216 lines
7.2 KiB
Java
216 lines
7.2 KiB
Java
package com.atsuishio.superbwarfare.tools;
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import net.minecraft.world.phys.AABB;
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import org.joml.Intersectionf;
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import org.joml.Math;
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import org.joml.Quaternionf;
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import org.joml.Vector3f;
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import java.util.Optional;
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/**
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* Codes based on @AnECanSaiTin's <a href="https://github.com/AnECanSaiTin/HitboxAPI">HitboxAPI</a>
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*
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* @param center 旋转中心
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* @param extents 三个轴向上的半长
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* @param rotation 旋转
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*/
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public record OBB(Vector3f center, Vector3f extents, Quaternionf rotation) {
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public void setCenter(Vector3f center) {
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this.center.set(center);
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}
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public void setExtents(Vector3f extents) {
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this.extents.set(extents);
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}
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public void setRotation(Quaternionf rotation) {
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this.rotation.set(rotation);
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}
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/**
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* 获取OBB的8个顶点坐标
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*
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* @return 顶点坐标
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*/
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public Vector3f[] getVertices() {
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Vector3f[] vertices = new Vector3f[8];
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Vector3f[] localVertices = new Vector3f[]{
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new Vector3f(-extents.x, -extents.y, -extents.z),
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new Vector3f(extents.x, -extents.y, -extents.z),
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new Vector3f(extents.x, extents.y, -extents.z),
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new Vector3f(-extents.x, extents.y, -extents.z),
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new Vector3f(-extents.x, -extents.y, extents.z),
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new Vector3f(extents.x, -extents.y, extents.z),
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new Vector3f(extents.x, extents.y, extents.z),
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new Vector3f(-extents.x, extents.y, extents.z)
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};
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for (int i = 0; i < 8; i++) {
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Vector3f vertex = localVertices[i];
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vertex.rotate(rotation);
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vertex.add(center);
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vertices[i] = vertex;
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}
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return vertices;
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}
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/**
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* 获取OBB的三个正交轴
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*
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* @return 正交轴
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*/
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public Vector3f[] getAxes() {
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Vector3f[] axes = new Vector3f[]{
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new Vector3f(1, 0, 0),
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new Vector3f(0, 1, 0),
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new Vector3f(0, 0, 1)};
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rotation.transform(axes[0]);
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rotation.transform(axes[1]);
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rotation.transform(axes[2]);
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return axes;
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}
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/**
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* 判断两个OBB是否相撞
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*/
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public static boolean isColliding(OBB obb, OBB other) {
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Vector3f[] axes1 = obb.getAxes();
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Vector3f[] axes2 = other.getAxes();
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return Intersectionf.testObOb(obb.center(), axes1[0], axes1[1], axes1[2], obb.extents(),
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other.center(), axes2[0], axes2[1], axes2[2], other.extents());
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}
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/**
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* 判断OBB和AABB是否相撞
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*/
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public static boolean isColliding(OBB obb, AABB aabb) {
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Vector3f obbCenter = obb.center();
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Vector3f[] obbAxes = obb.getAxes();
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Vector3f obbHalfExtents = obb.extents();
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Vector3f aabbCenter = aabb.getCenter().toVector3f();
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Vector3f aabbHalfExtents = new Vector3f((float) (aabb.getXsize() / 2f), (float) (aabb.getYsize() / 2f), (float) (aabb.getZsize() / 2f));
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return Intersectionf.testObOb(
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obbCenter.x, obbCenter.y, obbCenter.z,
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obbAxes[0].x, obbAxes[0].y, obbAxes[0].z,
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obbAxes[1].x, obbAxes[1].y, obbAxes[1].z,
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obbAxes[2].x, obbAxes[2].y, obbAxes[2].z,
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obbHalfExtents.x, obbHalfExtents.y, obbHalfExtents.z,
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aabbCenter.x, aabbCenter.y, aabbCenter.z,
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1, 0, 0,
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0, 1, 0,
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0, 0, 1,
