胶囊体边界点的计算及获取

2023-10-13 03:20
文章标签 计算 获取 胶囊 边界点

本文主要是介绍胶囊体边界点的计算及获取，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

(注意 取的是中心点位置来计算边界点，而非投影点位置。可以自行修改为投影点)

 

之前想做一些体积碰撞的效果但是遇到点问题，胶囊边界点检测这个涉及到球体的交点检测以及圆柱的交点检测

觉得可以放上来，相交检测的代码逻辑来源于网络。

 

using System.Collections;
using System.Collections.Generic;
using UnityEngine;public class CapsuleTest : MonoBehaviour
{public enum DirectionEnum { X, Y, Z }public Vector3 center;public float height = 1f;public float radius = 1f;public DirectionEnum direction = DirectionEnum.Y;public Transform testOutsidePoint;Vector3 Test(Vector3 outsidePoint){var localMassPoint = center;var localOutsidePoint = transform.worldToLocalMatrix.MultiplyPoint3x4(outsidePoint);var centerPoint = localMassPoint + center;var up = Vector3.up;var right = Vector3.right;var forward = Vector3.forward;switch (direction){case DirectionEnum.X:up = Vector3.right;right = Vector3.forward;forward = Vector3.up;break;case DirectionEnum.Z:up = Vector3.forward;right = Vector3.up;forward = Vector3.right;break;}var remainHeight = Mathf.Max(height - radius * 2f, 0) + 0.01f;var remainHeightHalf = remainHeight * 0.5f;var pillarOrigin = centerPoint + up * -remainHeightHalf;var pillarEnd = centerPoint + up * remainHeightHalf;var insectPoint = Vector3.zero;var isHitCylinder = CylinderVSline(localOutsidePoint, (centerPoint - localOutsidePoint).normalized, pillarOrigin, pillarEnd, radius, out insectPoint);if (isHitCylinder){return transform.localToWorldMatrix.MultiplyPoint3x4(insectPoint);}else{var spherePoint1 = centerPoint + up * remainHeightHalf;var spherePoint2 = centerPoint + (-up) * remainHeightHalf;var finalSpherePoint = spherePoint1;if (Vector3.Distance(localOutsidePoint, spherePoint2) < Vector3.Distance(localOutsidePoint, spherePoint1)){finalSpherePoint = spherePoint2;}BetweenLineAndSphere(finalSpherePoint, radius, centerPoint, localOutsidePoint, out spherePoint1, out spherePoint2);if (Vector3.Distance(spherePoint1, centerPoint) > Vector3.Distance(spherePoint2, centerPoint))return transform.localToWorldMatrix.MultiplyPoint3x4(spherePoint1);elsereturn transform.localToWorldMatrix.MultiplyPoint3x4(spherePoint2);}}void OnDrawGizmos(){var cacheColor = Gizmos.color;var cacheMatrix = Gizmos.matrix;if (testOutsidePoint != null){var edgePoint = Test(testOutsidePoint.position);Gizmos.DrawWireSphere(edgePoint, 0.2f);}Gizmos.color = Color.Lerp(Color.green, Color.gray, 0.5f);Gizmos.matrix = transform.localToWorldMatrix;var remainHeight = Mathf.Max(height - radius * 2f, 0);var remainHeightHalf = remainHeight * 0.5f;var up = Vector3.up;var right = Vector3.right;var forward = Vector3.forward;switch (direction){case DirectionEnum.X:up = Vector3.right;right = Vector3.forward;forward = Vector3.up;break;case DirectionEnum.Z:up = Vector3.forward;right = Vector3.up;forward = Vector3.right;break;}var lastPoint1 = (Vector3?)null;var lastPoint2 = (Vector3?)null;for (var i = 0f; i <= 180f; i += 9f){var point1 = up * -remainHeightHalf + Quaternion.AngleAxis(i, right) * forward * radius;var point2 = up * -remainHeightHalf + Quaternion.AngleAxis(i, -forward) * right * radius;Gizmos.DrawLine(center + lastPoint1.GetValueOrDefault(point1), center + point1);Gizmos.DrawLine(center + lastPoint2.GetValueOrDefault(point2), center + point2);lastPoint1 = point1;lastPoint2 = point2;}lastPoint1 = (Vector3?)null;for (var i = 0f; i <= 360f; i += 9f){var point1 = up * -remainHeightHalf + Quaternion.AngleAxis(i, up) * forward * radius;Gizmos.DrawLine(center + lastPoint1.GetValueOrDefault(point1), center + point1);lastPoint1 = point1;}Gizmos.DrawLine(center + forward * radius + up * -remainHeightHalf, center + forward * radius + up * remainHeightHalf);Gizmos.DrawLine(center + -forward * radius + up * -remainHeightHalf, center + -forward * radius + up * remainHeightHalf);Gizmos.DrawLine(center + right * radius + up * -remainHeightHalf, center + right * radius + up * remainHeightHalf);Gizmos.DrawLine(center + -right * radius + up * -remainHeightHalf, center + -right * radius + up * remainHeightHalf);lastPoint1 = (Vector3?)null;lastPoint2 = (Vector3?)null;for (var i = 0f; i <= 180f; i += 9f){var point1 = up * remainHeightHalf + Quaternion.AngleAxis(i, -right) * forward * radius;var point2 = up * remainHeightHalf + Quaternion.AngleAxis(i, forward) * right * radius;Gizmos.DrawLine(center + lastPoint1.GetValueOrDefault(point1), center + point1);Gizmos.DrawLine(center + lastPoint2.GetValueOrDefault(point2), center + point2);lastPoint1 = point1;lastPoint2 = point2;}lastPoint1 = (Vector3?)null;for (var i = 0f; i <= 360f; i += 9f){var point1 = up * remainHeightHalf + Quaternion.AngleAxis(i, up) * forward * radius;Gizmos.DrawLine(center + lastPoint1.GetValueOrDefault(point1), center + point1);lastPoint1 = point1;}Gizmos.color = cacheColor;Gizmos.matrix = cacheMatrix;}bool BetweenLineAndSphere(Vector3 circleCenter, float circleRadius,Vector3 point1, Vector3 point2,out Vector3 intersection1, out Vector3 intersection2){float t;var dx = point2.x - point1.x;var dy = point2.y - point1.y;var dz = point2.z - point1.z;var a = dx * dx + dy * dy + dz * dz;var b = 2 * (dx * (point1.x - circleCenter.x) + dy * (point1.y - circleCenter.y) + dz * (point1.z - circleCenter.z));var c = (point1.x - circleCenter.x) * (point1.x - circleCenter.x)+ (point1.y - circleCenter.y) * (point1.y - circleCenter.y)+ (point1.z - circleCenter.z) * (point1.z - circleCenter.z) - circleRadius * circleRadius;var determinate = b * b - 4 * a * c;// Two solutions.t = (float)((-b + Mathf.Sqrt(determinate)) / (2 * a));intersection1 = new Vector3(point1.x + t * dx, point1.y + t * dy, point1.z + t * dz);t = (float)((-b - Mathf.Sqrt(determinate)) / (2 * a));intersection2 = new Vector3(point1.x + t * dx, point1.y + t * dy, point1.z + t * dz);if (intersection1.normalized == Vector3.zero && intersection2.normalized == Vector3.zero)return false;elsereturn true;}bool CylinderVSline(Vector3 start, Vector3 dir, Vector3 aVec, Vector3 bVec, float radius, out Vector3 intersectPoint){intersectPoint = Vector3.zero;// Solution : http://www.gamedev.net/community/forums/topic.asp?topic_id=467789var ab = bVec - aVec;var ao = start - aVec;var aoxAb = Vector3.Cross(ao, ab);var vxAb = Vector3.Cross(dir, ab);var ab2 = Vector3.Dot(ab, ab);var a = Vector3.Dot(vxAb, vxAb);var b = 2 * Vector3.Dot(vxAb, aoxAb);var c = Vector3.Dot(aoxAb, aoxAb) - (radius * radius * ab2);var d = b * b - 4 * a * c;if (d < 0) return false;float time = (-b - Mathf.Sqrt(d)) / (2 * a);if (time < 0) return false;intersectPoint = start + dir * time;var projectionPoint = aVec + Vector3.Project(intersectPoint - aVec, ab.normalized);var distance1 = Mathf.Max(Vector3.Distance(projectionPoint, aVec), Vector3.Distance(projectionPoint, bVec));var distance2 = Vector3.Distance(aVec, bVec);if (distance1 >= distance2)return false;return true;}
}
View Code

 

