最近在看recast&detour源码的时候有遇到许多数学上的算法问题,特此记录,以便以后查看。
介绍
2D Polygon Collision Detection - CodeProject
应用分离轴定理 SAT ,看是否能找到分离轴,如果能找到那么就是不相交。否则相交。
利用点积的几何意义: 投影
源码
判断 polya 和 polyb 两个多边形是否相交
/// All vertices are projected onto the xz-plane, so the y-values are ignored.
bool dtOverlapPolyPoly2D(const float* polya, const int npolya,
const float* polyb, const int npolyb)
{
const float eps = 1e-4f;
for (int i = 0, j = npolya-1; i < npolya; j=i++)
{
const float* va = &polya[j*3];
const float* vb = &polya[i*3];
// 与边垂直的向量,作为分离轴
const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
float amin,amax,bmin,bmax;
projectPoly(n, polya, npolya, amin,amax);
projectPoly(n, polyb, npolyb, bmin,bmax);
if (!overlapRange(amin,amax, bmin,bmax, eps))
{
// Found separating axis
return false;
}
}
for (int i = 0, j = npolyb-1; i < npolyb; j=i++)
{
const float* va = &polyb[j*3];
const float* vb = &polyb[i*3];
const float n[3] = { vb[2]-va[2], 0, -(vb[0]-va[0]) };
float amin,amax,bmin,bmax;
projectPoly(n, polya, npolya, amin,amax);
projectPoly(n, polyb, npolyb, bmin,bmax);
if (!overlapRange(amin,amax, bmin,bmax, eps))
{
// Found separating axis
return false;
}
}
return true;
}
计算多边形在某条轴上的相对投影范围
static void projectPoly(const float* axis, const float* poly, const int npoly,
float& rmin, float& rmax)
{
// 求最大和最小的点积值 相当于 多边形在 轴上的投影范围(真正的这个范围需要除以|axis|,因为都乘了无所谓)
rmin = rmax = dtVdot2D(axis, &poly[0]);
for (int i = 1; i < npoly; ++i)
{
const float d = dtVdot2D(axis, &poly[i*3]);
rmin = dtMin(rmin, d);
rmax = dtMax(rmax, d);
}
}
判断是否区域有重叠
inline bool overlapRange(const float amin, const float amax,
const float bmin, const float bmax,
const float eps)
{
return ((amin+eps) > bmax || (amax-eps) < bmin) ? false : true;
}
inline float dtVdot2D(const float* u, const float* v)
{
return u[0]*v[0] + u[2]*v[2];
}