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aabbHalfExtents.x, aabbHalfExtents.y, aabbHalfExtents.z
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);
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}
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/**
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* 计算OBB上离待判定点最近的点
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*
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* @param point 待判定点
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* @param obb OBB盒
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* @return 在OBB上离待判定点最近的点
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*/
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public static Vector3f getClosestPointOBB(Vector3f point, OBB obb) {
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Vector3f nearP = new Vector3f(obb.center());
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Vector3f dist = point.sub(nearP, new Vector3f());
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float[] extents = new float[]{obb.extents().x, obb.extents().y, obb.extents().z};
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Vector3f[] axes = obb.getAxes();
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for (int i = 0; i < 3; i++) {
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float distance = dist.dot(axes[i]);
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distance = Math.clamp(distance, -extents[i], extents[i]);
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nearP.x += distance * axes[i].x;
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nearP.y += distance * axes[i].y;
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nearP.z += distance * axes[i].z;
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}
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return nearP;
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}
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public Optional<Vector3f> clip(Vector3f pFrom, Vector3f pTo) {
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// 计算OBB的局部坐标系基向量（世界坐标系中的方向）
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Vector3f[] axes = new Vector3f[3];
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axes[0] = rotation.transform(new Vector3f(1, 0, 0));
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axes[1] = rotation.transform(new Vector3f(0, 1, 0));
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axes[2] = rotation.transform(new Vector3f(0, 0, 1));
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// 将点转换到OBB局部坐标系
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Vector3f localFrom = worldToLocal(pFrom, axes);
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Vector3f localTo = worldToLocal(pTo, axes);
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// 射线方向（局部坐标系）
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Vector3f dir = new Vector3f(localTo).sub(localFrom);
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// Slab算法参数
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double tEnter = 0.0; // 进入时间
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double tExit = 1.0; // 离开时间
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// 在三个轴上执行Slab算法
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for (int i = 0; i < 3; i++) {
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double min = -extents.get(i);
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double max = extents.get(i);
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double origin = localFrom.get(i);
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double direction = dir.get(i);
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// 处理射线平行于轴的情况
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if (Math.abs(direction) < 1e-7f) {
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if (origin < min || origin > max) {
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return Optional.empty();
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}
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continue;
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}
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// 计算与两个平面的交点参数
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double t1 = (min - origin) / direction;
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double t2 = (max - origin) / direction;
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// 确保tNear是近平面，tFar是远平面
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double tNear = Math.min(t1, t2);
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double tFar = Math.max(t1, t2);
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// 更新进入/离开时间
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if (tNear > tEnter) tEnter = tNear;
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if (tFar < tExit) tExit = tFar;
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// 检查是否提前退出（无交点）
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if (tEnter > tExit) {
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return Optional.empty();
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}
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}
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// 检查是否有有效交点
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if (tEnter >= 0 && tEnter <= 1) {
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// 计算局部坐标系中的交点
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Vector3f localHit = new Vector3f(dir).mul((float) tEnter).add(localFrom);
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// 转换回世界坐标系
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return Optional.of(localToWorld(localHit, axes));
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}
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return Optional.empty();
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}
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// 世界坐标转局部坐标
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private Vector3f worldToLocal(Vector3f worldPoint, Vector3f[] axes) {
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Vector3f rel = new Vector3f(worldPoint).sub(center);
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return new Vector3f(
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rel.dot(axes[0]),
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rel.dot(axes[1]),
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rel.dot(axes[2])
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);
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}
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// 局部坐标转世界坐标
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private Vector3f localToWorld(Vector3f localPoint, Vector3f[] axes) {
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Vector3f result = new Vector3f(center);
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result.add(axes[0].mul(localPoint.x, new Vector3f()));
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result.add(axes[1].mul(localPoint.y, new Vector3f()));
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result.add(axes[2].mul(localPoint.z, new Vector3f()));
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return result;
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}
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}
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