├── .gitignore ├── Assets ├── BVH.png ├── BVH.png.meta ├── Grid.png ├── Grid.png.meta ├── MeshCollider.png ├── MeshCollider.png.meta ├── Models.meta ├── Models │ ├── model.FBX │ ├── model.FBX.meta │ ├── pig.OBJ │ ├── pig.OBJ.meta │ ├── quad.obj │ └── quad.obj.meta ├── Plugins.meta ├── Plugins │ ├── Editor.meta │ └── Editor │ │ ├── JetBrains.meta │ │ └── JetBrains │ │ ├── JetBrains.Rider.Unity.Editor.Plugin.Repacked.dll │ │ └── JetBrains.Rider.Unity.Editor.Plugin.Repacked.dll.meta ├── Scenes.meta ├── Scenes │ ├── SampleScene.unity │ ├── SampleScene.unity.meta │ ├── SubDivision.unity │ └── SubDivision.unity.meta ├── Scripts.meta └── Scripts │ ├── AABB.cs │ ├── AABB.cs.meta │ ├── AABBCollider.cs │ ├── AABBCollider.cs.meta │ ├── BVH.cs │ ├── BVH.cs.meta │ ├── BVHAccelerator.cs │ ├── BVHAccelerator.cs.meta │ ├── Box.cs │ ├── Box.cs.meta │ ├── BoxCollider.cs │ ├── BoxCollider.cs.meta │ ├── CameraHelper.cs │ ├── CameraHelper.cs.meta │ ├── Enum.cs │ ├── Enum.cs.meta │ ├── Grid.cs │ ├── Grid.cs.meta │ ├── GridAccelerator.cs │ ├── GridAccelerator.cs.meta │ ├── MathUtil.cs │ ├── MathUtil.cs.meta │ ├── MeshCollider.cs │ ├── MeshCollider.cs.meta │ ├── OBB.cs │ ├── OBB.cs.meta │ ├── OBBCollider.cs │ ├── OBBCollider.cs.meta │ ├── Ray.cs │ ├── Ray.cs.meta │ ├── Sphere.cs │ ├── Sphere.cs.meta │ ├── SphereCollider.cs │ ├── SphereCollider.cs.meta │ ├── SubDivision.cs │ ├── SubDivision.cs.meta │ ├── Test.cs │ ├── Test.cs.meta │ ├── Util.cs │ └── Util.cs.meta ├── ProjectSettings ├── AudioManager.asset ├── ClusterInputManager.asset ├── DynamicsManager.asset ├── EditorBuildSettings.asset ├── EditorSettings.asset ├── GraphicsSettings.asset ├── InputManager.asset ├── NavMeshAreas.asset ├── NetworkManager.asset ├── Physics2DSettings.asset ├── PresetManager.asset ├── ProjectSettings.asset ├── ProjectVersion.txt ├── QualitySettings.asset ├── TagManager.asset ├── TimeManager.asset └── UnityConnectSettings.asset └── README.md /.gitignore: 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e41638810a393c243b0e419b51c52fa1 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /Assets/Scripts/AABB.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEditor.Experimental.UIElements.GraphView; 5 | using UnityEngine; 6 | using UnityEngine.Experimental.PlayerLoop; 7 | 8 | public class AABB : Box 9 | { 10 | private Vector3 originMin; 11 | private Vector3 originMax; 12 | public Vector3 transformMin; 13 | public Vector3 transformMax; 14 | private Matrix4x4 matrix; 15 | private AABBStructureMode mode; 16 | public int triangle; 17 | 18 | public static AABB Default 19 | { 20 | get { return new AABB(Vector3.positiveInfinity, Vector3.negativeInfinity); } 21 | } 22 | 23 | public AABB(Transform transform) 24 | { 25 | this.transform = transform; 26 | Mesh mesh = transform.GetComponent().sharedMesh; 27 | originMin = originMax = mesh.vertices[0]; 28 | for (int i = 1; i < mesh.vertices.Length; i++) 29 | { 30 | for (int j = 0; j < 3; j++) 31 | { 32 | if (mesh.vertices[i][j] < originMin[j]) 33 | originMin[j] = mesh.vertices[i][j]; 34 | if (mesh.vertices[i][j] > originMax[j]) 35 | originMax[j] = mesh.vertices[i][j]; 36 | } 37 | } 38 | 39 | transformMin = originMin; 40 | transformMax = originMax; 41 | matrix = Matrix4x4.identity; 42 | mode = AABBStructureMode.None; 43 | UpdateAABB(AABBStructureMode.Compact); 44 | } 45 | 46 | public AABB(Vector3 min, Vector3 max) 47 | { 48 | transformMin = min; 49 | transformMax = max; 50 | } 51 | 52 | public void UpdateAABB(AABBStructureMode mode) 53 | { 54 | Matrix4x4 m = transform.localToWorldMatrix; 55 | //只发生平移的话不需要重新计算包围盒，直接加上偏移量即可 56 | if (MathUtil.IsOnlyContainTranslation(matrix, m) && this.mode == mode) 57 | { 58 | Vector3 translation = MathUtil.GetTranslation(matrix, m); 59 | transformMin += translation; 60 | transformMax += translation; 61 | } 62 | else 63 | { 64 | this.mode = mode; 65 | //加速模式：只对max和min进行变换，不保证计算得到的包围盒是紧凑的 66 | if (mode == AABBStructureMode.Accelerate) 67 | { 68 | Vector3 translate = new Vector3(m.m03, m.m13, m.m23); 69 | transformMin = translate; 70 | transformMax = translate; 71 | for (int i = 0; i < 3; i++) 72 | { 73 | for (int j = 0; j < 3; j++) 74 | { 75 | float e = m[j, i] * originMin[i]; 76 | float f = m[j, i] * originMax[i]; 77 | if (e < f) 78 | { 79 | transformMin[j] += e; 80 | transformMax[j] += f; 81 | } 82 | else 83 | { 84 | transformMin[j] += f; 85 | transformMax[j] += e; 86 | } 87 | } 88 | } 89 | } 90 | //紧凑模式：对所有顶点进行变换，计算得到的包围盒是紧凑的 91 | else if (mode == AABBStructureMode.Compact) 92 | { 93 | Mesh mesh = transform.GetComponent().sharedMesh; 94 | List vertices = Util.GetNoRepeatVertices(mesh); 95 | transformMin = transformMax = m * MathUtil.Vector4(vertices[0], 1); 96 | for (int i = 1; i < vertices.Count; i++) 97 | { 98 | for (int j = 0; j < 3; j++) 99 | { 100 | Vector3 tmp = m * MathUtil.Vector4(vertices[i], 1); 101 | if (tmp[j] < transformMin[j]) 102 | transformMin[j] = tmp[j]; 103 | if (tmp[j] > transformMax[j]) 104 | transformMax[j] = tmp[j]; 105 | } 106 | } 107 | } 108 | } 109 | 110 | matrix = m; 111 | } 112 | 113 | public void DrawAABB() 114 | { 115 | Vector3 offset0 = Vector3.right * (transformMax - transformMin).x; 116 | Vector3 offset1 = Vector3.up * (transformMax - transformMin).y; 117 | Vector3 offset2 = Vector3.forward * (transformMax - transformMin).z; 118 | Gizmos.color = Color.yellow; 119 | Gizmos.DrawLine(transformMin, transformMin + offset0); 120 | Gizmos.DrawLine(transformMin, transformMin + offset1); 121 | Gizmos.DrawLine(transformMin, transformMin + offset2); 122 | Gizmos.DrawLine(transformMin + offset0, transformMax - offset2); 123 | Gizmos.DrawLine(transformMin + offset1, transformMax - offset2); 124 | Gizmos.DrawLine(transformMin + offset0, transformMax - offset1); 125 | Gizmos.DrawLine(transformMin + offset2, transformMax - offset1); 126 | Gizmos.DrawLine(transformMin + offset1, transformMax - offset0); 127 | Gizmos.DrawLine(transformMin + offset2, transformMax - offset0); 128 | Gizmos.DrawLine(transformMax, transformMax - offset0); 129 | Gizmos.DrawLine(transformMax, transformMax - offset1); 130 | Gizmos.DrawLine(transformMax, transformMax - offset2); 131 | } 132 | 133 | public override bool RayDetection(Ray ray, RaycastHit hitInfo) 134 | { 135 | float[] t = new float[3]; 136 | for (int i = 0; i < 3; i++) 137 | { 138 | if (ray.origin[i] < transformMin[i]) 139 | { 140 | t[i] = (transformMin[i] - ray.origin[i]); 141 | if (t[i] > ray.distance * ray.direction[i]) 142 | { 143 | return false; 144 | } 145 | 146 | t[i] /= ray.direction[i]; 147 | } 148 | else if (ray.origin[i] > transformMax[i]) 149 | { 150 | t[i] = (transformMax[i] - ray.origin[i]); 151 | if (t[i] < ray.distance * ray.direction[i]) 152 | { 153 | return false; 154 | } 155 | 156 | t[i] /= ray.direction[i]; 157 | } 158 | else 159 | { 160 | t[i] = -1; 161 | } 162 | } 163 | 164 | int idx = 0; 165 | for (int i = 1; i < 3; i++) 166 | { 167 | if (t[i] > t[idx]) 168 | { 169 | idx = i; 170 | } 171 | } 172 | 173 | for (int i = 0; i < 3; i++) 174 | { 175 | if (i == idx) 176 | { 177 | continue; 178 | } 179 | 180 | float tmp = ray.origin[i] + ray.direction[i] * t[idx]; 181 | if (tmp < transformMin[i] || tmp > transformMax[i]) 182 | { 183 | return false; 184 | } 185 | } 186 | 187 | ray.distance = t[idx]; 188 | hitInfo.point = ray.origin + ray.direction * t[idx]; 189 | hitInfo.transform = transform; 190 | return true; 191 | } 192 | 193 | public bool RayDetection(Ray ray, ref float dist) 194 | { 195 | float[] t = new float[3]; 196 | for (int i = 0; i < 3; i++) 197 | { 198 | if (ray.origin[i] < transformMin[i]) 199 | { 200 | t[i] = (transformMin[i] - ray.origin[i]); 201 | if (t[i] > ray.distance * ray.direction[i]) 202 | { 203 | return false; 204 | } 205 | 206 | t[i] /= ray.direction[i]; 207 | } 208 | else if (ray.origin[i] > transformMax[i]) 209 | { 210 | t[i] = (transformMax[i] - ray.origin[i]); 211 | if (t[i] < ray.distance * ray.direction[i]) 212 | { 213 | return false; 214 | } 215 | 216 | t[i] /= ray.direction[i]; 217 | } 218 | else 219 | { 220 | t[i] = -1; 221 | } 222 | } 223 | 224 | int idx = 0; 225 | for (int i = 1; i < 3; i++) 226 | { 227 | if (t[i] > t[idx]) 228 | { 229 | idx = i; 230 | } 231 | } 232 | 233 | for (int i = 0; i < 3; i++) 234 | { 235 | if (i == idx) 236 | { 237 | continue; 238 | } 239 | 240 | float tmp = ray.origin[i] + ray.direction[i] * t[idx]; 241 | if (tmp < transformMin[i] || tmp > transformMax[i]) 242 | { 243 | return false; 244 | } 245 | } 246 | 247 | dist = t[idx]; 248 | return true; 249 | } 250 | 251 | public bool RayDetection(Ray ray) 252 | { 253 | float t = 0; 254 | return RayDetection(ray, ref t); 255 | } 256 | 257 | public override bool BoxDetection(Box box) 258 | { 259 | if (box is AABB) 260 | { 261 | return