全新配套ACT系统——开创RM潜力计划~~2016.11.13更新

shitake

嘛 代码直接上github好了

shitake

斜坡的碰撞是用三角形做的拟合？

shitake

RUBY 代码复制

#encoding: utf-8
#author: shitake
#data: 16-9-26
 
class Range
  # 判断两个范围是否相交。
  def intersects(range)
    !(self.last < range.first || self.first > range.last)
  end
end
 
module Math
  def self.a2r(angle)
    angle * Math::PI / 180 if angle.kind_of? Numeric
  end
end
 
# 表示二维坐标系上点的对象
class Point
 
  attr_accessor :x
  attr_accessor :y
 
  def initialize(x = 0, y = x)
    @x = x
    @y = y
  end
 
  # 二维坐标下两点距离
  def distance(point)
    Math.hypot(@x - point.x, @y - point.y)
  end
 
  # 二维坐标下两点解析距离
  def distance_axis(point)
    [point.x - @x,point.y - @y]
  end
 
  def set(x = 0, y = x)
    @x = x
    @y = y
  end
 
end
 
class Vector2
 
  attr_accessor :x
  attr_accessor :y
 
  def initialize(x, y)
    @x = x || 0
    @y = y || 0
  end
 
  #点乘
  def dot_product(vector2)
    @x * vector2.x + @y * vector2.y
  end
 
  #模
  def module
    Math.hypot(@x, @y)
  end
 
end
 
class Axes
 
  attr_accessor :origin
  attr_accessor :radian
  attr_reader :x
  attr_reader :y
 
  #origin:原点，radian:偏转弧度
  def initialize(origin, radian)
    @origin = origin
    @radian = radian
    set_axes(@radian)
  end
 
  def radian=(value)
    return if @radian == value
    @radian = value
    set_axes(value)
  end
 
  def set_axes(radian)
    @x = Vector2.new(Math.cos(radian), Math.sin(radian))
    @y = Vector2.new(-1 * Math.sin(radian), Math.cos(radian))
  end
 
  #返回逆坐标系
  def a_axes
    Axes.new(Point.new(- @origin.x, - @origin.y), -radian)
  end
 
  #返回向量在当前坐标系下的投影
  def shadow(vector2)
    x = vector2.dot_product(@x)
    y = vector2.dot_product(@y)
    Vector2.new(x, y)
  end
 
  #返回点在当前坐标系下的坐标
  def point(point)
    vector2 = shadow(Vector2.new(point.x - @origin.x, point.y - @origin.y))
    Point.new(vector2.x, vector2.y)
  end
 
end
 
class AABB
 
  attr_reader :x
  attr_reader :y
  attr_reader :width
  attr_reader :height
  attr_reader :center
  attr_reader :width_range
  attr_reader :height_range
 
  def initialize(x = 0, y = 0, width = 0, height = 0)
    @x = x
    @y = y
    @width = width
    @height = height
    create
  end
 
  def create
    @width_range = Range.new(@x, @x + @width)
    @height_range = Range.new(@y, @y + @height)
    @center = Point.new(@width_range / 2, @height_range / 2)
  end
 
  def points
    [
        Point.new(@x, @y), #左上
        Point.new(@x + @width, @y), #右上
        Point.new(@x, @y + @height), #左下
        Point.new(@x + @width, @y + @height) #右下
    ]
  end
 
  def x=(value)
    return if @x == value
    @x = value
    create
  end
 
  def y=(value)
    return if @y == value
    @y = value
    create
  end
 
  def width=(value)
    return if @width == value
    @width = value
    create
  end
 
  def height=(value)
    return if @height == value
    @height = value
    create
  end
 
  def collision(obj)
    case obj.class
      when Point
        point_collision(obj)
      when AABB
        aabb_collision(obj)
      when OBB
        obb_collision(obj)
      when Sphere
        sphere_collision(obj)
      else
        raise "TypeError:不正确类型#{obj.class}!"
    end
  end
 
  # point 相交测试
  def point_collision(point)
    @width_range.eql?(point.x) && @height_range.eql?(point.y)
  end
 
  # aabb 相交测试
  def aabb_collision(aabb)
    @width_range.intersects(aabb.width_range) && @height_range.intersects(aabb.height_range)
  end
 