转载于:https://www.cnblogs.com/hont/p/9470781.html

这篇关于胶囊体边界点的计算及获取的文章就介绍到这儿，希望我们推荐的文章对编程师们有所帮助！


http://www.chinasem.cn/article/200418。

相关文章

poj 1113 凸包+简单几何计算

poj 1113 凸包+简单几何计算

题意： 给N个平面上的点，现在要在离点外L米处建城墙，使得城墙把所有点都包含进去且城墙的长度最短。 解析： 韬哥出的某次训练赛上A出的第一道计算几何，算是大水题吧。 用convexhull算法把凸包求出来，然后加加减减就A了。 计算见下图： 好久没玩画图了啊好开心。 代码： #include <iostream>#include <cstdio>#inclu
阅读更多...
uva 1342 欧拉定理（计算几何模板）

uva 1342 欧拉定理（计算几何模板）

题意： 给几个点，把这几个点用直线连起来，求这些直线把平面分成了几个。 解析： 欧拉定理： 顶点数 + 面数 - 边数= 2。 代码： #include <iostream>#include <cstdio>#include <cstdlib>#include <algorithm>#include <cstring>#include <cmath>#inc
阅读更多...
uva 11178 计算集合模板题

uva 11178 计算集合模板题

题意： 求三角形行三个角三等分点射线交出的内三角形坐标。 代码： #include <iostream>#include <cstdio>#include <cstdlib>#include <algorithm>#include <cstring>#include <cmath>#include <stack>#include <vector>#include <
阅读更多...
XTU 1237 计算几何

XTU 1237 计算几何

题面： Magic Triangle Problem Description: Huangriq is a respectful acmer in ACM team of XTU because he brought the best place in regional contest in history of XTU. Huangriq works in a big compa
阅读更多...
音视频入门基础：WAV专题（10）——FFmpeg源码中计算WAV音频文件每个packet的pts、dts的实现

音视频入门基础：WAV专题（10）——FFmpeg源码中计算WAV音频文件每个packet的pts、dts的实现

一、引言 从文章《音视频入门基础：WAV专题（6）——通过FFprobe显示WAV音频文件每个数据包的信息》中我们可以知道，通过FFprobe命令可以打印WAV音频文件每个packet（也称为数据包或多媒体包）的信息，这些信息包含该packet的pts、dts： 打印出来的“pts”实际是AVPacket结构体中的成员变量pts，是以AVStream->time_base为单位的显
阅读更多...
Android Environment 获取的路径问题

Android Environment 获取的路径问题

1. 以获取 /System 路径为例 /*** Return root of the "system" partition holding the core Android OS.* Always present and mounted read-only.*/public static @NonNull File getRootDirectory() {return DIR_ANDR
阅读更多...
计算数组的斜率，偏移，R2

计算数组的斜率，偏移，R2

模拟Excel中的R2的计算。         public bool fnCheckRear_R2(List<double[]> lRear, int iMinRear, int iMaxRear, ref double dR2)         {             bool bResult = true;             int n = 0;             dou
阅读更多...
JS和jQuery获取节点的兄弟，父级，子级元素

JS和jQuery获取节点的兄弟，父级，子级元素

原文转自http://blog.csdn.net/duanshuyong/article/details/7562423 先说一下JS的获取方法，其要比JQUERY的方法麻烦很多，后面以JQUERY的方法作对比。 JS的方法会比JQUERY麻烦很多，主要则是因为FF浏览器，FF浏览器会把你的换行也当最DOM元素。 <div id="test"><div></div><div></div
阅读更多...
vcpkg子包路径批量获取

vcpkg子包路径批量获取

获取vcpkg 子包的路径，并拼接为set(CMAKE_PREFIX_PATH “拼接路径” ) import osdef find_directories_with_subdirs(root_dir):# 构建根目录下的 "packages" 文件夹路径root_packages_dir = os.path.join(root_dir, "packages")# 如果 "packages"
阅读更多...
Weex入门教程之4，获取当前全局环境变量和配置信息(屏幕高度、宽度等)

Weex入门教程之4，获取当前全局环境变量和配置信息(屏幕高度、宽度等)

$getConfig() 获取当前全局环境变量和配置信息。 Returns: config (object): 配置对象；bundleUrl (string): bundle 的 url；debug (boolean): 是否是调试模式；env (object): 环境对象； weexVersion (string): Weex sdk 版本；appName (string): 应用名字；
阅读更多...

Copyright China编程 23002807@qq.com

沪ICP备2023033072号-2