Util.TestAABBAABB(this, box as AABB); 262 | } 263 | else if (box is Sphere) 264 | { 265 | return Util.TestAABBSphere(this, box as Sphere); 266 | } 267 | else if (box is OBB) 268 | { 269 | return Util.TestAABBOBB(this, box as OBB); 270 | } 271 | 272 | return false; 273 | } 274 | 275 | //找到AABB上离Point最近的一点 276 | public Vector3 ClosestPoint(Vector3 point) 277 | { 278 | for (int i = 0; i < 3; i++) 279 | { 280 | if (point[i] < transformMin[i]) 281 | { 282 | point[i] = transformMin[i]; 283 | } 284 | else if (point[i] > transformMax[i]) 285 | { 286 | point[i] = transformMax[i]; 287 | } 288 | } 289 | 290 | return point; 291 | } 292 | 293 | public OBB GetOBB() 294 | { 295 | Vector3[] axis = new[] {Vector3.right, Vector3.up, Vector3.forward}; 296 | return new OBB(axis, (transformMax + transformMin) * 0.5f, (transformMax - transformMin) * 0.5f); 297 | } 298 | 299 | public AABB Union(AABB aabb) 300 | { 301 | for (int i = 0; i < 3; i++) 302 | { 303 | if (aabb.transformMin[i] < transformMin[i]) 304 | { 305 | transformMin[i] = aabb.transformMin[i]; 306 | } 307 | 308 | if (aabb.transformMax[i] > transformMax[i]) 309 | { 310 | transformMax[i] = aabb.transformMax[i]; 311 | } 312 | } 313 | 314 | return this; 315 | } 316 | 317 | public AABB Union(Vector3 point) 318 | { 319 | for (int i = 0; i < 3; i++) 320 | { 321 | if (point[i] < transformMin[i]) 322 | { 323 | transformMin[i] = point[i]; 324 | } 325 | 326 | if (point[i] > transformMax[i]) 327 | { 328 | transformMax[i] = point[i]; 329 | } 330 | } 331 | 332 | return this; 333 | } 334 | 335 | public Vector3 GetCentroid() 336 | { 337 | return (transformMin + transformMax) * 0.5f; 338 | } 339 | 340 | public int MaximumExtent() 341 | { 342 | int idx = 0; 343 | for (int i = 1; i < 3; i++) 344 | { 345 | if (transformMax[i] - transformMin[i] > transformMax[idx] - transformMin[idx]) 346 | { 347 | idx = i; 348 | } 349 | } 350 | 351 | return idx; 352 | } 353 | 354 | public float GetSurfaceArea() 355 | { 356 | Vector3 d = transformMax - transformMin; 357 | return 2 * (d.x * d.y + d.x * d.z + d.y * d.z); 358 | } 359 | 360 | public override AABB OuterAABB() 361 | { 362 | return Clone(); 363 | } 364 | 365 | } 366 | -------------------------------------------------------------------------------- /Assets/Scripts/AABB.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 92832071d514d24489fecb40e7e9e024 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/AABBCollider.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEditor; 5 | using UnityEngine; 6 | 7 | public class AABBCollider : BoxCollider 8 | { 9 | public AABBStructureMode mode = AABBStructureMode.Compact; 10 | 11 | private AABB aabb; 12 | 13 | // Use this for initialization 14 | void Awake() 15 | { 16 | aabb = new AABB(transform); 17 | box = aabb; 18 | } 19 | 20 | // Update is called once per frame 21 | void Update() 22 | { 23 | aabb.UpdateAABB(mode); 24 | } 25 | 26 | void OnDrawGizmos() 27 | { 28 | if (aabb != null) 29 | { 30 | aabb.DrawAABB(); 31 | } 32 | } 33 | } 34 | -------------------------------------------------------------------------------- /Assets/Scripts/AABBCollider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 396ea8b1f2de7e64db4f1875095ac905 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/BVH.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEditor; 4 | using UnityEngine; 5 | using UnityEngine.Assertions; 6 | using UnityEngine.Rendering; 7 | 8 | public class BVHNode 9 | { 10 | public AABB aabb; 11 | public BVHNode left; 12 | public BVHNode right; 13 | public int axis; 14 | public int[] triangles; 15 | } 16 | 17 | public class LinearBVHNode 18 | { 19 | public AABB aabb; 20 | public bool left; 21 | public int right; 22 | public int axis; 23 | public int[] triangles; 24 | } 25 | 26 | public class BVHBucket 27 | { 28 | public AABB aabb; 29 | public int count; 30 | 31 | public BVHBucket() 32 | { 33 | aabb = AABB.Default; 34 | count = 0; 35 | } 36 | } 37 | 38 | //默认构造AABB BVH 39 | public class BVH : Box 40 | { 41 | private BVHSplitMethod bvhSplitMethod; 42 | private int maxPrimsInNode; 43 | private LinearBVHNode[] bvhNodes; 44 | 45 | //transform为null则构建基于场景的粗略测试bvh, 不为null则构建基于对象的精细测试bvh 46 | public BVH(Transform transform, BVHSplitMethod bvhSplitMethod, int maxPrimsInNode) 47 | { 48 | this.transform = transform; 49 | this.bvhSplitMethod = bvhSplitMethod; 50 | this.maxPrimsInNode = maxPrimsInNode; 51 | } 52 | 53 | public void CreateBVH() 54 | { 55 | if (transform == null) 56 | { 57 | BoxCollider[] boxColliders = GameObject.FindObjectsOfType(); 58 | AABB[] aabbs = new AABB[boxColliders.Length]; 59 | for (int i = 0; i < boxColliders.Length; i++) 60 | { 61 | AABB aabb = boxColliders[i].box.OuterAABB(); 62 | aabbs[i] = aabb; 63 | } 64 | 65 | int count = 0; 66 | BVHNode root = BuildBVH(aabbs, 0, aabbs.Length, ref count); 67 | FlattenBVH(root, count); 68 | } 69 | else 70 | { 71 | Mesh mesh = transform.GetComponent().sharedMesh; 72 | AABB[] aabbs = new AABB[mesh.triangles.Length / 3]; 73 | for (int i = 0; i < aabbs.Length; i++) 74 | { 75 | AABB aabb = AABB.Default; 76 | aabb.triangle = i; 77 | aabb.Union(mesh.vertices[mesh.triangles[i * 3]]); 78 | aabb.Union(mesh.vertices[mesh.triangles[i * 3 + 1]]); 79 | aabb.Union(mesh.vertices[mesh.triangles[i * 3 + 2]]); 80 | aabbs[i] = aabb; 81 | } 82 | 83 | int count = 0; 84 | BVHNode root = BuildBVH(aabbs, 0, aabbs.Length, ref count); 85 | FlattenBVH(root, count); 86 | } 87 | } 88 | 89 | //顺序存储BVH 90 | void FlattenBVH(BVHNode root, int count) 91 | { 92 | bvhNodes = new LinearBVHNode[count]; 93 | for (int i = 0; i < count; i++) 94 | { 95 | bvhNodes[i] = new LinearBVHNode(); 96 | } 97 | 98 | int offset = 0; 99 | BuildFlattenBVH(root, ref offset); 100 | } 101 | 102 | void BuildFlattenBVH(BVHNode bvhNode, ref int offset) 103 | { 104 | LinearBVHNode linearBVHNode = new LinearBVHNode(); 105 | linearBVHNode.aabb = bvhNode.aabb; 106 | linearBVHNode.axis = bvhNode.axis; 107 | if (bvhNode.triangles != null) 108 | { 109 | linearBVHNode.triangles = new int[bvhNode.triangles.Length]; 110 | for (int i = 0; i < linearBVHNode.triangles.Length; i++) 111 | { 112 | linearBVHNode.triangles[i] = bvhNode.triangles[i]; 113 | } 114 | } 115 | 116 | bvhNodes[offset] = linearBVHNode; 117 | if (bvhNode.left == null && bvhNode.right == null) 118 | { 119 | offset++; 120 | linearBVHNode.left = false; 121 | linearBVHNode.right = -1; 122 | } 123 | else 124 | { 125 | if (bvhNode.left != null) 126 | { 127 | linearBVHNode.left = true; 128 | offset++; 129 | BuildFlattenBVH(bvhNode.left, ref offset); 130 | linearBVHNode.right = offset; 131 | } 132 | 133 | if (bvhNode.right != null) 134 | { 135 | BuildFlattenBVH(bvhNode.right, ref offset); 136 | } 137 | } 138 | } 139 | 140 | BVHNode BuildBVH(AABB[] aabbs, int start, int end, ref int count) 141 | { 142 | AABB aabb = AABB.Default; 143 | for (int i = start; i < end; i++) 144 | { 145 | aabb.Union(aabbs[i]); 146 | } 147 | 148 | count++; 149 | BVHNode bvhNode = new BVHNode(); 150 | if (start == end - 1) 151 | { 152 | bvhNode.aabb = aabbs[start]; 153 | bvhNode.triangles = new[] {bvhNode.aabb.triangle}; 154 | } 155 | else 156 | { 157 | AABB centroidAABB = AABB.Default; 158 | for (int i = start; i < end; i++) 159 | { 160 | centroidAABB.Union(aabbs[i].GetCentroid()); 161 | } 162 | 163 | int dim = centroidAABB.MaximumExtent(); 164 | int split = 0; 165 | float splitCentroid = 0; 166 | if (Mathf.Abs(centroidAABB.transformMax[dim] - centroidAABB.transformMin[dim]) <= float.Epsilon) 167 | { 168 | if (end - start <= maxPrimsInNode) 169 | { 170 | bvhNode.aabb = aabb; 171 | bvhNode.triangles = new int[end - start]; 172 | for (int i = start; i < end; i++) 173 | { 174 | bvhNode.triangles[i - start] = aabbs[i].triangle; 175 | } 176 | 177 | return bvhNode; 178 | } 179 | 180 | split = (start + end) / 2; 181 | } 182 | else 183 | { 184 | //质心中点分割方法 185 | if (bvhSplitMethod == BVHSplitMethod.SplitMiddle) 186 | { 187 | float pivot = centroidAABB.GetCentroid()[dim]; 188 | int left = start; 189 | int right = end - 1; 190 | do 191 | { 192 | while (pivot > aabbs[left].GetCentroid()[dim]) 193 | { 194 | left++; 195 | } 196 | 197 | while (pivot < aabbs[right].GetCentroid()[dim]) 198 | { 199 | right--; 200 | } 201 | 202 | if (left > right) 203 | { 204 | break; 205 | } 206 | 207 | if (left < right) 208 | { 209 | Swap(aabbs, left, right); 210 | } 211 | 212 | left++; 213 | right--; 214 | } while (left <= right); 215 | 216 | split = left; 217 | splitCentroid = pivot; 218 | } 219 | //等尺寸集分割方法 220 | else if (bvhSplitMethod == BVHSplitMethod.SplitEqualCounts) 221 | { 222 | split = (start + end) / 2; 223 | QuickSelect(aabbs, split, start, end - 1, dim); 224 | splitCentroid = aabbs[split].GetCentroid()[dim]; 225 | } 226 | //启发式表面积方法 