好的，以下是一个带 AABB 的 Octree 算法的 C 实现的碰撞检测代码：
```c
#include <stdio.h>
#include <stdlib.h>
#define MAX_DEPTH 8
#define MAX_OBJECTS 10
typedef struct {
float x, y, z;
} Vector3;
typedef struct {
Vector3 min, max;
} AABB;
typedef struct {
AABB bounds;
int object_id;
} OctreeObject;
typedef struct OctreeNode OctreeNode;
struct OctreeNode {
AABB bounds;
OctreeNode* children[8];
OctreeObject* objects[MAX_OBJECTS];
int num_objects;
int depth;
};
OctreeNode* create_node(AABB bounds, int depth) {
OctreeNode* node = (OctreeNode*)malloc(sizeof(OctreeNode));
node->bounds = bounds;
for (int i = 0; i < 8; i++) {
node->children[i] = NULL;
}
for (int i = 0; i < MAX_OBJECTS; i++) {
node->objects[i] = NULL;
}
node->num_objects = 0;
node->depth = depth;
return node;
}
void insert_object(OctreeNode* node, OctreeObject* object) {
if (node->children[0] != NULL) {
// Node has children, insert object into appropriate child
for (int i = 0; i < 8; i++) {
if (AABB_intersects(node->children[i]->bounds, object->bounds)) {
insert_object(node->children[i], object);
return;
}
}
}
// Node does not have children, insert object into this node
if (node->num_objects < MAX_OBJECTS || node->depth >= MAX_DEPTH) {
node->objects[node->num_objects++] = object;
} else {
// Node is full, split it into eight children
Vector3 center = {
(node->bounds.min.x + node->bounds.max.x) / 2,
(node->bounds.min.y + node->bounds.max.y) / 2,
(node->bounds.min.z + node->bounds.max.z) / 2
};
node->children[0] = create_node((AABB){node->bounds.min, center}, node->depth + 1);
node->children[1] = create_node((AABB){(Vector3){center.x, node->bounds.min.y, node->bounds.min.z}, (Vector3){node->bounds.max.x, center.y, center.z}}, node->depth + 1);
node->children[2] = create_node((AABB){(Vector3){center.x, node->bounds.min.y, center.z}, (Vector3){node->bounds.max.x, center.y, node->bounds.max.z}}, node->depth + 1);
node->children[3] = create_node((AABB){(Vector3){node->bounds.min.x, node->bounds.min.y, center.z}, (Vector3){center.x, center.y, node->bounds.max.z}}, node->depth + 1);
node->children[4] = create_node((AABB){(Vector3){node->bounds.min.x, center.y, node->bounds.min.z}, (Vector3){center.x, node->bounds.max.y, center.z}}, node->depth + 1);
node->children[5] = create_node((AABB){(Vector3){center.x, center.y, node->bounds.min.z}, (Vector3){node->bounds.max.x, node->bounds.max.y, center.z}}, node->depth + 1);
node->children[6] = create_node((AABB){(Vector3){center.x, center.y, center.z}, node->bounds.max}, node->depth + 1);
node->children[7] = create_node((AABB){(Vector3){node->bounds.min.x, center.y, center.z}, (Vector3){center.x, node->bounds.max.y, node->bounds.max.z}}, node->depth + 1);
for (int i = 0; i < node->num_objects; i++) {
for (int j = 0; j < 8; j++) {
if (AABB_intersects(node->children[j]->bounds, node->objects[i]->bounds)) {
insert_object(node->children[j], node->objects[i]);
node->objects[i] = NULL;
break;
}
}
}
for (int i = 0; i < node->num_objects; i++) {
if (node->objects[i] != NULL) {
insert_object(node, node->objects[i]);
node->objects[i] = NULL;
}
}
insert_object(node, object);
}
}
int AABB_intersects(AABB a, AABB b) {
return (a.min.x <= b.max.x && a.max.x >= b.min.x) &&
(a.min.y <= b.max.y && a.max.y >= b.min.y) &&
(a.min.z <= b.max.z && a.max.z >= b.min.z);
}
void query_objects(OctreeNode* node, AABB bounds, int* results, int* num_results) {
if (!AABB_intersects(node->bounds, bounds)) {
return;
}
for (int i = 0; i < node->num_objects; i++) {
if (AABB_intersects(node->objects[i]->bounds, bounds)) {
results[(*num_results)++] = node->objects[i]->object_id;
}
}
if (node->children[0] != NULL) {
for (int i = 0; i < 8; i++) {
query_objects(node->children[i], bounds, results, num_results);
}
}
}
int main() {
// Example usage
OctreeNode* root = create_node((AABB){(Vector3){-10, -10, -10}, (Vector3){10, 10, 10}}, 0);
OctreeObject objects[5] = {
{(AABB){(Vector3){-5, -5, -5}, (Vector3){-3, -3, -3}}, 0},
{(AABB){(Vector3){-2, -2, -2}, (Vector3){0, 0, 0}}, 1},
{(AABB){(Vector3){1, 1, 1}, (Vector3){3, 3, 3}}, 2},
{(AABB){(Vector3){4, 4, 4}, (Vector3){6, 6, 6}}, 3},
{(AABB){(Vector3){7, 7, 7}, (Vector3){9, 9, 9}}, 4}
};
for (int i = 0; i < 5; i++) {
insert_object(root, &objects[i]);
}
int results[5];
int num_results = 0;
query_objects(root, (AABB){(Vector3){-4, -4, -4}, (Vector3){4, 4, 4}}, results, &num_results);
printf("Objects in query bounds: ");
for (int i = 0; i < num_results; i++) {
printf("%d ", results[i]);
}
printf("\n");
return 0;
}
```
希望这个代码能够帮到你！
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