (let i = 1; i < polygon.points.length; i++) {
dot = Vector2.dot(polygon.points[i], axis);
if (dot < min.value) {
min.value = dot;
} else if (dot > max.value) {
max.value = dot;
if (dot < res.min) {
res.min = dot;
} else if (dot > res.max) {
res.max = dot;
}
}
return res;
}
/**
@@ -98,7 +93,7 @@ module es {
* @param minB
* @param maxB
*/
public static intervalDistance(minA: number, maxA: number, minB: number, maxB) {
public static intervalDistance(minA: number, maxA: number, minB: number, maxB: number) {
if (minA < minB)
return minB - maxA;