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This commit is contained in:
CortexCore
2025-02-24 23:02:43 +08:00
parent 41715e4413
commit 8261a458e2
105 changed files with 2934 additions and 696 deletions
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3
Src/Unity/Scripts/Physics/BITKit.Physics.asmdef
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@@ -2,7 +2,8 @@
"name": "BITKit.Physics",
"rootNamespace": "",
"references": [
"GUID:14fe60d984bf9f84eac55c6ea033a8f4"
"GUID:14fe60d984bf9f84eac55c6ea033a8f4",
"GUID:6babdba9f8b742f40904649736008000"
],
"includePlatforms": [],
"excludePlatforms": [],

99
Src/Unity/Scripts/Physics/GeometryUtils.cs Normal file
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@@ -0,0 +1,99 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
namespace BITKit.Physics
{
public static class GeometryUtils
{
/// <summary>
/// 获取一个点到一条线段的最近点
/// </summary>
/// <param name="point"></param>
/// <param name="lineStart"></param>
/// <param name="lineEnd"></param>
/// <returns></returns>
public static Vector3 PointToLineSegmentDistance(Vector3 point, Vector3 lineStart, Vector3 lineEnd)
{
Vector3 lineDirection = lineEnd - lineStart;
Vector3 pointDirection = point - lineStart;
float lineLength = lineDirection.magnitude;
lineDirection.Normalize();
float dotProduct = Vector3.Dot(pointDirection, lineDirection);
dotProduct = Mathf.Clamp(dotProduct, 0f, lineLength);
Vector3 closestPoint = lineStart + lineDirection * dotProduct;
return closestPoint;
}
/// <summary>
/// 获取一个点到一个三角形内最短距离的点
/// </summary>
/// <param name="a">三角形顶点a</param>
/// <param name="b">三角形顶点b</param>
/// <param name="c">三角形顶点c</param>
/// <param name="pos"></param>
/// <returns></returns>
public static Vector3 GetPosInTriangle(Vector3 a, Vector3 b, Vector3 c, Vector3 pos)
{
Vector3 normal = Vector3.Cross(b - a, c - a).normalized;
Vector3 toPoint = pos - a;
float distance = Vector3.Dot(toPoint, normal);
Vector3 targetPos = pos - distance * normal;
if(PointInTriangle(targetPos, a, b, c))
return targetPos;
else
{
Vector3 p1 = PointToLineSegmentDistance(pos, a, b);
Vector3 p2 = PointToLineSegmentDistance(pos, a, c);
Vector3 p3 = PointToLineSegmentDistance(pos, b, c);
float d1 = Vector3.Distance(p1, pos);
float d2 = Vector3.Distance(p2, pos);
float d3 = Vector3.Distance(p3, pos);
if (d1 <= d2 && d1 <= d3)
return p1;
else if (d2 <= d3 && d2 <= d1)
return p2;
else /*if(d3 <= d1 && d3 <= d2)*/
return p3;
//return default;
}
}
/// <summary>
/// 判断一个点是否在三角形内
/// </summary>
/// <param name="pos"></param>
/// <param name="a"></param>
/// <param name="b"></param>
/// <param name="c"></param>
/// <returns></returns>
public static bool PointInTriangle(Vector3 pos, Vector3 a, Vector3 b, Vector3 c)
{
var v0 = c - a;
var v1 = b - a;
var v2 = pos - a;
var dot00 = Vector3.Dot(v0, v0);
var dot01 = Vector3.Dot(v0, v1);
var dot02 = Vector3.Dot(v0, v2);
var dot11 = Vector3.Dot(v1, v1);
var dot12 = Vector3.Dot(v1, v2);
var invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
var u = (dot11 * dot02 - dot01 * dot12) * invDenom;
var v = (dot00 * dot12 - dot01 * dot02) * invDenom;
// 如果u和v都在[0,1]的范围内，那么点P在三角形ABC内
return (u >= 0) && (v >= 0) && (u + v < 1);
}
}
}

11
Src/Unity/Scripts/Physics/GeometryUtils.cs.meta Normal file
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@@ -0,0 +1,11 @@
fileFormatVersion: 2
guid: ae14ae5985cea8e40946355bfdf7113b
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:

154
Src/Unity/Scripts/Physics/GetClosePointFromCollider.cs
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@@ -1,7 +1,9 @@
using System.Collections;
using System.Collections.Generic;
using System.Globalization;
using System.Linq;
using System.Text;
using DrawXXL;
using UnityEngine;
namespace BITKit.Physics
@@ -9,7 +11,7 @@ namespace BITKit.Physics
public class GetClosePointFromCollider : IClosePointProvider
{
public string Name="Default";
public Transform Transform;
public readonly Transform Transform;
public Vector3 Offset = default;
public LayerMask LayerMask=LayerMask.NameToLayer("Default");
public float Distance=1.6f;
@@ -26,68 +28,97 @@ namespace BITKit.Physics
public bool TryGetValue(out Vector3 position, out Collider collider)
{
Vector3 vector3 = default;
StringBuilder reportBuilder = new();
reportBuilder.AppendLine($"检测任务:{Name}");
position = Transform.position + Transform.rotation * Offset;
var detectedLength = UnityEngine.Physics.OverlapSphereNonAlloc(position, Distance, _mainCollider, LayerMask);
reportBuilder.AppendLine($"检测到了{detectedLength}个碰撞体");
var validMeshColliders = new Queue<(Collider collider,Vector3 targetPosition)>();
var samplePoint = position;
samplePoint.y += Distance / 2;
foreach (var collider1 in _mainCollider.Take(detectedLength).OrderBy(ByTop).Reverse())
//for (var i = 0; i <detectedLength ; i++)
{
//reportBuilder.AppendLine($"----------------------------检测到了碰撞体{_mainCollider[i].name}");
//var collider = _mainCollider[i];
if (collider1.isTrigger)
{
reportBuilder?.AppendLine("碰撞体是触发器");
continue;
}
Vector3 closePoint;
switch (collider1)
{
case MeshCollider meshCollider:
if (meshCollider.convex is false)
{
reportBuilder?.AppendLine("MeshCollider未勾选Convex");
continue;
}
case TerrainCollider terrainCollider:
{
closePoint = terrainCollider.ClosestPointOnBounds(samplePoint);
}
break;
case MeshCollider { convex: false } meshCollider:
{
var getClosestPointFromMesh =
new GetClosestPointFromMesh(meshCollider.sharedMesh,meshCollider.transform.InverseTransformPoint(samplePoint));
break;
if (getClosestPointFromMesh.TryGetValue(out var localPosition, out collider))
{
localPosition = meshCollider.transform.TransformPoint(localPosition);
Debug.DrawLine(Transform.position,localPosition,Color.magenta);
if (Vector3.Distance(localPosition, position) < Distance)
{
closePoint = localPosition;
}
else
{
continue;
}
}
else
{
continue;
}
}
break;
default:
closePoint = collider1.ClosestPoint(samplePoint);
break;
}
if(collider1.Raycast(new Ray(Transform.position,Transform.forward),out var raycastHit,64) is false)
{
continue;
}
if (MathV.IsForward(position, Transform.forward, closePoint) is false)
{
//DrawBasics.PointTag(closePoint,"not forward");
continue;
}
var bounds = collider1.bounds;
vector3 = collider1.ClosestPoint(Transform.position + Vector3.up * 64);
var top = bounds.center.y + bounds.extents.y;
Debug.DrawLine(Transform.position, Transform.position + Vector3.up * top, Color.blue, 8f);
if (Transform.position.y + MinHeight > top)
if (Transform.position.y + MinHeight > closePoint.y)
{
reportBuilder?.AppendLine("高度不足");
DrawBasics.PointTag(closePoint,"not enough height");
continue;
}
var nextPos = position;
nextPos.y = collider1.bounds.center.y;
{
var ray = new Ray(nextPos, Transform.forward);
if (collider1.Raycast(new Ray(nextPos, Transform.forward), out _, Distance) is false)
{
reportBuilder?.AppendLine("未检测到前方");
Debug.DrawRay(ray.origin,ray.direction,Color.red,Distance);
continue;
}
}
var height = Mathf.Abs(top - Transform.position.y);
var height = Mathf.Abs(closePoint.y - Transform.position.y);
if (height > MaxHeight)
{
reportBuilder?.AppendLine($"高度差距过大:{height}");
continue;
}
if (UnityEngine.Physics.Linecast(Transform.position, vector3, out var raycastHit2, LayerMask))
if (UnityEngine.Physics.Linecast(Transform.position, closePoint, out var raycastHit2, LayerMask))
{
if (raycastHit2.collider != collider1)
{
@@ -95,40 +126,61 @@ namespace BITKit.Physics
continue;
}
}
var length = UnityEngine.Physics.OverlapSphereNonAlloc(vector3, 0.01f, _colliders, LayerMask);
var length = UnityEngine.Physics.OverlapSphereNonAlloc(closePoint+Vector3.up*0.2f, 0.1f, _colliders, LayerMask);
switch (length)
{
case 1:
if (_colliders[0] != collider1)
{
reportBuilder.AppendLine($"检测到了其他碰撞体{_colliders[0].name}");
continue;
}
break;
case > 1:
case > 0:
reportBuilder.AppendLine("检测到了更多碰撞体");
for (var ii = 0; ii < length; ii++)
{
//Debug.DrawLine(vector3, _colliders[ii].ClosestPoint(vector3), Color.red, 8);
reportBuilder.AppendLine($"\t{_colliders[ii].name}");
}
continue;
}
vector3.y = top;
position = vector3;
collider = collider1;
reportBuilder.AppendLine("<color=green>成功</color>");
//BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
return true;
Debug.DrawLine(Transform.position,closePoint,Color.green);
validMeshColliders.Enqueue(new(collider1,closePoint));
}
var minDot = 64f;
Collider resultCollider = default;
Vector3 resultPosition=default;
while (validMeshColliders.TryDequeue(out var result))
{
var dot =Mathf.Abs(Vector3.Cross(Transform.forward, result.targetPosition-Transform.position).y);
DrawBasics.LineFrom(Transform.position,result.targetPosition-Transform.position,Color.red,text:dot.ToString(CultureInfo.InvariantCulture));
if(dot>minDot)continue;
resultCollider = result.collider;
resultPosition = result.targetPosition;
minDot = dot;
}
if (minDot < 64)
{
collider = resultCollider;
position = resultPosition;
return true;
}
collider = null;
//BIT4Log.Log<GetClosePointFromCollider>(reportBuilder.ToString());
return false;
}
private float ByTop(Collider arg)

