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add collision

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aozhiwei 2019-06-25 12:19:53 +08:00
parent 7d8aad2b14
commit 492cb88b82
2 changed files with 237 additions and 0 deletions
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a8/collision.cc Normal file
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#include <a8/a8.h>
#include <algorithm>
#include <cfloat>
#include <glm/gtx/intersect.hpp>
#include <glm/vec3.hpp>
#include <a8/collision.h>
namespace a8
{
bool IntersectSegmentCircle(a8::Vec2 p0, a8::Vec2 p1, a8::Vec2 pos, float rad)
{
a8::Vec2 t = p1 - p0;
float d = std::max(t.Norm(), 0.0001f);
a8::Vec2 n = p0 - pos;
float v = n.Dot(t);
float z = n.Dot(n) - rad*rad;
if (z > 0 && v > 0) {
return false;
}
float u = v*v - z;
if (u < 0) {
return false;
}
float i = sqrt(u);
float x = -v - i;
if (x < 0 && (x = -v + i), x <= d) {
return true;
}
return false;
}
bool IntersectSegmentAabb(a8::Vec2 p0, a8::Vec2 p1, a8::Vec2 _min, a8::Vec2 _max)
{
a8::Vec2 c = (_min + _max) * 0.5f;
a8::Vec2 e = _max - c;
a8::Vec2 m = (p0 + p1) * 0.5f;
a8::Vec2 d = p1 - m;
m = m - c;
float adx = std::abs(d.x);
if (std::abs(m.x) > e.x + adx) {
return false;
}
float ady = std::abs(d.y);
if (std::abs(m.y) > e.y + ady) {
return false;
}
if (p0.x > p1.x) {
float tmp = p0.x;
p0.x = p1.x;
p1.x = tmp;
}
if (p0.y > p1.y) {
float tmp = p0.y;
p0.y = p1.y;
p1.y = tmp;
}
return IntersectAabbAabb(p0, p1, _min, _max);
}
bool IntersectAabbCircle(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_pos, float b_rad)
{
if (b_pos.x >= a_min.x && b_pos.x <= a_max.x &&
b_pos.y >= a_min.y && b_pos.y <= a_max.y) {
return true;
}
a8::Vec2 nearest_point(a8::Clamp(b_pos.x, a_min.x, a_max.x),
a8::Clamp(b_pos.y, a_min.y, a_max.y));
a8::Vec2 i = b_pos - nearest_point;
float n = a8::LengthSqr(i);
return n < b_rad*b_rad;
}
bool IntersectAabbAabb(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_min, a8::Vec2 b_max)
{
a8::Vec2 a_v = (a_max - a_min) * 0.5f;
a8::Vec2 a_center = a_min + a_v;
a8::Vec2 b_v = (b_max - b_min) * 0.5f;
a8::Vec2 b_center = b_min + b_v;
a8::Vec2 z = b_center - a_center;
float u = a_v.x + b_v.x - std::abs(z.x);
return u > 0;
}
bool IntersectCircleCircle(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_pos, float b_rad)
{
float t = a_rad + b_rad;
a8::Vec2 d = b_pos - a_pos;
float n = a8::LengthSqr(d);
return n < t*t;
}
bool CircleContainCircle(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_pos, float b_rad)
{
float distance = (a_pos - b_pos).Norm();
return distance < a_rad - b_rad;
}
bool CalcCircleAabbSafePoint(a8::Vec2 a_pos, float b_rad, a8::Vec2 b_min, a8::Vec2 b_max,
a8::Vec2& new_pos)
{
new_pos = a_pos;
bool at_left = std::abs(a_pos.x - b_min.x) < std::abs(a_pos.x - b_max.x);
bool at_down = std::abs(a_pos.y - b_min.y) < std::abs(a_pos.y - b_max.y);
float x_len = at_left ? std::abs(a_pos.x - b_min.x) : std::abs(a_pos.x - b_max.x);
float y_len = at_down ? std::abs(a_pos.y - b_min.y) : std::abs(a_pos.y - b_max.y);
if (at_left) {
if (x_len < y_len) {
//左
new_pos.x = b_min.x - b_rad - 1;
} else {
if (at_down) {
new_pos.y = b_min.y - b_rad - 1;
} else {
new_pos.y = b_max.y + b_rad + 1;
}
}
} else {
if (x_len < y_len) {
//右
new_pos.x = b_max.x + b_rad + 1;
} else {
if (at_down) {
new_pos.y = b_min.y - b_rad - 1;
} else {
new_pos.y = b_max.y + b_rad + 1;
}
}
}
return true;
}
