[游戏编程书籍].Collision.Detection.pdf

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1、ImprovedCollisiondetectionandResponseKasperFauerbykasper@peroxide.dkhttp://www.peroxide.dk25thJuly2003Contents1Introduction31.1Previouswork...........................31.2Thealgorithm...........................31.3Howtoreadthisdocument....................42Vectorspaces52.1Definitionofavectorspace.

2、...................52.2Casestudy:R3..........................62.3Coordinates............................72.4Ellipsoidspace..........................73Collisiondetection93.1Overview..............................93.2Checkingasingletriangle....................113.3Collidingwiththeinsideofatriangle.

3、.............133.4Thesweeptest..........................143.5Insummary............................164Collisionresponse184.1Theslidingplane.........................184.2Slidingthesphere.........................204.3Gravity..............................224.4Insummary............................235

4、Conclusions25ACalculatingthenormaltoaregularsurface27BTheplaneclass32CUtilityfunctions341DSolvingquadraticequations35ECodeforcollisionstep37FCodeforresponsestep442Chapter1Introduction1.1PreviousworkThispaperdescribesanupdatedversionofthecollisiondetectionandre-sponsealgorithmIfirstpresentedin[Fau

5、00].Someofthematerialhasbeencopieddirectlyfromthatarticlebuttheentiresectiononthecollisiondetec-tionstephasbeenrewrittenusingasweptspheretechniqueasdescribedin[Rou03].Thispaperhasbeenwritteninawaysoitshouldn’tbenessesarytoreadtoanyofthereferencedpapersbutifsomethingseemsunclear,inparticularregar

6、dingthesweptspheretechnique,thenIencourageyoutoreadRouwéspaperasitmightgointomoredetailsoncertainaspectsofthealgorithm.Theresponsestepisstillbasedpartlyontheideasfirstpresentedin[Net00]andpartlyfrommyownwork.Thistimeademowithfullsourcewilleventuallybeavailableat:http://www.dr-code.com.Thedemowill

7、mostlybedonebyafriendofmine,MattOstlundalsoknownbysomeas“RhoneRanger”,withprobablyjustalittleinterventionbymyselfinthecorecollisioncode.Sokeepaneyeonhissiteaswell.Ahugethankstohimfortakingonthistask!1.2ThealgorithmThealgorit