碰撞深度计算

struct Projection {
    float min;
    float max;
};

Projection project(const std::vector<glm::vec2>& vertices, const glm::vec2& axis) {
    Projection projection;
    projection.min = glm::dot(axis, vertices[0]);
    projection.max = projection.min;
    for (int i = 1; i < vertices.size(); i++) {
        float dotProduct = glm::dot(axis, vertices[i]);
        if (dotProduct < projection.min) {
            projection.min = dotProduct;
        } else if (dotProduct > projection.max) {
            projection.max = dotProduct;
        }
    }
    return projection;
}

bool overlap(const Projection& p1, const Projection& p2) {
    return p1.max >= p2.min && p2.max >= p1.min;
}

glm::vec2 getMTV(const std::vector<glm::vec2>& vertices1, const std::vector<glm::vec2>& vertices2) {
    float minOverlap = std::numeric_limits<float>::max();
    glm::vec2 MTV;

    for (int i = 0; i < vertices1.size(); i++) {
        glm::vec2 axis = glm::normalize(vertices1[(i + 1) % vertices1.size()] - vertices1[i]);
        Projection p1 = project(vertices1, axis);
        Projection p2 = project(vertices2, axis);
        if (!overlap(p1, p2)) {
            return glm::vec2(0.0f);
        } else {
            float overlap = std::min(p1.max, p2.max) - std::max(p1.min, p2.min);
            if (overlap < minOverlap) {
                minOverlap = overlap;
                MTV = axis * overlap;
            }
        }
    }

    for (int i = 0; i < vertices2.size(); i++) {
        glm::vec2 axis = glm::normalize(vertices2[(i + 1) % vertices2.size()] - vertices2[i]);
        Projection p1 = project(vertices1, axis);
        Projection p2 = project(vertices2, axis);
        if (!overlap(p1, p2)) {
            return glm::vec2(0.0f);
        } else {
            float overlap = std::min(p1.max, p2.max) - std::max(p1.min, p2.min);
            if (overlap < minOverlap) {
                minOverlap = overlap;
                MTV = axis * overlap;
            }
        }
    }

    return MTV;
}

以上是一个简单的C++实现

C++中实现MTV算法的步骤：

1. 计算两个物体在所有可能的分离轴上的投影。
2. 如果两个物体在某个分离轴上的投影重叠，则它们之间没有发生碰撞。
3. 如果两个物体在所有可能的分离轴上的投影都不重叠，则它们之间发生了碰撞。
4. 计算出它们之间的最小平移向量（MTV），并将其中一个物体沿着MTV移动，直到两个物体不再重叠。