227 | else if (bvhSplitMethod == BVHSplitMethod.SplitSAH) 228 | { 229 | if (end - start <= 4) 230 | { 231 | split = (start + end) / 2; 232 | QuickSelect(aabbs, split, start, end - 1, dim); 233 | splitCentroid = aabbs[split].GetCentroid()[dim]; 234 | } 235 | else 236 | { 237 | int splitBucket = 12; 238 | BVHBucket[] buckets = new BVHBucket[splitBucket]; 239 | for (int i = 0; i < splitBucket; i++) 240 | { 241 | buckets[i] = new BVHBucket(); 242 | } 243 | 244 | for (int i = start; i < end; i++) 245 | { 246 | int bucketNo = GetBucketNo(aabbs[i], centroidAABB, dim, splitBucket); 247 | buckets[bucketNo].count++; 248 | buckets[bucketNo].aabb.Union(aabbs[i]); 249 | } 250 | 251 | float[] cost = new float[splitBucket - 1]; 252 | for (int i = 0; i < splitBucket - 1; i++) 253 | { 254 | AABB aabb1 = AABB.Default; 255 | AABB aabb2 = AABB.Default; 256 | int count1 = 0; 257 | int count2 = 0; 258 | for (int j = 0; j <= i; j++) 259 | { 260 | aabb1.Union(buckets[j].aabb); 261 | count1 += buckets[j].count; 262 | } 263 | 264 | for (int j = i + 1; j < splitBucket; j++) 265 | { 266 | aabb2.Union(buckets[j].aabb); 267 | count2 += buckets[j].count; 268 | } 269 | 270 | cost[i] = 0.125f + (aabb1.GetSurfaceArea() * count1 + aabb2.GetSurfaceArea() * count2) / 271 | aabb.GetSurfaceArea(); 272 | } 273 | 274 | float minCost = cost[0]; 275 | int pivot = 0; 276 | for (int i = 1; i < splitBucket - 1; i++) 277 | { 278 | if (cost[i] < minCost) 279 | { 280 | minCost = cost[i]; 281 | pivot = i; 282 | } 283 | } 284 | 285 | int left = start; 286 | int right = end - 1; 287 | do 288 | { 289 | while (pivot >= GetBucketNo(aabbs[left], centroidAABB, dim, splitBucket)) 290 | { 291 | left++; 292 | } 293 | 294 | while (pivot < GetBucketNo(aabbs[right], centroidAABB, dim, splitBucket)) 295 | { 296 | right--; 297 | } 298 | 299 | if (left > right) 300 | { 301 | break; 302 | } 303 | 304 | if (left < right) 305 | { 306 | Swap(aabbs, left, right); 307 | } 308 | 309 | left++; 310 | right--; 311 | } while (left <= right); 312 | 313 | if (end - start <= maxPrimsInNode && minCost >= maxPrimsInNode) 314 | { 315 | bvhNode.aabb = aabb; 316 | bvhNode.triangles = new int[end - start]; 317 | for (int i = start; i < end; i++) 318 | { 319 | bvhNode.triangles[i - start] = aabbs[i].triangle; 320 | } 321 | 322 | return bvhNode; 323 | } 324 | 325 | split = left; 326 | 327 | splitCentroid = centroidAABB.transformMin[dim] + (pivot + 1.0f) / splitBucket * 328 | (centroidAABB.transformMax[dim] - centroidAABB.transformMin[dim]); 329 | } 330 | } 331 | 332 | //断言检验 333 | for (int i = start; i < split; i++) 334 | { 335 | Assert.IsTrue(aabbs[i].GetCentroid()[dim] <= splitCentroid); 336 | } 337 | 338 | for (int i = split; i < end; i++) 339 | { 340 | Assert.IsTrue(aabbs[i].GetCentroid()[dim] >= splitCentroid); 341 | } 342 | } 343 | 344 | bvhNode.left = BuildBVH(aabbs, start, split, ref count); 345 | bvhNode.right = BuildBVH(aabbs, split, end, ref count); 346 | bvhNode.aabb = AABB.Default; 347 | bvhNode.aabb.Union(bvhNode.left.aabb); 348 | bvhNode.aabb.Union(bvhNode.right.aabb); 349 | bvhNode.axis = dim; 350 | } 351 | 352 | return bvhNode; 353 | } 354 | 355 | int GetBucketNo(AABB aabb, AABB centroidAABB, int dim, int splitBucket) 356 | { 357 | int bucketNo = (int) ((aabb.GetCentroid()[dim] - centroidAABB.transformMin[dim]) / 358 | (centroidAABB.transformMax[dim] - centroidAABB.transformMin[dim]) * 359 | splitBucket); 360 | if (bucketNo == splitBucket) 361 | { 362 | bucketNo--; 363 | } 364 | 365 | return bucketNo; 366 | } 367 | 368 | void QuickSelect(AABB[] aabbs, int k, int left, int right, int dim) 369 | { 370 | float pivot = Median3(aabbs, left, right, dim); 371 | int i = left; 372 | int j = right; 373 | do 374 | { 375 | while (pivot > aabbs[left].GetCentroid()[dim]) 376 | { 377 | left++; 378 | } 379 | 380 | while (pivot < aabbs[right].GetCentroid()[dim]) 381 | { 382 | right--; 383 | } 384 | 385 | if (left > right) 386 | { 387 | break; 388 | } 389 | 390 | if (left < right) 391 | { 392 | Swap(aabbs, left, right); 393 | } 394 | 395 | left++; 396 | right--; 397 | } while (left <= right); 398 | 399 | if (k <= right) 400 | { 401 | QuickSelect(aabbs, k, i, right, dim); 402 | } 403 | else if (k >= left) 404 | { 405 | QuickSelect(aabbs, k, left, j, dim); 406 | } 407 | } 408 | 409 | void Swap(AABB[] aabbs, int i, int j) 410 | { 411 | AABB tmp = aabbs[i]; 412 | aabbs[i] = aabbs[j]; 413 | aabbs[j] = tmp; 414 | } 415 | 416 | float Median3(AABB[] aabbs, int left, int right, int dim) 417 | { 418 | int mid = (left + right) / 2; 419 | if (aabbs[left].GetCentroid()[dim] > aabbs[mid].GetCentroid()[dim]) 420 | { 421 | Swap(aabbs, left, mid); 422 | } 423 | 424 | if (aabbs[left].GetCentroid()[dim] > aabbs[right].GetCentroid()[dim]) 425 | { 426 | Swap(aabbs, left, right); 427 | } 428 | 429 | if (aabbs[mid].GetCentroid()[dim] > aabbs[right].GetCentroid()[dim]) 430 | { 431 | Swap(aabbs, mid, right); 432 | } 433 | 434 | return aabbs[mid].GetCentroid()[dim]; 435 | } 436 | 437 | public void DrawBVH() 438 | { 439 | if (transform == null) 440 | { 441 | for (int i = 0; i < bvhNodes.Length; i++) 442 | { 443 | bvhNodes[i].aabb.DrawAABB(); 444 | } 445 | } 446 | else 447 | { 448 | for (int i = 0; i < bvhNodes.Length; i++) 449 | { 450 | OBB obb = bvhNodes[i].aabb.GetOBB(); 451 | obb.UpdateOBB(transform.localToWorldMatrix); 452 | obb.DrawOBB(); 453 | } 454 | } 455 | } 456 | 457 | public override bool RayDetection(Ray ray, RaycastHit hitInfo) 458 | { 459 | if (transform != null) 460 | { 461 | ray.Transform(transform.worldToLocalMatrix); 462 | } 463 | 464 | bool[] dirIsNeg = new bool[3] {ray.direction.x < 0, ray.direction.y < 0, ray.direction.z < 0}; 465 | Stack s = new Stack(); 466 | s.Push(0); 467 | bool hit = false; 468 | while (s.Count > 0) 469 | { 470 | int idx = s.Pop(); 471 | LinearBVHNode linearBVHNode = bvhNodes[idx]; 472 | if (linearBVHNode.aabb.RayDetection(ray)) 473 | { 474 | if (!linearBVHNode.left && linearBVHNode.right == -1) 475 | { 476 | if (transform != null) 477 | { 478 | Mesh mesh = transform.GetComponent().sharedMesh; 479 | for (int i = 0; i < linearBVHNode.triangles.Length; i++) 480 | { 481 | int triangle = linearBVHNode.triangles[i]; 482 | hit |= ray.Raycast(mesh.vertices[mesh.triangles[triangle * 3]], 483 | mesh.vertices[mesh.triangles[triangle * 3 + 1]], 484 | mesh.vertices[mesh.triangles[triangle * 3 + 2]]); 485 | } 486 | } 487 | else 488 | { 489 | hit |= linearBVHNode.aabb.transform.GetComponent().box 490 | .RayDetection(ray, hitInfo); 491 | } 492 | } 493 | 494 | if (dirIsNeg[linearBVHNode.axis]) 495 | { 496 | if (linearBVHNode.left) 497 | { 498 | s.Push(++idx); 499 | } 500 | 501 | if (linearBVHNode.right != -1) 502 | { 503 | s.Push(linearBVHNode.right); 504 | } 505 | } 506 | else 507 | { 508 | if (linearBVHNode.right != -1) 509 | { 510 | s.Push(linearBVHNode.right); 511 | } 512 | 513 | if (linearBVHNode.left) 514 | { 515 | s.Push(++idx); 516 | } 517 | } 518 | } 519 | } 520 | 521 | if (transform != null) 522 | { 523 | ray.Transform(transform.localToWorldMatrix); 524 | if (hit) 525 | { 526 | hitInfo.point = ray.origin + ray.direction * ray.distance; 527 | hitInfo.transform = transform; 528 | } 529 | } 530 | 531 | return hit; 532 | } 533 | 534 | public override bool BoxDetection(Box box) 535 | { 536 | return false; 537 | } 538 | 539 | public override AABB OuterAABB() 540 | { 541 | return new AABB(transform); 542 | } 543 | } -------------------------------------------------------------------------------- /Assets/Scripts/BVH.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: aa40cb9a75bdcf44fbaa2e53b70f8dea 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/BVHAccelerator.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class BVHAccelerator : MonoBehaviour 6 | { 7 | 8 | public BVHSplitMethod bvhSplitMethod = BVHSplitMethod.SplitSAH; 9 | 10 | private BVH bvh; 11 | private CameraHelper cameraHelper; 12 | 13 | // Use this for initialization 14 | void Start() 15 | { 16 | bvh = new BVH(null, bvhSplitMethod, 1); 17 | bvh.CreateBVH(); 18 | cameraHelper = new CameraHelper(Camera.main); 19 | } 20 | 21 | // Update is called once per fram 22 | void Update() 23 | { 24 | if (Input.GetMouseButtonDown(0)) 25 | { 26 | Ray ray = cameraHelper.ScreenPointToRay(); 27 | RaycastHit info = new RaycastHit(); 28 | if (bvh.RayDetection(ray, info)) 29 | { 30 | info.transform.GetComponent().material.color = Color.green; 31 | } 32 | } 33 | } 34 | 35 | void OnDrawGizmos() 36 | { 37 | if (bvh != null) 38 | { 39 | bvh.DrawBVH(); 40 | } 41 | } 42 | } 43 | -------------------------------------------------------------------------------- /Assets/Scripts/BVHAccelerator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1f68afd655894ce4ab9f449d567e7a43 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Box.