  # obb 相交测试
  def obb_collision(obb)
    return aabb_collision(obb.obb2aabb) if obb.angle % 90 == 0
    obb.obb_collision(aabb2obb)
  end
 
  def sphere_collision(sphere)
    sphere.aabb_collision(self)
  end
 
  def aabb2obb
    OBB.new(@center, @width, @height, 0)
  end
 
  def aabb2sphere
    radius = Math.sqrt((@width / 2) ** 2 + (@height / 2) ** 2).ceil
    Sphere.new(@x, @y, radius)
  end
 
end
 
class OBB
 
  attr_reader :center
  attr_reader :width
  attr_reader :height
  attr_reader :angle
  attr_reader :width_range
  attr_reader :height_range
  attr_reader :center
  attr_reader :axes
 
  def initialize(center, width = 0, height = 0, angle)
    @center = center
    @width = width
    @height = height
    value = angle % 360
    @angle = value > 180 ? value - 180 : value
    create
  end
 
 
 
  def create
    @axes = Axes.new(@center, Math.a2r(@angle))
    @width_range = Range(-@width / 2, @width / 2)
    @height_range = Range(-@height / 2, @height / 2)
  end
 
  def center=(value)
    return if @center == value
    @center = value
    create
  end
 
  def width=(value)
    return if @width == value
    @width = value
    create
  end
 
  def height=(value)
    return if @height == value
    @height = value
    create
  end
 
  def radian=(value)
    value = value % 360
    return if @angle == (value > 180 ? value - 180 : value)
    @angle = value
    create
  end
 
  def points
    [
        Point.new(@center.x - @width / 2, @center.y - @height / 2),
        Point.new(@center.x - @width / 2, @center.y + @height / 2),
        Point.new(@center.x + @width / 2, @center.y - @height / 2),
        Point.new(@center.x + @width / 2, @center.y + @height / 2),
    ]
  end
 
  def collision(obj)
    case obj.class
      when Point
        point_collision(obj)
      when AABB
        aabb_collision(obj)
      when OBB
        obb_collision(obj)
      when Sphere
        sphere_collision(obj)
      else
        raise "TypeError:不正确类型#{obj.class}!"
    end
  end
 
  # point 相交测试
  def point_collision(point)
    point = @axes.point(point)
    width_range.eql?(point.x) && height_range.eql?(point.y)
  end
 
  # aabb 相交测试
  def aabb_collision(aabb)
    aabb.obb_collision(self)
  end
 
  # obb 相交测试，分离轴定理
  def obb_collision(obb)
    this_in_obb_center = obb.axes.point(@center)
    obb_in_this_center = axes.point(obb.center)
    ow_range = Range.new(obb_in_this_center.x - obb.width / 2, obb_in_this_center.x + obb.width / 2)
    oh_range = Range.new(obb_in_this_center.y - obb.height / 2, obb_in_this_center.y + obb.height / 2)
    w_o_range = Range.new(this_in_obb_center.x - @width / 2, this_in_obb_center.x + @width / 2)
    h_o_range = Range.new(obb_in_this_center.y - @height / 2, obb_in_this_center.y + @height / 2)
    width_range.intersects(ow_range) && height_range.intersects(oh_range) && obb.width_range.intersects(w_o_range) && obb.height_range.intersects(h_o_range)
  end
 
  def sphere_collision(sphere)
    sphere.obb_collision(self)
  end
 
  def obb2aabb
    return AABB.new(@center.x - @width / 2, @center.y, @width, @height) if @radian == 0
    return AABB.new(@center.x - @height / 2, @center.y, @height, @width) if @angle == 90 && @angle == 180
    AABB.new(points.min_by(&:x), points.min_by(&:y), points.max_by(&:x), points.max_by(&:y))
  end
 
  def obb2sphere
    radius = Math.sqrt((@width / 2) ** 2 + (@height / 2) ** 2).ceil
    Sphere.new(@center.x, @center.y, radius)
  end
 
end
 
class Sphere
 
  attr_reader :x
  attr_reader :y
  attr_reader :radius
  attr_reader :center
  attr_reader :width_range
  attr_reader :height_range
 
