我目前正在尝试用java实现sat,但是由于某些原因它不起作用。我已经重写了我的代码多次,看了更多,看了很多教程,但找不到我的错误。在某些情况下,对于某些边,它部分正常工作,但在不碰撞时检测碰撞。稍后我将添加aabb碰撞检测以获得更好的性能。以下是我代码的相关部分:
sat课程:
public class SAT {
public static boolean checkSAT(Polygon poly1, Polygon poly2) {
Vector[] axes = new Vector[poly1.p.length + poly2.p.length];
for (int i = 0; i < poly1.p.length + poly2.p.length; i++) {
int a = i; if(i == poly1.p.length) a -= poly1.p.length;
axes[i] = poly1.getEdge(a).getNormal().getNormalized();
}
double p1_min = Double.POSITIVE_INFINITY, p1_max = Double.NEGATIVE_INFINITY,
p2_min = Double.POSITIVE_INFINITY, p2_max = Double.NEGATIVE_INFINITY;
for (int i = 0; i < axes.length; i++) {
for (int j = 0; j < poly1.p.length; j++) {
double proj = axes[i].dotProduct(poly1.p[j]);
if(proj < p1_min) p1_min = proj;
if(proj > p1_max) p1_max = proj;
}
for (int j = 0; j < poly2.p.length; j++) {
double proj = axes[i].dotProduct(poly2.p[j]);
if(proj < p2_min) p2_min = proj;
if(proj > p2_max) p2_max = proj;
}
if (p1_max < p2_min || p2_max < p1_min)
return false;
}
return true;
}
}
向量类:
public class Vector {
public final double x;
public final double y;
public Vector(double x, double y) {
this.x = x;
this.y = y;
}
public Vector getNormal() {
return new Vector(-y, x);
}
public double getLength() {
return Math.sqrt(x*x + y*y);
}
public Vector getNormalized() {
double l = getLength();
return new Vector(x/l, y/l);
}
public double dotProduct(Vector vec) {
return x * vec.x + y * vec.y;
}
}
多边形类的相关部分:
public class Polygon {
public Vector[] m; //"model" of the polygon
public Vector[] p; //coordinates of the corners of the polygon in space
public double posX;
public double posY;
public Polygon(Vector[] m) {
this.m = m;
p = new Vector[m.length];
transform();
}
//later i'll add rotation
public void transform() {
for (int i = 0; i < m.length; i++) {
p[i] = new Vector(m[i].x + posX, m[i].y + posY);
}
}
public void setPosition(Vector pos) {
posX = pos.x;
posY = pos.y;
transform();
}
public Vector getEdge(int i) {
if(i >= p.length) i = 0;
int j = i+1; if(j >= p.length) j = 0;
return new Vector(p[j].x - p[i].x, p[j].y - p[i].y);
}
}
1条答案
按热度按时间6ojccjat1#
更新:我发现了这个错误,这简直太愚蠢了!!最重要的是我花了5个多小时找到它!!!!!!