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public abstract class Box 6 | { 7 | public Transform transform; 8 | 9 | public abstract bool RayDetection(Ray ray, RaycastHit hitInfo); 10 | 11 | public abstract bool BoxDetection(Box box); 12 | 13 | public abstract AABB OuterAABB(); 14 | 15 | public T Clone() where T : Box 16 | { 17 | return MemberwiseClone() as T; 18 | } 19 | 20 | } 21 | -------------------------------------------------------------------------------- /Assets/Scripts/Box.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 68cf722ee8c8e764084e3e57ca4fb3c9 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/BoxCollider.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using UnityEngine; 5 | 6 | public class BoxCollider : MonoBehaviour 7 | { 8 | [HideInInspector] public Box box; 9 | 10 | } 11 | -------------------------------------------------------------------------------- /Assets/Scripts/BoxCollider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 33ac6ca30ddc3e04e90db5a9f9e83a6a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/CameraHelper.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class CameraHelper 6 | { 7 | 8 | private Camera camera; 9 | 10 | public Transform transform; 11 | 12 | public CameraHelper(Camera camera) 13 | { 14 | this.camera = camera; 15 | transform = camera.transform; 16 | } 17 | 18 | public Ray ScreenPointToRay() 19 | { 20 | Vector2 uv = new Vector2(Input.mousePosition.x / Screen.width, Input.mousePosition.y / Screen.height) - 21 | Vector2.one * 0.5f; 22 | //注意tan的参数是弧度 23 | float y = camera.nearClipPlane * Mathf.Tan(camera.fieldOfView / 360 * Mathf.PI) * 2; 24 | float x = camera.aspect * y; 25 | //注意观察空间和世界空间的Z轴是反向的，所以z值要取反 26 | Vector4 p = new Vector4(x * uv.x, y * uv.y, -camera.nearClipPlane, 1); 27 | Vector3 wp = camera.cameraToWorldMatrix * p; 28 | Ray ray = new Ray(camera.transform.position, (wp - camera.transform.position), 1000); 29 | return ray; 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Assets/Scripts/CameraHelper.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e85329318a589d84681710713b6ff621 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Enum.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public enum AABBStructureMode 6 | { 7 | None, 8 | Accelerate, 9 | Compact 10 | } 11 | 12 | public enum SphereStructureMode 13 | { 14 | Ritter, 15 | RitterIter, 16 | RitterEigen 17 | } 18 | 19 | public enum OBBStructureMode 20 | { 21 | Eigen, 22 | AABB 23 | } 24 | 25 | public enum BVHSplitMethod 26 | { 27 | SplitMiddle, 28 | SplitEqualCounts, 29 | SplitSAH 30 | } 31 | -------------------------------------------------------------------------------- /Assets/Scripts/Enum.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 4bab948edfb8a1c44ad2c804879c83bf 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Grid.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Voxel 6 | { 7 | public List aabbs; 8 | 9 | public void Add(AABB aabb) 10 | { 11 | if (aabbs == null) 12 | { 13 | aabbs = new List(); 14 | } 15 | 16 | if (!aabbs.Contains(aabb)) 17 | { 18 | aabbs.Add(aabb); 19 | } 20 | } 21 | } 22 | 23 | public class Grid 24 | { 25 | Voxel[,,] voxels; 26 | AABB aabb; 27 | Vector3 unitWidth; 28 | Vector3 invUnitWidth; 29 | 30 | public Grid() 31 | { 32 | BoxCollider[] boxColliders = GameObject.FindObjectsOfType(); 33 | aabb = AABB.Default; 34 | AABB[] aabbs = new AABB[boxColliders.Length]; 35 | for (int i = 0; i < boxColliders.Length; i++) 36 | { 37 | aabbs[i] = boxColliders[i].box.OuterAABB(); 38 | aabb.Union(aabbs[i]); 39 | } 40 | 41 | //计算单位距离的体素数量 42 | Vector3 delta = aabb.transformMax - aabb.transformMin; 43 | int dim = aabb.MaximumExtent(); 44 | float dimVoxel = 3 * Mathf.Pow((float) aabbs.Length, 1.0f / 3); 45 | float unitVoxel = dimVoxel / delta[dim]; 46 | int[] nVoxel = new int[3]; 47 | for (int i = 0; i < 3; i++) 48 | { 49 | nVoxel[i] = (int) (delta[i] * unitVoxel); 50 | nVoxel[i] = Mathf.Clamp(nVoxel[i], 1, 64); 51 | } 52 | 53 | voxels = new Voxel[nVoxel[0], nVoxel[1], nVoxel[2]]; 54 | 55 | for (int i = 0; i < 3; i++) 56 | { 57 | unitWidth[i] = delta[i] / voxels.GetLength(i); 58 | invUnitWidth[i] = unitWidth[i] <= float.Epsilon ? 0 : 1 / unitWidth[i]; 59 | } 60 | 61 | int[] voxelMin = new int[3]; 62 | int[] voxelMax = new int[3]; 63 | for (int i = 0; i < aabbs.Length; i++) 64 | { 65 | for (int j = 0; j < 3; j++) 66 | { 67 | voxelMin[j] = Point2Voxel(aabbs[i].transformMin, j); 68 | voxelMax[j] = Point2Voxel(aabbs[i].transformMax, j); 69 | } 70 | 71 | for (int x = voxelMin[0]; x <= voxelMax[0]; x++) 72 | { 73 | for (int y = voxelMin[1]; y <= voxelMax[1]; y++) 74 | { 75 | for (int z = voxelMin[2]; z <= voxelMax[2]; z++) 76 | { 77 | Voxel voxel = GetVoxel(x, y, z); 78 | voxel.Add(aabbs[i]); 79 | } 80 | } 81 | } 82 | } 83 | } 84 | 85 | Voxel GetVoxel(int x, int y, int z) 86 | { 87 | Voxel voxel = voxels[x, y, z]; 88 | if (voxel == null) 89 | { 90 | voxel = new Voxel(); 91 | voxels[x, y, z] = voxel; 92 | } 93 | 94 | return voxel; 95 | } 96 | 97 | int Point2Voxel(Vector3 point, int axis) 98 | { 99 | int voxel = (int) ((point[axis] - aabb.transformMin[axis]) * invUnitWidth[axis]); 100 | return Mathf.Clamp(voxel, 0, voxels.GetLength(axis) - 1); 101 | } 102 | 103 | float Voxel2Point(int voxel, int axis) 104 | { 105 | return aabb.transformMin[axis] + unitWidth[axis] * voxel; 106 | } 107 | 108 | public void DrawGrid() 109 | { 110 | for (int i = 0; i < voxels.GetLength(0); i++) 111 | { 112 | for (int j = 0; j < voxels.GetLength(1); j++) 113 | { 114 | for (int k = 0; k < voxels.GetLength(2); k++) 115 | { 116 | Vector3 min = this.aabb.transformMin + 117 | new Vector3(i * unitWidth[0], j * unitWidth[1], k * unitWidth[2]); 118 | Vector3 max = min + unitWidth; 119 | AABB aabb = new AABB(min, max); 120 | aabb.DrawAABB(); 121 | } 122 | } 123 | } 124 | } 125 | 126 | public bool RayDetection(Ray ray, RaycastHit hitInfo) 127 | { 128 | float t = 0; 129 | if (!aabb.RayDetection(ray, ref t)) 130 | { 131 | return false; 132 | } 133 | 134 | Vector3 p = ray.origin + ray.direction * t; 135 | 136 | int[] step = new int[3]; 137 | int[] end = new int[3]; 138 | int[] vp = new int[3]; 139 | float[] deltaT = new float[3]; 140 | float[] nextT = new float[3]; 141 | for (int i = 0; i < 3; i++) 142 | { 143 | vp[i] = Point2Voxel(p, i); 144 | if (ray.direction[i] >= 0) 145 | { 146 | step[i] = 1; 147 | end[i] = voxels.GetLength(i); 148 | deltaT[i] = unitWidth[i] / ray.direction[i]; 149 | nextT[i] = t + (Voxel2Point(vp[i] + 1, i) - p[i]) / ray.direction[i]; 150 | } 151 | else 152 | { 153 | step[i] = -1; 154 | end[i] = -1; 155 | deltaT[i] = -unitWidth[i] / ray.direction[i]; 156 | nextT[i] = t + (Voxel2Point(vp[i], i) - p[i]) / ray.direction[i]; 157 | } 158 | } 159 | 160 | HashSet hs = new HashSet(); 161 | bool hit = false; 162 | while (true) 163 | { 164 | Voxel voxel = voxels[vp[0], vp[1], vp[2]]; 165 | if (voxel != null && voxel.aabbs != null) 166 | { 167 | for (int i = 0; i < voxel.aabbs.Count; i++) 168 | { 169 | AABB tmp = voxel.aabbs[i]; 170 | if (!hs.Contains(aabb)) 171 | { 172 | hs.Add(tmp); 173 | hit |= tmp.transform.GetComponent().box 174 | .RayDetection(ray, hitInfo); 175 | } 176 | } 177 | } 178 | 179 | int bits = ((nextT[0] < nextT[1] ? 1 : 0) << 2) + ((nextT[0] < nextT[2] ? 1 : 0) << 1) + 180 | nextT[1] < nextT[2] ? 1 : 0; 181 | int[] cmpToAxis = {2, 1, 2, 1, 2, 2, 0, 0}; 182 | int stepAxis = cmpToAxis[bits]; 183 | if (ray.distance < nextT[stepAxis]) 184 | break; 185 | vp[stepAxis] += step[stepAxis]; 186 | if (vp[stepAxis] == end[stepAxis]) 187 | break; 188 | nextT[stepAxis] += deltaT[stepAxis]; 189 | } 190 | 191 | return hit; 192 | } 193 | } 194 | 195 | -------------------------------------------------------------------------------- /Assets/Scripts/Grid.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 28a767e8b3075634ca794e2f38b76a17 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/GridAccelerator.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class GridAccelerator : MonoBehaviour 6 | { 7 | 8 | private Grid grid; 9 | private CameraHelper cameraHelper; 10 | 11 | // Use this for initialization 12 | void Start() 13 | { 14 | grid = new Grid(); 15 | cameraHelper = new CameraHelper(Camera.main); 16 | } 17 | 18 | // Update is called once per fram 19 | void Update() 20 | { 21 | if (Input.GetMouseButtonDown(0)) 22 | { 23 | Ray ray = cameraHelper.ScreenPointToRay(); 24 | ray.DrawRay(); 25 | RaycastHit info = new RaycastHit(); 26 | if (grid.RayDetection(ray, info)) 27 | { 28 | info.transform.GetComponent().material.color = Color.green; 29 | } 30 | } 31 | } 32 | 33 | void OnDrawGizmos() 34 | { 35 | if (grid != null) 36 | { 37 | grid.DrawGrid(); 38 | } 39 | } 40 | } 41 | -------------------------------------------------------------------------------- /Assets/Scripts/GridAccelerator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a859201628b93ec46a732cc43e283147 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/MathUtil.