  def initialize(x, y, radius)
    @x = x
    @y = y
    @radius = radius
    create
  end
 
  def x=(value)
    return if @x == value
    @x = value
    create
  end
 
  def y=(value)
    return if @y == value
    @y = value
    create
  end
 
  def radius=(value)
    return if @radius == value
    @radius = value
    create
  end
 
  def create
    @center = Point.new(@x, @y)
    @width_range = Range.new(@x - @radius, @x + @radius)
    @height_range = Range.new(@y - @radius, @y + @radius)
  end
 
  def collision(obj)
    case obj.class
      when Point
        point_collision(obj)
      when AABB
        aabb_collision(obj)
      when OBB
        obb_collision(obj)
      when Sphere
        sphere_collision(obj)
      else
        raise "TypeError:不正确类型#{obj.class}!"
    end
  end
 
  def point_collision(point)
    (point.x - @x) ** 2 + (point.y - @y) ** 2 <= @radius ** 2
  end
 
  def sphere_collision(sphere)
    point_collision(sphere.point)
  end
 
  def aabb_collision(aabb)
    # [url]http://www.zhihu.com/question/24251545/answer/27184960[/url]
    vx, vy = (@x - aabb.center.x).abs,(@y - aabb.center.y).abs
    hx, hy = (aabb.points[1].x - aabb.center.x).abs, (aabb.points[1].y - aabb.center.y).abs
    ux = vx - hx > 0 ? vx - hx : 0
    uy = vy - hy > 0 ? vy - hy : 0
    ux ** 2 + uy ** 2 <= @radius ** 2
  end
 
  def obb_collision(obb)
    point = obb.axes.point(@center)
    vx, vy = point.x.abs, point.y.abs
    hx, hy = obb.width / 2, obb.height / 2
    ux = vx - hx > 0 ? vx - hx : 0
    uy = vy - hy > 0 ? vy - hy : 0
    ux ** 2 + uy ** 2 <= @radius ** 2
  end
 
  def sphere2aabb
    AABB.new(@x - @radius, @y - @radius, @radius * 2, @radius * 2)
  end
 
  def sphere2obb
    sphere2aabb.aabb2obb
  end
 
end

#encoding: utf-8


#author: shitake


#data: 16-9-26


 


class Range


  # 判断两个范围是否相交。


  def intersects(range)


    !(self.last < range.first || self.first > range.last)


  end


end


 


module Math


  def self.a2r(angle)


    angle * Math::PI / 180 if angle.kind_of? Numeric


  end


end


 


# 表示二维坐标系上点的对象


class Point


 


  attr_accessor :x


  attr_accessor :y


 


  def initialize(x = 0, y = x)


    @x = x


    @y = y


  end


 


  # 二维坐标下两点距离


  def distance(point)


    Math.hypot(@x - point.x, @y - point.y)


  end


 


  # 二维坐标下两点解析距离


  def distance_axis(point)


    [point.x - @x,point.y - @y]


  end


 


  def set(x = 0, y = x)


    @x = x


    @y = y


  end


 


end


 


class Vector2


 


  attr_accessor :x


  attr_accessor :y


 


  def initialize(x, y)


    @x = x || 0


    @y = y || 0


  end


 


  #点乘


  def dot_product(vector2)


    @x * vector2.x + @y * vector2.y


  end


 


  #模


  def module


    Math.hypot(@x, @y)


  end


 


end


 


class Axes


 


  attr_accessor :origin


  attr_accessor :radian


  attr_reader :x


  attr_reader :y


 


  #origin:原点，radian:偏转弧度


  def initialize(origin, radian)


    @origin = origin


    @radian = radian


    set_axes(@radian)


  end


 


  def radian=(value)


    return if @radian == value


    @radian = value


    set_axes(value)


  end


 


  def set_axes(radian)


    @x = Vector2.new(Math.cos(radian), Math.sin(radian))


    @y = Vector2.new(-1 * Math.sin(radian), Math.cos(radian))


  end


 


  #返回逆坐标系


  def a_axes


    Axes.new(Point.new(- @origin.x, - @origin.y), -radian)


  end


 


  #返回向量在当前坐标系下的投影


  def shadow(vector2)


    x = vector2.dot_product(@x)


    y = vector2.dot_product(@y)