bool CalcCircleCircleSafePoint(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_pos, float b_rad,
a8::Vec2& new_pos)
{
a8::Vec2 dir = a_pos - b_pos;
dir.Normalize();
new_pos = b_pos + dir*(a_rad + b_rad) + 1;
return true;
}
bool CalcAabbAabbSafePoint(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_min, a8::Vec2 b_max,
a8::Vec2& new_pos)
{
a8::Vec2 a_pos = a_min + (a_max - a_min)/2.0f;
new_pos = a_pos;
bool at_left = std::abs(a_pos.x - b_min.x) < std::abs(a_pos.x - b_max.x);
bool at_down = std::abs(a_pos.y - b_min.y) < std::abs(a_pos.y - b_max.y);
float x_len = at_left ? std::abs(a_pos.x - b_min.x) : std::abs(a_pos.x - b_max.x);
float y_len = at_down ? std::abs(a_pos.y - b_min.y) : std::abs(a_pos.y - b_max.y);
if (at_left) {
if (x_len < y_len) {
//左
new_pos.x = b_min.x - (a_max.x - a_min.x)/2.0f - 1;
} else {
if (at_down) {
new_pos.y = b_min.y - (a_max.y - a_min.y)/2.0f - 1;
} else {
new_pos.y = b_max.y + (a_max.y - a_min.y)/2.0f + 1;
}
}
} else {
if (x_len < y_len) {
//右
new_pos.x = b_max.x + (a_max.x - a_min.x)/2.0f + 1;
} else {
if (at_down) {
new_pos.y = b_min.y - (a_max.y - a_min.y)/2.0f - 1;
} else {
new_pos.y = b_max.y + (a_max.y - a_min.y)/2.0f + 1;
}
}
}
return true;
}
bool CalcAabbCircleSafePoint(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_pos, float b_rad,
a8::Vec2& new_pos)
{
a8::Vec2 a_pos = a_min + (a_max - a_min)/2.0f;
new_pos = a_pos;
bool at_left = std::abs(a_min.x - b_pos.x) < std::abs(a_max.x - b_pos.x);
bool at_down = std::abs(a_min.y - b_pos.y) < std::abs(a_max.y - b_pos.y);
float x_len = at_left ? std::abs(a_min.x - b_pos.x) : std::abs(a_max.x - b_pos.x);
float y_len = at_down ? std::abs(a_min.y - b_pos.y) : std::abs(a_max.y - b_pos.y);
if (at_left) {
if (x_len < y_len) {
//左
new_pos.x = b_pos.x - (a_max.x - a_min.x)/2.0f - 1;
} else {
if (at_down) {
new_pos.y = b_pos.y - (a_max.y - a_min.y)/2.0f - 1;
} else {
new_pos.y = b_pos.y + (a_max.y - a_min.y)/2.0f + 1;
}
}
} else {
if (x_len < y_len) {
//右
new_pos.x = b_pos.x + (a_max.x - a_min.x)/2.0f + 1;
} else {
if (at_down) {
new_pos.y = b_pos.y - (a_max.y - a_min.y)/2.0f - 1;
} else {
new_pos.y = b_pos.y + (a_max.y - a_min.y)/2.0f + 1;
}
}
}
return true;
}
}

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a8/collision.h Normal file
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#ifndef A8_COLLISION_H
#define A8_COLLISION_H
#include <a8/vec2.h>
namespace a8
{
bool IntersectSegmentCircle(a8::Vec2 p0, a8::Vec2 p1, a8::Vec2 pos, float rad);
bool IntersectSegmentAabb(a8::Vec2 p0, a8::Vec2 p1, a8::Vec2 _min, a8::Vec2 _max);
bool IntersectAabbCircle(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_pos, float b_rad);
bool IntersectAabbAabb(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_min, a8::Vec2 b_max);
bool IntersectCircleCircle(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_pos, float b_rad);
bool CircleContainCircle(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_pos, float b_rad);
bool CalcCircleAabbSafePoint(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_min, a8::Vec2 b_max,
a8::Vec2& new_pos);
bool CalcCircleCircleSafePoint(a8::Vec2 a_pos, float a_rad, a8::Vec2 b_pos, float b_rad,
a8::Vec2& new_pos);
bool CalcAabbAabbSafePoint(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_min, a8::Vec2 b_max,
a8::Vec2& new_pos);
bool CalcAabbCircleSafePoint(a8::Vec2 a_min, a8::Vec2 a_max, a8::Vec2 b_pos, float b_rad,
a8::Vec2& new_pos);
}
#endif