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public static class MathUtil 6 | { 7 | public static Vector4 Vector4(Vector3 v, float w) 8 | { 9 | return new Vector4(v.x, v.y, v.z, w); 10 | } 11 | 12 | //变换矩阵是否只发生了平移 13 | public static bool IsOnlyContainTranslation(Matrix4x4 oldMatrix, Matrix4x4 newMatrix) 14 | { 15 | for (int i = 0; i < 12; i++) 16 | { 17 | if (Mathf.Abs(oldMatrix[i] - newMatrix[i]) > float.Epsilon) 18 | return false; 19 | } 20 | 21 | return true; 22 | } 23 | 24 | //提取平移 25 | public static Vector3 ExtractTranslate(Matrix4x4 matrix) 26 | { 27 | return new Vector3(matrix.m03, matrix.m13, matrix.m23); 28 | } 29 | 30 | //得到平移偏移 31 | public static Vector3 GetTranslation(Matrix4x4 oldMatrix, Matrix4x4 newMatrix) 32 | { 33 | return ExtractTranslate(newMatrix) - ExtractTranslate(oldMatrix); 34 | } 35 | 36 | //试图提取缩放 第i列的长度为ki (只能保证数值正确，计算不了正负) 37 | public static Vector3 ExtractScale(Matrix4x4 matrix, bool sqrt = true) 38 | { 39 | Vector3 scale = Vector3.zero; 40 | for (int i = 0; i < 3; i++) 41 | { 42 | scale[i] = sqrt ? matrix.GetColumn(i).magnitude : matrix.GetColumn(i).sqrMagnitude; 43 | } 44 | 45 | return scale; 46 | } 47 | 48 | //变换矩阵是否发生了缩放 （相反数认为没发生缩放） 49 | public static bool IsContainScale(Matrix4x4 oldMatrix, Matrix4x4 newMatrix) 50 | { 51 | return ExtractScale(oldMatrix, false) != ExtractScale(newMatrix, false); 52 | } 53 | 54 | public static bool IsContainScale(Matrix4x4 matrix, out Vector3 scale) 55 | { 56 | scale = ExtractScale(matrix, false); 57 | bool res = scale != Vector3.one; 58 | if (res) 59 | { 60 | for (int i = 0; i < 3; i++) 61 | { 62 | scale[i] = Mathf.Sqrt(scale[i]); 63 | } 64 | } 65 | 66 | return res; 67 | } 68 | 69 | 70 | //计算协方差矩阵 71 | public static Matrix4x4 GetCovarianceMatrix(List vertices) 72 | { 73 | Matrix4x4 m = Matrix4x4.zero; 74 | Vector3 avg = Vector3.zero; 75 | float inverseSum = 1.0f / vertices.Count; 76 | for (int i = 0; i < vertices.Count; i++) 77 | { 78 | avg += vertices[i]; 79 | } 80 | 81 | avg *= inverseSum; 82 | 83 | for (int i = 0; i < vertices.Count; i++) 84 | { 85 | Vector3 p = vertices[i] - avg; 86 | for (int j = 0; j < 3; j++) 87 | { 88 | for (int k = 0; k < 3; k++) 89 | { 90 | m[k, j] += p[k] * p[j]; 91 | } 92 | } 93 | } 94 | 95 | for (int j = 0; j < 3; j++) 96 | { 97 | for (int k = 0; k < 3; k++) 98 | { 99 | m[k, j] *= inverseSum; 100 | } 101 | } 102 | 103 | return m; 104 | } 105 | 106 | //雅可比迭代法计算特征值和特征向量 107 | public static Matrix4x4 Jacobi(ref Matrix4x4 m, int iter = 50, double eps = 1e-10) 108 | { 109 | Matrix4x4 res = Matrix4x4.identity; 110 | int count = 0; 111 | while (true) 112 | { 113 | float max = float.MinValue; 114 | int row = -1; 115 | int col = -1; 116 | for (int i = 0; i < 3; i++) 117 | { 118 | for (int j = 0; j < 3; j++) 119 | { 120 | if (i != j && Mathf.Abs(m[i, j]) > max) 121 | { 122 | max = Mathf.Abs(m[i, j]); 123 | row = i; 124 | col = j; 125 | } 126 | } 127 | } 128 | 129 | if (max < eps) 130 | break; 131 | if (count > iter) 132 | break; 133 | count++; 134 | 135 | float mii = m[row, row]; 136 | float mij = m[row, col]; 137 | float mjj = m[col, col]; 138 | float theta = 0.5f * Mathf.Atan2(2 * mij, mjj - mii); 139 | float sinTheta = Mathf.Sin(theta); 140 | float cosTheta = Mathf.Cos(theta); 141 | float sin2Theta = Mathf.Sin(2 * theta); 142 | float cos2Theta = Mathf.Cos(2 * theta); 143 | m[row, row] = cosTheta * cosTheta * mii - sin2Theta * mij + sinTheta * sinTheta * mjj; 144 | m[col, col] = sinTheta * sinTheta * mii + sin2Theta * mij + cosTheta * cosTheta * mjj; 145 | m[row, col] = m[col, row] = cos2Theta * mij + 0.5f * sin2Theta * (mii - mjj); 146 | for (int k = 0; k < 3; k++) 147 | { 148 | if (k != row && k != col) 149 | { 150 | float tmp = m[row, k]; 151 | m[row, k] = m[k, row] = 152 | cosTheta * tmp - sinTheta * m[col, k]; 153 | m[col, k] = m[k, col] = 154 | sinTheta * tmp + cosTheta * m[col, k]; 155 | } 156 | } 157 | 158 | for (int k = 0; k < 3; k++) 159 | { 160 | float tmp = res[k, row]; 161 | res[k, row] = cosTheta * tmp - sinTheta * res[k, col]; 162 | res[k, col] = sinTheta * tmp + cosTheta * res[k, col]; 163 | } 164 | 165 | } 166 | 167 | return res; 168 | 169 | } 170 | 171 | //根据特征值降序排列特征向量 172 | public static void EigenSort(ref Matrix4x4 eigenVector, ref Matrix4x4 eigenValue) 173 | { 174 | for (int i = 1; i < 3; i++) 175 | { 176 | float tmp = eigenValue[i, i]; 177 | Vector4 tmp2 = eigenVector.GetColumn(i); 178 | int j = i - 1; 179 | while (j >= 0 && tmp > eigenValue[j, j]) 180 | { 181 | eigenValue[j + 1, j + 1] = eigenValue[j, j]; 182 | eigenVector.SetColumn(j + 1, eigenVector.GetColumn(j)); 183 | j--; 184 | } 185 | 186 | eigenValue[j + 1, j + 1] = tmp; 187 | eigenVector.SetColumn(j + 1, tmp2); 188 | } 189 | } 190 | 191 | //施密特正交化 192 | public static void SchmidtOrthogonalization(ref Matrix4x4 m) 193 | { 194 | m.SetColumn(0, Vector3.Normalize(m.GetColumn(0))); 195 | m.SetColumn(1, 196 | Vector3.Normalize(m.GetColumn(1) - Vector3.Dot(m.GetColumn(0), m.GetColumn(1)) * m.GetColumn(0))); 197 | m.SetColumn(2, 198 | Vector3.Normalize(m.GetColumn(2) - Vector3.Dot(m.GetColumn(0), m.GetColumn(2)) * m.GetColumn(0) - 199 | Vector3.Dot(m.GetColumn(1), m.GetColumn(2)) * m.GetColumn(1))); 200 | } 201 | 202 | } -------------------------------------------------------------------------------- /Assets/Scripts/MathUtil.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 61f792f53bc5835468c704df419b9a10 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/MeshCollider.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using System.Security; 4 | using UnityEngine; 5 | 6 | public class MeshCollider : BoxCollider 7 | { 8 | 9 | public BVHSplitMethod bvhSplitMethod = BVHSplitMethod.SplitSAH; 10 | 11 | private BVH bvh; 12 | 13 | // Use this for initialization 14 | void Awake() 15 | { 16 | bvh = new BVH(transform, bvhSplitMethod, 4); 17 | bvh.CreateBVH(); 18 | box = bvh; 19 | } 20 | 21 | void OnDrawGizmos() 22 | { 23 | if (bvh != null) 24 | { 25 | bvh.DrawBVH(); 26 | } 27 | } 28 | } 29 | -------------------------------------------------------------------------------- /Assets/Scripts/MeshCollider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e0c28c6c2f018954cac905796094b50b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/OBB.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class OBB : Box 6 | { 7 | private Vector3 center; 8 | public Vector3[] axis; 9 | private Vector3 radius; 10 | public Vector3 transformCenter; 11 | public Vector3 transformRadius; 12 | private Matrix4x4 matrix; 13 | private OBBStructureMode mode; 14 | 15 | public OBB(Transform transform, OBBStructureMode mode) 16 | { 17 | this.transform = transform; 18 | this.mode = mode; 19 | switch (mode) 20 | { 21 | case OBBStructureMode.Eigen: 22 | matrix = transform.localToWorldMatrix; 23 | break; 24 | case OBBStructureMode.AABB: 25 | matrix = Matrix4x4.identity; 26 | break; 27 | } 28 | 29 | StructureOBB(mode, matrix); 30 | UpdateOBB(mode); 31 | } 32 | 33 | public OBB(Vector3[] axis, Vector3 center, Vector3 radius) 34 | { 35 | this.axis = new Vector3[3]; 36 | for (int i = 0; i < 3; i++) 37 | { 38 | this.axis[i] = axis[i]; 39 | } 40 | 41 | this.center = center; 42 | this.radius = radius; 43 | transformCenter = center; 44 | transformRadius = radius; 45 | } 46 | 47 | void StructureOBB(OBBStructureMode mode, Matrix4x4 local2world) 48 | { 49 | switch (mode) 50 | { 51 | case OBBStructureMode.Eigen: 52 | EigenOBB(local2world); 53 | break; 54 | case OBBStructureMode.AABB: 55 | AABBOBB(); 56 | break; 57 | } 58 | 59 | transformCenter = center; 60 | transformRadius = radius; 61 | } 62 | 63 | void EigenOBB(Matrix4x4 local2world) 64 | { 65 | Mesh mesh = transform.GetComponent().sharedMesh; 66 | List vertices = Util.GetNoRepeatVertices(mesh); 67 | for (int i = 0; i < vertices.Count; i++) 68 | { 69 | vertices[i] = local2world * MathUtil.Vector4(vertices[i], 1); 70 | } 71 | 72 | Matrix4x4 covarianceM = MathUtil.GetCovarianceMatrix(vertices); 73 | Matrix4x4 eigenM = MathUtil.Jacobi(ref covarianceM); 74 | MathUtil.SchmidtOrthogonalization(ref eigenM); 75 | 76 | axis = new Vector3[3]; 77 | for (int i = 0; i < 3; i++) 78 | { 79 | axis[i] = eigenM.GetColumn(i); 80 | } 81 | 82 | Vector3 min = Vector3.positiveInfinity; 83 | Vector3 max = Vector3.negativeInfinity; 84 | for (int i = 1; i < vertices.Count; i++) 85 | { 86 | for (int j = 0; j < 3; j++) 87 | { 88 | float tmp = Vector3.Dot(axis[j], vertices[i]); 