    Vector2.new(x, y)


  end


 


  #返回点在当前坐标系下的坐标


  def point(point)


    vector2 = shadow(Vector2.new(point.x - @origin.x, point.y - @origin.y))


    Point.new(vector2.x, vector2.y)


  end


 


end


 


class AABB


 


  attr_reader :x


  attr_reader :y


  attr_reader :width


  attr_reader :height


  attr_reader :center


  attr_reader :width_range


  attr_reader :height_range


 


  def initialize(x = 0, y = 0, width = 0, height = 0)


    @x = x


    @y = y


    @width = width


    @height = height


    create


  end


 


  def create


    @width_range = Range.new(@x, @x + @width)


    @height_range = Range.new(@y, @y + @height)


    @center = Point.new(@width_range / 2, @height_range / 2)


  end


 


  def points


    [


        Point.new(@x, @y), #左上


        Point.new(@x + @width, @y), #右上


        Point.new(@x, @y + @height), #左下


        Point.new(@x + @width, @y + @height) #右下


    ]


  end


 


  def x=(value)


    return if @x == value


    @x = value


    create


  end


 


  def y=(value)


    return if @y == value


    @y = value


    create


  end


 


  def width=(value)


    return if @width == value


    @width = value


    create


  end


 


  def height=(value)


    return if @height == value


    @height = value


    create


  end


 


  def collision(obj)


    case obj.class


      when Point


        point_collision(obj)


      when AABB


        aabb_collision(obj)


      when OBB


        obb_collision(obj)


      when Sphere


        sphere_collision(obj)


      else


        raise "TypeError:不正确类型#{obj.class}!"


    end


  end


 


  # point 相交测试


  def point_collision(point)


    @width_range.eql?(point.x) && @height_range.eql?(point.y)


  end


 


  # aabb 相交测试


  def aabb_collision(aabb)


    @width_range.intersects(aabb.width_range) && @height_range.intersects(aabb.height_range)


  end


 


  # obb 相交测试


  def obb_collision(obb)


    return aabb_collision(obb.obb2aabb) if obb.angle % 90 == 0


    obb.obb_collision(aabb2obb)


  end


 


  def sphere_collision(sphere)


    sphere.aabb_collision(self)


  end


 


  def aabb2obb


    OBB.new(@center, @width, @height, 0)


  end


 


  def aabb2sphere


    radius = Math.sqrt((@width / 2) ** 2 + (@height / 2) ** 2).ceil


    Sphere.new(@x, @y, radius)


  end


 


end


 


class OBB


 


  attr_reader :center


  attr_reader :width


  attr_reader :height


  attr_reader :angle


  attr_reader :width_range


  attr_reader :height_range


  attr_reader :center


  attr_reader :axes


 


  def initialize(center, width = 0, height = 0, angle)


    @center = center


    @width = width


    @height = height


    value = angle % 360


    @angle = value > 180 ? value - 180 : value


    create


  end


 


 


 


  def create


    @axes = Axes.new(@center, Math.a2r(@angle))


    @width_range = Range(-@width / 2, @width / 2)


    @height_range = Range(-@height / 2, @height / 2)


  end


 


  def center=(value)


    return if @center == value


    @center = value


    create


  end


 


  def width=(value)


    return if @width == value


    @width = value


    create


  end


 


  def height=(value)


    return if @height == value


    @height = value


    create


  end


 


  def radian=(value)


    value = value % 360


    return if @angle == (value > 180 ? value - 180 : value)


    @angle = value


    create


  end


 


  def points


    [


        Point.new(@center.x - @width / 2, @center.y - @height / 2),


        Point.new(@center.x - @width / 2, @center.y + @height / 2),


        Point.new(@center.x + @width / 2, @center.y - @height / 2),


        Point.new(@center.x + @width / 2, @center.y + @height / 2),


    ]


  end


 


  def collision(obj)


    case obj.class


      when Point


        point_collision(obj)


      when AABB


        aabb_collision(obj)


      when OBB


        obb_collision(obj)


      when Sphere


        sphere_collision(obj)


      else


        raise "TypeError:不正确类型#{obj.class}!"


    end


  end


 


