C++ Program Code for 2D Elastic Collision of 2 Balls-CSDN博客

// ******************************************************************************

// This program is a 'remote' 2D-collision detector for two balls on linear

// trajectories and returns, if applicable, the location of the collision for

// both balls as well as the new velocity vectors (assuming a fully elastic

// collision).

// In 'f' (free) mode no positions but only the initial velocities

// and an impact angle are required.

// All variables apart from 'mode' and 'error' are of Double Precision

// Floating Point type.

// The Parameters are:

// mode (char) (if='f' alpha must be supplied; otherwise arbitrary)

// alpha (impact angle) only required in mode='f';

// should be between -PI/2 and PI/2 (0 = head-on collision))

// m1 (mass of ball 1)

// m2 (mass of ball 2)

// r1 (radius of ball 1) not needed for 'f' mode

// r2 (radius of ball 2) "

// & x1 (x-coordinate of ball 1) "

// & y1 (y-coordinate of ball 1) "

// & x2 (x-coordinate of ball 2) "

// & y2 (y-coordinate of ball 2) "

// & vx1 (velocity x-component of ball 1)

// & vy1 (velocity y-component of ball 1)

// & vx2 (velocity x-component of ball 2)

// & vy2 (velocity y-component of ball 2)

// & error (int) (0: no error

// 1: balls do not collide

// 2: initial positions impossible (balls overlap))

// Note that the parameters with an ampersand (&) are passed by reference,

// i.e. the corresponding arguments in the calling program will be updated;

// however, the coordinates and velocities will only be updated if 'error'=0.

// All variables should have the same data types in the calling program

// and all should be initialized before calling the function even if

// not required in the particular mode.

// This program is free to use for everybody. However, you use it at your own

// risk and I do not accept any liability resulting from incorrect behaviour.

// I have tested the program for numerous cases and I could not see anything

// wrong with it but I can not guarantee that it is bug-free under any

// circumstances.

// I would appreciate if you could report any problems to me

// (for contact details see http://www.plasmaphysics.org.uk/feedback.htm ).

// Thomas Smid, January 2004

// December 2005 (corrected faulty collision detection;

// a few minor changes to improve speed;

// added simplified code without collision detection)

// *********************************************************************************

void collision2D( char mode, double alpha,

double m1, double m2, double r1, double r2,

double & x1, double & y1, double & x2, double & y2,

double & vx1, double & vy1, double & vx2, double & vy2,

int & error ) {

double r12,m21,d,gammav,gammaxy,dgamma,dr,dc,sqs,t,

dvx2,a,x21,y21,vx21,vy21,pi2;

// ***initialize some variables ****

pi2=2*acos(-1.0E0);

error=0;

r12=r1+r2;

m21=m2/m1;

x21=x2-x1;

y21=y2-y1;

vx21=vx2-vx1;

vy21=vy2-vy1;

// **** return old positions and velocities if relative velocity =0 ****

if ( vx21==0 && vy21==0 ) {error=1; return;}

// *** calculate relative velocity angle

gammav=atan2(-vy21,-vx21);

//******** this block only if initial positions are given *********

if (mode != 'f') {

d=sqrt(x21*x21 +y21*y21);

// **** return if distance between balls smaller than sum of radii ***

if (d<r12) {error=2; return;}

// *** calculate relative position angle and normalized impact parameter ***

gammaxy=atan2(y21,x21);

dgamma=gammaxy-gammav;

if (dgamma>pi2) {dgamma=dgamma-pi2;}

else if (dgamma<-pi2) {dgamma=dgamma+pi2;}

dr=d*sin(dgamma)/r12;

// **** return old positions and velocities if balls do not collide ***

if ( (fabs(dgamma)>pi2/4 && fabs(dgamma)<0.75*pi2) || fabs(dr)>1 )

{error=1; return;}

// **** calculate impact angle if balls do collide ***

alpha=asin(dr);

// **** calculate time to collision ***

dc=d*cos(dgamma);

if (dc>0) {sqs=1.0;} else {sqs=-1.0;}

t=(dc-sqs*r12*sqrt(1-dr*dr))/sqrt(vx21*vx21+ vy21*vy21);

// **** update positions ***

x1=x1+vx1*t;

y1=y1+vy1*t;

x2=x2+vx2*t;

y2=y2+vy2*t;

}

//******** END 'this block only if initial positions are given' *********

// *** update velocities ***

a=tan( gammav +alpha);

dvx2=-2*(vx21 +a*vy21) /((1+a*a)*(1+m21));

vx2=vx2+dvx2;

vy2=vy2+a*dvx2;

vx1=vx1-m21*dvx2;

vy1=vy1-a*m21*dvx2;

return;

}

// ******************************************************************************

// Simplified Version

// The advantage of the 'remote' collision detection in the program above is

// that one does not have to continuously track the balls to detect a collision.

// The program needs only to be called once for any two balls unless their

// velocity changes. However, if somebody wants to use a separate collision

// detection routine for whatever reason, below is a simplified version of the

// code which just calculates the new velocities, assuming that the balls are

// already touching and approaching each other (these two conditions are

// important as otherwise the results will be incorrect)

// ****************************************************************************

void collision2Ds( double m1, double m2,

double x1, double y1, double x2, double y2,

double & vx1, double & vy1, double & vx2, double & vy2) {

double m21,dvx2,a,x21,y21,vx21,vy21,fy21,sign;

m21=m2/m1;

x21=x2-x1;

y21=y2-y1;

vx21=vx2-vx1;

vy21=vy2-vy1;

// *** I have inserted the following statements to avoid a zero divide;

// (for single precision calculations,

// 1.0E-12 should be replaced by a larger value). **************

fy21=1.0E-12*fabs(y21);

if ( fabs(x21)<fy21 ) {

if (x21<0) { sign=-1; } else { sign=1;}

x21=fy21*sign;

}

// *** update velocities ***

a=y21/x21;

dvx2= -2*(vx21 +a*vy21)/((1+a*a)*(1+m21)) ;