分离轴定理C ++的问题

问题描述

我正在尝试对两个三角形执行分离轴定理，以测试它们之间的碰撞，但是它不起作用。

我的相关代码是：

glm::vec3 CalcSurfacenormal(glm::vec3 tri1,glm::vec3 tri2,glm::vec3 tri3)
{
    //Get surface normal of a triangle
    glm::vec3 u = tri2 - tri1;
    glm::vec3 v = tri3 - tri1;

    glm::vec3 nrmcross = glm::cross(u,v);
    nrmcross = glm::normalize(nrmcross);
    return nrmcross;
}

bool SATTriangleCheck(glm::vec3 axis,glm::vec3 tri1vert1,glm::vec3 tri1vert2,glm::vec3 tri1vert3,glm::vec3 tri2vert1,glm::vec3 tri2vert2,glm::vec3 tri2vert3)
{

    //Dot each vertex with the axis and get the min and max
    int t1v1 = glm::dot(axis,tri1vert1);
    int t1v2 = glm::dot(axis,tri1vert2);
    int t1v3 = glm::dot(axis,tri1vert3);
    int t2v1 = glm::dot(axis,tri2vert1);
    int t2v2 = glm::dot(axis,tri2vert2);
    int t2v3 = glm::dot(axis,tri2vert3);

    int t1min = glm::min(t1v1,glm::min(t1v2,t1v3));
    int t1max = glm::min(t1v1,t1v3));
    int t2min = glm::min(t2v1,glm::min(t2v2,t2v3));
    int t2max = glm::min(t2v1,t2v3));

    //Test for overlaps
    if ((t1min < t2max && t1min > t2min) || (t1max < t2max && t1max > t2min) || (t2min < t1max && t2min > t1min) || (t2max < t1max && t2max > t1min))
        return true;

    return false;
}

bool CollisionHelper::isTriangleIntersectingTriangle(glm::vec3 tri1,glm::vec3 tri3,glm::vec3 otherTri1,glm::vec3 otherTri2,glm::vec3 otherTri3)
{
    //Triangle surface normals,2 axes to test
    glm::vec3 tri1FaceNrml = CalcSurfacenormal(tri1,tri2,tri3);
    glm::vec3 tri2FaceNrml = CalcSurfacenormal(otherTri1,otherTri2,otherTri3);

    //Calculate edges
    glm::vec3 tri1Edge1 = tri2 - tri1;
    glm::vec3 tri1Edge2 = tri3 - tri1;
    glm::vec3 tri1Edge3 = tri3 - tri2;
    glm::vec3 tri2Edge1 = otherTri2 - otherTri1;
    glm::vec3 tri2Edge2 = otherTri3 - otherTri1;
    glm::vec3 tri2Edge3 = otherTri3 - otherTri2;

    //Calculate all axes
    glm::vec3 axis1 = tri1FaceNrml;
    glm::vec3 axis2 = tri2FaceNrml;
    glm::vec3 axis3 = glm::normalize(glm::cross(tri1Edge1,tri2Edge1));
    glm::vec3 axis4 = glm::normalize(glm::cross(tri1Edge1,tri2Edge2));
    glm::vec3 axis5 = glm::normalize(glm::cross(tri1Edge1,tri2Edge3));
    glm::vec3 axis6 = glm::normalize(glm::cross(tri1Edge2,tri2Edge1));
    glm::vec3 axis7 = glm::normalize(glm::cross(tri1Edge2,tri2Edge2));
    glm::vec3 axis8 = glm::normalize(glm::cross(tri1Edge2,tri2Edge3));
    glm::vec3 axis9 = glm::normalize(glm::cross(tri1Edge3,tri2Edge1));
    glm::vec3 axis10 = glm::normalize(glm::cross(tri1Edge3,tri2Edge2));
    glm::vec3 axis11 = glm::normalize(glm::cross(tri1Edge3,tri2Edge3));

    //Perform SAT
    if (SATTriangleCheck(axis1,tri1,tri3,otherTri1,otherTri3)) return true;
    if (SATTriangleCheck(axis2,otherTri3)) return true;
    if (SATTriangleCheck(axis3,otherTri3)) return true;
    if (SATTriangleCheck(axis4,otherTri3)) return true;
    if (SATTriangleCheck(axis5,otherTri3)) return true;
    if (SATTriangleCheck(axis6,otherTri3)) return true;
    if (SATTriangleCheck(axis7,otherTri3)) return true;
    if (SATTriangleCheck(axis8,otherTri3)) return true;
    if (SATTriangleCheck(axis9,otherTri3)) return true;
    if (SATTriangleCheck(axis10,otherTri3)) return true;
    if (SATTriangleCheck(axis11,otherTri3)) return true;

    return false;
}

调用和验证这些功能的代码位于游戏的主循环中，每个帧都传递两个三角形的x y和z坐标：

if (CollisionHelper::isTriangleIntersectingTriangle(glm::vec3(tri11.x,tri11.y,tri11.z),glm::vec3(tri22.x,tri22.y,tri22.z),glm::vec3(tri33.x,tri33.y,tri33.z),glm::vec3(othertri11.x,othertri11.y,othertri11.z),glm::vec3(othertri22.x,othertri22.y,othertri22.z),glm::vec3(othertri33.x,othertri33.y,othertri33.z)))
{
    std::cout << "Triangle intersection\n";
}

我从不打印任何内容到控制台。三角形之一与另一个三角形旋转90度

解决方法

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