  # point 相交测试


  def point_collision(point)


    point = @axes.point(point)


    width_range.eql?(point.x) && height_range.eql?(point.y)


  end


 


  # aabb 相交测试


  def aabb_collision(aabb)


    aabb.obb_collision(self)


  end


 


  # obb 相交测试，分离轴定理


  def obb_collision(obb)


    this_in_obb_center = obb.axes.point(@center)


    obb_in_this_center = axes.point(obb.center)


    ow_range = Range.new(obb_in_this_center.x - obb.width / 2, obb_in_this_center.x + obb.width / 2)


    oh_range = Range.new(obb_in_this_center.y - obb.height / 2, obb_in_this_center.y + obb.height / 2)


    w_o_range = Range.new(this_in_obb_center.x - @width / 2, this_in_obb_center.x + @width / 2)


    h_o_range = Range.new(obb_in_this_center.y - @height / 2, obb_in_this_center.y + @height / 2)


    width_range.intersects(ow_range) && height_range.intersects(oh_range) && obb.width_range.intersects(w_o_range) && obb.height_range.intersects(h_o_range)


  end


 


  def sphere_collision(sphere)


    sphere.obb_collision(self)


  end


 


  def obb2aabb


    return AABB.new(@center.x - @width / 2, @center.y, @width, @height) if @radian == 0


    return AABB.new(@center.x - @height / 2, @center.y, @height, @width) if @angle == 90 && @angle == 180


    AABB.new(points.min_by(&:x), points.min_by(&:y), points.max_by(&:x), points.max_by(&:y))


  end


 


  def obb2sphere


    radius = Math.sqrt((@width / 2) ** 2 + (@height / 2) ** 2).ceil


    Sphere.new(@center.x, @center.y, radius)


  end


 


end


 


class Sphere


 


  attr_reader :x


  attr_reader :y


  attr_reader :radius


  attr_reader :center


  attr_reader :width_range


  attr_reader :height_range


 


  def initialize(x, y, radius)


    @x = x


    @y = y


    @radius = radius


    create


  end


 


  def x=(value)


    return if @x == value


    @x = value


    create


  end


 


  def y=(value)


    return if @y == value


    @y = value


    create


  end


 


  def radius=(value)


    return if @radius == value


    @radius = value


    create


  end


 


  def create


    @center = Point.new(@x, @y)


    @width_range = Range.new(@x - @radius, @x + @radius)


    @height_range = Range.new(@y - @radius, @y + @radius)


  end


 


  def collision(obj)


    case obj.class


      when Point


        point_collision(obj)


      when AABB


        aabb_collision(obj)


      when OBB


        obb_collision(obj)


      when Sphere


        sphere_collision(obj)


      else


        raise "TypeError:不正确类型#{obj.class}!"


    end


  end


 


  def point_collision(point)


    (point.x - @x) ** 2 + (point.y - @y) ** 2 <= @radius ** 2


  end


 


  def sphere_collision(sphere)


    point_collision(sphere.point)


  end


 


  def aabb_collision(aabb)


    # [url]http://www.zhihu.com/question/24251545/answer/27184960[/url]


    vx, vy = (@x - aabb.center.x).abs,(@y - aabb.center.y).abs


    hx, hy = (aabb.points[1].x - aabb.center.x).abs, (aabb.points[1].y - aabb.center.y).abs


    ux = vx - hx > 0 ? vx - hx : 0


    uy = vy - hy > 0 ? vy - hy : 0


    ux ** 2 + uy ** 2 <= @radius ** 2


  end


 


  def obb_collision(obb)


    point = obb.axes.point(@center)


    vx, vy = point.x.abs, point.y.abs


    hx, hy = obb.width / 2, obb.height / 2


    ux = vx - hx > 0 ? vx - hx : 0


    uy = vy - hy > 0 ? vy - hy : 0


    ux ** 2 + uy ** 2 <= @radius ** 2


  end


 


  def sphere2aabb


    AABB.new(@x - @radius, @y - @radius, @radius * 2, @radius * 2)


  end


 


  def sphere2obb


    sphere2aabb.aabb2obb


  end


 


end

2D的aabb和obb的简单实现ORZ
碰撞检测部分可略做参考

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9.27 更新 添加 Sphere