89 | if (tmp < min[j]) 90 | { 91 | min[j] = tmp; 92 | } 93 | 94 | if (tmp > max[j]) 95 | { 96 | max[j] = tmp; 97 | } 98 | } 99 | } 100 | 101 | radius = (max - min) * 0.5f; 102 | 103 | center = Vector3.zero; 104 | for (int i = 0; i < 3; i++) 105 | { 106 | center += (radius + min)[i] * axis[i]; 107 | } 108 | } 109 | 110 | void AABBOBB() 111 | { 112 | Mesh mesh = transform.GetComponent().sharedMesh; 113 | Vector3 originMin = mesh.vertices[0]; 114 | Vector3 originMax = originMin; 115 | for (int i = 1; i < mesh.vertices.Length; i++) 116 | { 117 | for (int j = 0; j < 3; j++) 118 | { 119 | if (mesh.vertices[i][j] < originMin[j]) 120 | originMin[j] = mesh.vertices[i][j]; 121 | if (mesh.vertices[i][j] > originMax[j]) 122 | originMax[j] = mesh.vertices[i][j]; 123 | } 124 | } 125 | 126 | axis = new Vector3[3]; 127 | for (int i = 0; i < 3; i++) 128 | { 129 | Vector3 tmp = Vector3.zero; 130 | tmp[i] = 1; 131 | axis[i] = tmp; 132 | } 133 | 134 | center = (originMax + originMin) * 0.5f; 135 | 136 | radius = (originMax - originMin) * 0.5f; 137 | 138 | } 139 | 140 | public void UpdateOBB(OBBStructureMode mode) 141 | { 142 | Matrix4x4 m = transform.localToWorldMatrix; 143 | if (MathUtil.IsOnlyContainTranslation(matrix, m) && this.mode == mode) 144 | { 145 | Vector3 translation = MathUtil.GetTranslation(matrix, m); 146 | transformCenter += translation; 147 | } 148 | else 149 | { 150 | if (mode == OBBStructureMode.Eigen) 151 | { 152 | StructureOBB(mode, m); 153 | } 154 | else if (mode == OBBStructureMode.AABB) 155 | { 156 | if (this.mode != mode) 157 | { 158 | StructureOBB(mode, m); 159 | } 160 | 161 | UpdateOBB(m); 162 | } 163 | 164 | this.mode = mode; 165 | } 166 | 167 | matrix = m; 168 | } 169 | 170 | public void UpdateOBB(Matrix4x4 m) 171 | { 172 | for (int i = 0; i < 3; i++) 173 | { 174 | Vector3 tmp = Vector3.zero; 175 | tmp[i] = 1; 176 | axis[i] = m * tmp; 177 | } 178 | 179 | transformCenter = m * MathUtil.Vector4(center, 1); 180 | 181 | Vector3 scale; 182 | if (MathUtil.IsContainScale(m, out scale)) 183 | { 184 | for (int i = 0; i < 3; i++) 185 | { 186 | axis[i] /= scale[i]; 187 | transformRadius[i] = radius[i] * scale[i]; 188 | } 189 | } 190 | else 191 | { 192 | transformRadius = radius; 193 | } 194 | } 195 | 196 | public void DrawOBB() 197 | { 198 | Gizmos.color = Color.yellow; 199 | Vector3 min = transformCenter; 200 | Vector3 max = transformCenter; 201 | for (int i = 0; i < 3; i++) 202 | { 203 | min -= axis[i] * transformRadius[i]; 204 | max += axis[i] * transformRadius[i]; 205 | } 206 | 207 | Vector3 offset0 = axis[0] * (transformRadius[0] * 2); 208 | Vector3 offset1 = axis[1] * (transformRadius[1] * 2); 209 | Vector3 offset2 = axis[2] * (transformRadius[2] * 2); 210 | Gizmos.color = Color.yellow; 211 | Gizmos.DrawLine(min, min + offset0); 212 | Gizmos.DrawLine(min, min + offset1); 213 | Gizmos.DrawLine(min, min + offset2); 214 | Gizmos.DrawLine(min + offset0, max - offset2); 215 | Gizmos.DrawLine(min + offset1, max - offset2); 216 | Gizmos.DrawLine(min + offset0, max - offset1); 217 | Gizmos.DrawLine(min + offset2, max - offset1); 218 | Gizmos.DrawLine(min + offset1, max - offset0); 219 | Gizmos.DrawLine(min + offset2, max - offset0); 220 | Gizmos.DrawLine(max, max - offset0); 221 | Gizmos.DrawLine(max, max - offset1); 222 | Gizmos.DrawLine(max, max - offset2); 223 | } 224 | 225 | public override bool RayDetection(Ray ray, RaycastHit hitInfo) 226 | { 227 | AABB aabb = GetAABB(); 228 | 229 | ray.Transform(RTMatrix); 230 | 231 | bool res = aabb.RayDetection(ray, hitInfo); 232 | if (res) 233 | { 234 | hitInfo.point = TRMatrix * MathUtil.Vector4(hitInfo.point, 1); 235 | hitInfo.transform = transform; 236 | } 237 | 238 | ray.Transform(TRMatrix); 239 | 240 | return res; 241 | } 242 | 243 | public override bool BoxDetection(Box box) 244 | { 245 | if (box is Sphere) 246 | { 247 | return Util.TestOBBSphere(this, box as Sphere); 248 | } 249 | else if (box is OBB) 250 | { 251 | return Util.TestOBBOBB(this, box as OBB); 252 | } 253 | else if (box is AABB) 254 | { 255 | return Util.TestAABBOBB(box as AABB, this); 256 | } 257 | 258 | return false; 259 | } 260 | 261 | public Matrix4x4 RTMatrix 262 | { 263 | get 264 | { 265 | Matrix4x4 t = Matrix4x4.identity; 266 | t.SetColumn(3, MathUtil.Vector4(-transformCenter, 1)); 267 | Matrix4x4 r = Matrix4x4.identity; 268 | for (int i = 0; i < 3; i++) 269 | { 270 | r.SetRow(i, axis[i]); 271 | } 272 | 273 | Matrix4x4 m = r * t; 274 | return m; 275 | } 276 | } 277 | 278 | public Matrix4x4 TRMatrix 279 | { 280 | get 281 | { 282 | Matrix4x4 t = Matrix4x4.identity; 283 | t.SetColumn(3, MathUtil.Vector4(transformCenter, 1)); 284 | Matrix4x4 r = Matrix4x4.identity; 285 | for (int i = 0; i < 3; i++) 286 | { 287 | r.SetColumn(i, axis[i]); 288 | } 289 | 290 | Matrix4x4 m = t * r; 291 | return m; 292 | } 293 | } 294 | 295 | public AABB GetAABB() 296 | { 297 | return new AABB(-transformRadius, transformRadius); 298 | } 299 | 300 | public override AABB OuterAABB() 301 | { 302 | AABB aabb = AABB.Default; 303 | aabb.Union(transformCenter + axis[0] * transformRadius[0] + axis[1] * transformRadius[1] + 304 | axis[2] * transformRadius[2]); 305 | aabb.Union(transformCenter + axis[0] * transformRadius[0] + axis[1] * transformRadius[1] - 306 | axis[2] * transformRadius[2]); 307 | aabb.Union(transformCenter + axis[0] * transformRadius[0] - axis[1] * transformRadius[1] + 308 | axis[2] * transformRadius[2]); 309 | aabb.Union(transformCenter + axis[0] * transformRadius[0] - axis[1] * transformRadius[1] - 310 | axis[2] * transformRadius[2]); 311 | aabb.Union(transformCenter - axis[0] * transformRadius[0] + axis[1] * transformRadius[1] + 312 | axis[2] * transformRadius[2]); 313 | aabb.Union(transformCenter - axis[0] * transformRadius[0] + axis[1] * transformRadius[1] - 314 | axis[2] * transformRadius[2]); 315 | aabb.Union(transformCenter - axis[0] * transformRadius[0] - axis[1] * transformRadius[1] + 316 | axis[2] * transformRadius[2]); 317 | aabb.Union(transformCenter - axis[0] * transformRadius[0] - axis[1] * transformRadius[1] - 318 | axis[2] * transformRadius[2]); 319 | aabb.transform = transform; 320 | return aabb; 321 | } 322 | 323 | } 324 | -------------------------------------------------------------------------------- /Assets/Scripts/OBB.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 473b5657f46c48748b0103988b90df66 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/OBBCollider.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class OBBCollider : BoxCollider 6 | { 7 | public OBBStructureMode mode = OBBStructureMode.AABB; 8 | 9 | private OBB obb; 10 | 11 | // Use this for initialization 12 | void Awake() 13 | { 14 | obb = new OBB(transform, mode); 15 | box = obb; 16 | } 17 | 18 | // Update is called once per frame 19 | void Update() 20 | { 21 | obb.UpdateOBB(mode); 22 | } 23 | 24 | void OnDrawGizmos() 25 | { 26 | if (obb != null) 27 | { 28 | obb.DrawOBB(); 29 | } 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Assets/Scripts/OBBCollider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9903e9f69856081458ac8015325e9733 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Ray.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Ray 6 | { 7 | public Vector3 origin; 8 | public Vector3 direction; 9 | public float distance; 10 | 11 | public Ray(Vector3 origin, Vector3 direction, float distance) 12 | { 13 | this.origin = origin; 14 | this.direction = direction.normalized; 15 | this.distance = distance; 16 | } 17 | 18 | public bool Raycast(Vector3 p0, Vector3 p1, Vector3 p2) 19 | { 20 | Vector3 e0 = p0 - p1; 21 | Vector3 e1 = p1 - p2; 22 | Vector3 n = Vector3.Cross(e0, e1); 23 | float dot = Vector3.Dot(n, direction); 24 | if (dot >= 0) 25 | { 26 | return false; 27 | } 28 | 29 | float d = Vector3.Dot(n, p0); 30 | float t = (d - Vector3.Dot(origin, n)) / dot; 31 | if (t < 0 || t > distance) 32 | { 33 | return false; 34 | } 35 | 36 | Vector3 p = origin + direction * t; 37 | Vector3 e2 = p2 - p0; 38 | Vector3 d0 = p0 - p; 39 | Vector3 d2 = p2 - p; 40 | float inverseNN = 1 / Vector3.Dot(n, n); 41 | float b0 = Vector3.Dot(Vector3.Cross(e1, d2), n) * inverseNN; 42 | if (b0 < 0 || b0 > 1) 43 | { 44 | return false; 45 | } 46 | 47 | float b1 = Vector3.Dot(Vector3.Cross(e2, d0), n) * inverseNN; 48 | if (b1 < 0 || b1 > 1) 49 | { 50 | return false; 51 | } 52 | 53 | float b2 = 1 - b0 - b1; 54 | if (b2 < 0 || b2 > 1) 55 | { 56 | return false; 57 | } 58 | 59 | if (t > distance) 60 | { 61 | return false; 62 | } 63 | else 64 | { 65 | distance = t; 66 | return true; 67 | } 68 | } 69 | 70 | public void Transform(Matrix4x4 m) 71 | { 72 | origin = m * MathUtil.Vector4(origin, 1); 73 | direction = m * direction; 74 | direction.Normalize(); 75 | } 76 | 77 | public void DrawRay() 78 | { 79 | Debug.DrawLine(origin, origin + direction * distance, Color.green, 10); 80 | } 81 | } 82 | 83 | public class RaycastHit 84 | { 85 | public Vector3 point; 86 | public Transform transform; 87 | } 88 | -------------------------------------------------------------------------------- /Assets/Scripts/Ray.