34
Src/Unity/Scripts/Physics/GetClosePointFromColliderDebuger.cs Normal file
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@@ -0,0 +1,34 @@
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
namespace BITKit.Physics
{
[ExecuteAlways]
public class GetClosePointFromColliderDebugger : MonoBehaviour
{
private GetClosePointFromCollider _getClosePointFromCollider;
[SerializeField] private LayerMask layerMask;
private void OnEnable()
{
_getClosePointFromCollider = new GetClosePointFromCollider(transform);
}
private void Update()
{
_getClosePointFromCollider.LayerMask = layerMask;
if (_getClosePointFromCollider.TryGetValue(out Vector3 vector3, out var collider1))
{
var offset = Vector3.up * -0.01f;
Debug.DrawLine(transform.position+offset,vector3+offset,Color.cyan);
}
}
private void OnDrawGizmosSelected()
{
Gizmos.DrawWireSphere(transform.position,_getClosePointFromCollider.Distance);
}
}
}

11
Src/Unity/Scripts/Physics/GetClosePointFromColliderDebuger.cs.meta Normal file
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@@ -0,0 +1,11 @@
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MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
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53
Src/Unity/Scripts/Physics/GetClosestPointFromMesh.cs Normal file
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@@ -0,0 +1,53 @@
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEditor;
using UnityEngine;
namespace BITKit.Physics
{
public readonly struct GetClosestPointFromMesh:IClosePointProvider
{
private readonly Vector3 _position;
private readonly Mesh _mesh;
public GetClosestPointFromMesh(Mesh mesh, Vector3 position)
{
_mesh = mesh;
_position = position;
}
public bool TryGetValue(out Vector3 position, out Collider collider)
{
position = default;
collider = default;
if (_mesh.isReadable is false) return false;
var vertices = _mesh.vertices;
if (vertices.Length > 2048) return false;
var minPos = new Vector3(64, 64, 64);
for (var index = 0; index < _mesh.triangles.Length; index+=3)
{
var x = vertices[_mesh.triangles[index]];
var y = vertices[_mesh.triangles[index + 1]];
var z = vertices[_mesh.triangles[index + 2]];
var pos = GeometryUtils.GetPosInTriangle(x, y, z, _position);
if (Vector3.Distance(pos, _position) < Vector3.Distance(minPos, _position))
{
minPos = pos;
}
}
position = minPos;
return true;
}
}
}

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Src/Unity/Scripts/Physics/GetClosestPointFromMesh.cs.meta Normal file
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@@ -0,0 +1,11 @@
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