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 857063d6573f56b46ad48cbf0f2b4a75 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Sphere.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Experimental.PlayerLoop; 5 | 6 | public class Sphere : Box 7 | { 8 | public Vector3 center; 9 | public float radius; 10 | private Matrix4x4 matrix; 11 | private SphereStructureMode mode; 12 | 13 | public Sphere(Transform transform, SphereStructureMode mode) 14 | { 15 | this.transform = transform; 16 | this.mode = mode; 17 | matrix = transform.localToWorldMatrix; 18 | StructureSphere(mode, matrix); 19 | } 20 | 21 | void StructureSphere(SphereStructureMode mode, Matrix4x4 local2world) 22 | { 23 | Mesh mesh = transform.GetComponent().sharedMesh; 24 | List vertices = Util.GetNoRepeatVertices(mesh); 25 | for (int i = 0; i < vertices.Count; i++) 26 | { 27 | vertices[i] = local2world * MathUtil.Vector4(vertices[i], 1); 28 | } 29 | 30 | switch (mode) 31 | { 32 | case SphereStructureMode.Ritter: 33 | RitterSphere(vertices); 34 | break; 35 | case SphereStructureMode.RitterIter: 36 | RitterIterSphere(vertices); 37 | break; 38 | case SphereStructureMode.RitterEigen: 39 | RitterEigenSphere(vertices); 40 | break; 41 | } 42 | } 43 | 44 | void RitterSphere(List vertices) 45 | { 46 | Vector3 min = Vector3.zero; 47 | Vector3 max = Vector3.zero; 48 | for (int i = 1; i < vertices.Count; i++) 49 | { 50 | for (int j = 0; j < 3; j++) 51 | { 52 | if (vertices[i][j] < vertices[(int) min[j]][j]) 53 | { 54 | min[j] = i; 55 | } 56 | 57 | if (vertices[i][j] > vertices[(int) max[j]][j]) 58 | { 59 | max[j] = i; 60 | } 61 | } 62 | } 63 | 64 | float[] dist2 = new float[3]; 65 | for (int i = 0; i < 3; i++) 66 | { 67 | Vector3 offset = vertices[(int) max[i]] - vertices[(int) min[i]]; 68 | dist2[i] = Vector3.Dot(offset, offset); 69 | } 70 | 71 | int idx = 0; 72 | for (int i = 1; i < 3; i++) 73 | { 74 | if (dist2[i] > dist2[idx]) 75 | { 76 | idx = i; 77 | } 78 | } 79 | 80 | center = (vertices[(int) max[idx]] + vertices[(int) min[idx]]) * 0.5f; 81 | radius = Vector3.Distance(vertices[(int) max[idx]], center); 82 | 83 | ApproachSphere(this, vertices); 84 | 85 | } 86 | 87 | void ApproachSphere(Sphere sphere, List vertices, bool random = false) 88 | { 89 | for (int i = 0; i < vertices.Count; i++) 90 | { 91 | if (random && i < vertices.Count - 1) 92 | { 93 | int randomIdx = Random.Range(i + 1, vertices.Count); 94 | Vector3 tmp = vertices[randomIdx]; 95 | vertices[randomIdx] = vertices[i]; 96 | vertices[i] = tmp; 97 | } 98 | 99 | Vector3 d = vertices[i] - sphere.center; 100 | float d2 = Vector3.Dot(d, d); 101 | if (d2 > sphere.radius * sphere.radius) 102 | { 103 | float dist = Mathf.Sqrt(d2); 104 | float newRadius = (sphere.radius + dist) * 0.5f; 105 | float k = (newRadius - sphere.radius) / dist; 106 | sphere.radius = newRadius; 107 | sphere.center += d * k; 108 | } 109 | } 110 | } 111 | 112 | void RitterIterSphere(List vertices, int iter = 8, float shrink = 0.95f) 113 | { 114 | RitterSphere(vertices); 115 | Sphere sphere = Clone(); 116 | for (int i = 0; i < iter; i++) 117 | { 118 | sphere.radius *= shrink; 119 | ApproachSphere(sphere, vertices, true); 120 | if (sphere.radius < radius) 121 | { 122 | radius = sphere.radius; 123 | center = sphere.center; 124 | } 125 | } 126 | } 127 | 128 | void RitterEigenSphere(List vertices) 129 | { 130 | Matrix4x4 covarianceM = MathUtil.GetCovarianceMatrix(vertices); 131 | Matrix4x4 eigenM = MathUtil.Jacobi(ref covarianceM); 132 | MathUtil.EigenSort(ref eigenM, ref covarianceM); 133 | MathUtil.SchmidtOrthogonalization(ref eigenM); 134 | //得到具有最大特征值的主轴 135 | Vector3 axis = eigenM.GetColumn(0); 136 | int min = 0; 137 | int max = 0; 138 | float dmin = Vector3.Dot(axis, vertices[0]); 139 | float dmax = dmin; 140 | for (int i = 1; i < vertices.Count; i++) 141 | { 142 | float tmp = Vector3.Dot(axis, vertices[i]); 143 | if (tmp < dmin) 144 | { 145 | min = i; 146 | dmin = tmp; 147 | } 148 | 149 | if (tmp > dmax) 150 | { 151 | max = i; 152 | dmax = tmp; 153 | } 154 | } 155 | 156 | center = (vertices[max] + vertices[min]) * 0.5f; 157 | radius = Vector3.Distance(vertices[max], center); 158 | 159 | ApproachSphere(this, vertices); 160 | } 161 | 162 | public void UpdateSphere(SphereStructureMode mode) 163 | { 164 | Matrix4x4 m = transform.localToWorldMatrix; 165 | //发生缩放需要重构包围球 166 | if (MathUtil.IsContainScale(matrix, m) || this.mode != mode) 167 | { 168 | StructureSphere(mode, m); 169 | this.mode = mode; 170 | } 171 | else 172 | { 173 | //旋转不需要改变包围球 174 | //平移只需把球心偏移即可 175 | Vector3 translation = MathUtil.GetTranslation(matrix, m); 176 | center += translation; 177 | } 178 | 179 | matrix = m; 180 | } 181 | 182 | public void DrawSphere() 183 | { 184 | Gizmos.color = Color.yellow; 185 | Gizmos.DrawWireSphere(center, radius); 186 | } 187 | 188 | public override bool RayDetection(Ray ray, RaycastHit hitInfo) 189 | { 190 | Vector3 e = center - ray.origin; 191 | 192 | float a = Vector3.Dot(e, ray.direction); 193 | if (a <= 0) 194 | { 195 | return false; 196 | } 197 | 198 | float f2 = radius * radius - Vector3.Dot(e, e) + a * a; 199 | if (f2 < 0) 200 | { 201 | return false; 202 | } 203 | 204 | float t = a - Mathf.Sqrt(f2); 205 | if (t < 0 || t > ray.distance) 206 | { 207 | return false; 208 | } 209 | 210 | ray.distance = t; 211 | hitInfo.point = ray.origin + ray.direction * t; 212 | hitInfo.transform = transform; 213 | return true; 214 | } 215 | 216 | public override bool BoxDetection(Box box) 217 | { 218 | if (box is Sphere) 219 | { 220 | return Util.TestSphereSphere(this, box as Sphere); 221 | } 222 | else if (box is AABB) 223 | { 224 | return Util.TestAABBSphere(box as AABB, this); 225 | } 226 | else if (box is OBB) 227 | { 228 | return Util.TestOBBSphere(box as OBB, this); 229 | } 230 | 231 | return false; 232 | } 233 | 234 | public Sphere Union(Sphere sphere) 235 | { 236 | Vector3 d = sphere.center - center; 237 | float dist2 = Vector3.Dot(d, d); 238 | if ((sphere.radius - radius) * (sphere.radius - radius) >= dist2) 239 | { 240 | if (sphere.radius > radius) 241 | { 242 | center = sphere.center; 243 | radius = sphere.radius; 244 | } 245 | } 246 | else 247 | { 248 | float dist = Mathf.Sqrt(dist2); 249 | float oldRadius = radius; 250 | radius = (dist + oldRadius + sphere.radius) * 0.5f; 251 | center += (radius - oldRadius) / dist * d; 252 | } 253 | 254 | return this; 255 | } 256 | 257 | public override AABB OuterAABB() 258 | { 259 | AABB aabb = new AABB(center - Vector3.one * radius, center + Vector3.one * radius); 260 | aabb.transform = transform; 261 | return aabb; 262 | } 263 | } 264 | -------------------------------------------------------------------------------- /Assets/Scripts/Sphere.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 1113e59960e6d884c96ce8ba4cbee5a1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/SphereCollider.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class SphereCollider : BoxCollider 6 | { 7 | 8 | public SphereStructureMode mode = SphereStructureMode.RitterIter; 9 | 10 | private Sphere sphere; 11 | 12 | // Use this for initialization 13 | void Awake() 14 | { 15 | sphere = new Sphere(transform, mode); 16 | box = sphere; 17 | } 18 | 19 | // Update is called once per frame 20 | void Update() 21 | { 22 | sphere.UpdateSphere(mode); 23 | } 24 | 25 | void OnDrawGizmos() 26 | { 27 | if (sphere != null) 28 | { 29 | sphere.DrawSphere(); 30 | } 31 | } 32 | } 33 | -------------------------------------------------------------------------------- /Assets/Scripts/SphereCollider.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fe85f235519a71d4e95434fda62a225e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/SubDivision.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Collections; 3 | using System.Collections.Generic; 4 | using System.Linq; 5 | using UnityEditor.Experimental.UIElements.GraphView; 6 | using UnityEngine; 7 | using UnityEngine.UI; 8 | 9 | public class Edge 10 | { 11 | public int[] vertexIdx; 12 | public List faceIdx; 13 | public Vector3 newPos; 14 | 15 | public Edge(int vidx1, int vidx2) 16 | { 17 | if (vidx1 < vidx2) 18 | { 19 | vertexIdx = new[] {vidx1, vidx2}; 20 | } 21 | else 22 | { 23 | vertexIdx = new[] {vidx2, vidx1}; 24 | } 25 | 26 | faceIdx = new List(); 27 | } 28 | 29 | public override bool Equals(object obj) 30 | { 31 | Edge edge = obj as Edge; 32 | return Enumerable.SequenceEqual(vertexIdx, edge.vertexIdx); 33 | } 34 | } 35 | 36 | public class SubDivision : MonoBehaviour 37 | { 38 | 39 | public int iter; 40 | 41 | // Use this for initialization 42 | void Start() 43 | { 44 | Mesh mesh = transform.GetComponent().mesh; 45 | for (int iter = 0; iter < this.iter; iter++) 46 | { 47 | Vector3[] vertexs = new Vector3[mesh.vertexCount]; 48 | List edges = new List(); 49 | Dictionary edgeDict = new Dictionary(); 50 | HashSet[] degrees = new HashSet[mesh.vertexCount]; 51 | Vector3Int[] faces = new Vector3Int[mesh.triangles.Length / 3]; 52 | HashSet edgeVertexs = new HashSet(); 53 | 54 | for (int i = 0; i < degrees.Length; i++) 55 | { 56 | degrees[i] = new HashSet(); 57 | } 58 | 59 | for (int i = 0; i < faces.Length; i++) 60 | { 61 | faces[i] = Vector3Int.zero; 62 | } 63 | 64 | for (int i = 0; i < mesh.triangles.Length; i += 3) 65 | { 66 | int idx1 = mesh.triangles[i]; 67 | int idx2 = mesh.triangles[i + 1]; 68 | int idx3 = mesh.triangles[i + 2]; 69 | AddDegree(degrees, idx1, idx2); 70 | AddDegree(degrees, idx1, idx3); 71 | AddDegree(degrees, idx2, idx3); 72 | int face = i / 3; 73 | AddFace(faces, face, 0, AddEdge(edges, edgeDict, idx1, idx2, i)); 74 | AddFace(faces, face, 1, AddEdge(edges, edgeDict, idx2, idx3, i)); 75 | AddFace(faces, face, 2, AddEdge(edges, edgeDict, idx3, idx1, i)); 76 | } 77 | 78 | for (int i = 0; i < edges.Count; i++) 79 | { 80 | Edge edge = edges[i]; 81 | if (edge.faceIdx.Count == 1) 82 | { 83 | edgeVertexs.Add(edge.vertexIdx[0]); 84 | edgeVertexs.Add(edge.vertexIdx[1]); 85 | edge.newPos = (mesh.vertices[edge.vertexIdx[0]] + mesh.vertices[edge.vertexIdx[1]]) * 0.5f; 86 | } 87 | else 88 | { 89 | edge.newPos = Vector3.zero; 90 | edge.newPos += (mesh.vertices[edge.vertexIdx[0]] + mesh.vertices[edge.vertexIdx[1]]) * 0.375f; 91 | int idx1 = GetOtherIdx(mesh.triangles, edge.faceIdx[0], edge.vertexIdx[0], edge.vertexIdx[1]); 92 | int idx2 = GetOtherIdx(mesh.triangles, edge.faceIdx[1], edge.vertexIdx[0], edge.vertexIdx[1]); 93 | edge.newPos += (mesh.vertices[idx1] + mesh.vertices[idx2]) * 0.125f; 94 | } 95 | } 96 | 97 | for (int i = 0; i < vertexs.Length; i++) 98 | { 99 | Vector3 tmp = Vector3.zero; 100 | if (edgeVertexs.Contains(i)) 101 | { 102 | vertexs[i] = 0.75f * mesh.vertices[i]; 103 | int count = 0; 104 | foreach (int j in degrees[i]) 105 | { 106 | if (edgeVertexs.Contains(j)) 107 | { 108 | String key = i < j ? i + "," + j : j + "," + i; 109 | if (edgeDict.ContainsKey(key) && edges[edgeDict[key]].faceIdx.Count == 1) 110 | { 111 | tmp += mesh.vertices[j]; 112 | count++; 113 | if (count == 2) 114 | { 115 | break; 116 | } 117 | } 118 | } 119 | } 120 | 121 | vertexs[i] += 0.125f * tmp; 122 | } 123 | else 124 | { 125 | int degree = degrees[i].Count; 126 | float beta = (0.625f - Mathf.Pow(0.375f + 0.25f * Mathf.Cos(Mathf.PI * 2.0f / degree), 2.0f)) / 127 | degree; 128 | vertexs[i] = (1 - degree * beta) * mesh.vertices[i]; 129 | foreach (int j in degrees[i]) 130 | { 131 | tmp += mesh.vertices[j]; 132 | } 133 | 134 | vertexs[i] += beta * tmp; 135 | } 136 | } 137 | 138 | Vector3[] newVertexs = new Vector3[vertexs.Length + edges.Count]; 139 | for (int i = 0; i < newVertexs.Length; i++) 140 | { 141 | if (i < vertexs.Length) 142 | { 143 | newVertexs[i] = vertexs[i]; 144 | } 145 | else 146 | { 147 | newVertexs[i] = edges[i - vertexs.Length].newPos; 148 | } 149 | } 150 | 151 | int[] newTriangles = new int[mesh.triangles.Length * 4]; 152 | for (int i = 0; i < faces.Length; i++) 153 | { 154 | int fidx1 = faces[i][0]; 155 | int fidx2 = faces[i][1]; 156 | int fidx3 = faces[i][2]; 157 | Edge edge1 = edges[fidx1]; 158 | Edge edge2 = edges[fidx2]; 159 | CheckOrder(edge1, mesh.triangles[i * 3]); 160 | CheckOrder(edge2, mesh.triangles[i * 3 + 1]); 161 | newTriangles[i * 12] = edge1.vertexIdx[0]; 162 | newTriangles[i * 12 + 1] = vertexs.Length + fidx1; 163 | newTriangles[i * 12 + 2] = vertexs.Length + fidx3; 164 | newTriangles[i * 12 + 3] = vertexs.Length + fidx1; 165 | newTriangles[i * 12 + 4] = edge1.vertexIdx[1]; 166 | newTriangles[i * 12 + 5] = vertexs.Length + fidx2; 167 | newTriangles[i * 12 + 6] = vertexs.Length + fidx3; 168 | newTriangles[i * 12 + 7] = vertexs.Length + fidx2; 169 | newTriangles[i * 12 + 8] = edge2.vertexIdx[1]; 170 | newTriangles[i * 12 + 9] = vertexs.Length + fidx1; 171 | newTriangles[i * 12 + 10] = vertexs.Length + fidx2; 172 | newTriangles[i * 12 + 11] = vertexs.Length + fidx3; 173 | } 174 | 175 | mesh.vertices = newVertexs; 176 | mesh.triangles = newTriangles; 177 | } 178 | 179 | mesh.RecalculateNormals(); 180 | transform.GetComponent().mesh = mesh; 181 | } 182 | 183 | void CheckOrder(Edge edge, int idx1) 184 | { 185 | if (edge.vertexIdx[0] != idx1) 186 | { 187 | int tmp = edge.vertexIdx[0]; 188 | edge.vertexIdx[0] = edge.vertexIdx[1]; 189 | edge.vertexIdx[1] = tmp; 190 | } 191 | } 192 | 193 | int GetOtherIdx(int[] triangles, int idx, int idx1, int idx2) 194 | { 195 | if (triangles[idx] != idx1 && triangles[idx] != idx2) 196 | { 197 | return triangles[idx]; 198 | } 199 | else if (triangles[idx + 1] != idx1 && triangles[idx + 1] != idx2) 200 | { 201 | return triangles[idx + 1]; 202 | } 203 | else 204 | { 205 | return triangles[idx + 2]; 206 | } 207 | } 208 | 209 | void AddDegree(HashSet[] degrees, int idx1, int idx2) 210 | { 211 | degrees[idx1].Add(idx2); 212 | degrees[idx2].Add(idx1); 213 | } 214 | 215 | int AddEdge(List edges, Dictionary edgeDict, int idx1, int idx2, int face) 216 | { 217 | Edge edge = new Edge(idx1, idx2); 218 | String key = edge.vertexIdx[0] + "," + edge.vertexIdx[1]; 219 | int idx = edgeDict.ContainsKey(key) ? edgeDict[key] : -1; 220 | if (idx >= 0) 221 | { 222 | edges[idx].faceIdx.Add(face); 223 | return idx; 224 | } 225 | else 226 | { 227 | edge.faceIdx.Add(face); 228 | edges.Add(edge); 229 | edgeDict.Add(key, edges.Count - 1); 230 | return edges.Count - 1; 231 | } 232 | } 233 | 234 | void AddFace(Vector3Int[] faces, int idx1, int idx2, int edge) 235 | { 236 | faces[idx1][idx2] = edge; 237 | } 238 | } -------------------------------------------------------------------------------- /Assets/Scripts/SubDivision.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3383699b98ff30146b5b6f5effb88b9e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Test.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | public class Test : MonoBehaviour 6 | { 7 | private CameraHelper cameraHelper; 8 | 9 | void Start() 10 | { 11 | cameraHelper = new CameraHelper(Camera.main); 12 | } 13 | 14 | // Update is called once per frame 15 | void Update() 16 | { 17 | if (Input.GetKeyDown(KeyCode.A)) 18 | { 19 | TestBoxDetection(); 20 | } 21 | } 22 | 23 | void TestBoxDetection() 24 | { 25 | BoxCollider[] boxColliders = GameObject.FindObjectsOfType(); 26 | for (int i = 0; i < boxColliders.Length - 1; i++) 27 | { 28 | for (int j = i + 1; j < boxColliders.Length; j++) 29 | { 30 | if (boxColliders[i].box.BoxDetection(boxColliders[j].box)) 31 | { 32 | Debug.DrawLine(boxColliders[i].transform.position, boxColliders[j].transform.position, Color.green, 33 | 10); 34 | } 35 | } 36 | } 37 | } 38 | 39 | } 40 | -------------------------------------------------------------------------------- /Assets/Scripts/Test.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c12b295dc95cbfd4e8473cafb81c0a9a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /Assets/Scripts/Util.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using System.IO; 4 | using System.Linq; 5 | using System.Runtime.Serialization.Formatters.Binary; 6 | using UnityEngine; 7 | 8 | public static class Util 9 | { 10 | //去掉unity mesh里面重复的顶点 11 | public static List GetNoRepeatVertices(Mesh mesh) 12 | { 13 | HashSet set = new HashSet(); 14 | 15 | for (int i = 0; i < mesh.vertices.Length; i++) 16 | { 17 | if (!set.Contains(mesh.vertices[i])) 18 | { 19 | set.Add(mesh.vertices[i]); 20 | } 21 | } 22 | 23 | return set.ToList(); 24 | } 25 | 26 | public static bool TestAABBAABB(AABB aabb1, AABB aabb2) 27 | { 28 | for (int i = 0; i < 3; i++) 29 | { 30 | if (aabb1.transformMin[i] > aabb2.transformMax[i] || aabb1.transformMax[i] < aabb2.transformMin[i]) 31 | return false; 32 | } 33 | 34 | return true; 35 | } 36 | 37 | public static bool TestSphereSphere(Sphere sphere1, Sphere sphere2) 38 | { 39 | Vector3 d = sphere2.center - sphere1.center; 40 | float rSum = sphere1.radius + sphere2.radius; 41 | return Vector3.Dot(d, d) <= rSum * rSum; 42 | } 43 | 44 | 45 | public static bool TestAABBSphere(AABB aabb, Sphere sphere) 46 | { 47 | Vector3 p = aabb.ClosestPoint(sphere.center); 48 | Vector3 d = sphere.center - p; 49 | return Vector3.Dot(d, d) <= sphere.radius * sphere.radius; 50 | } 51 | 52 | public static bool TestOBBSphere(OBB obb, Sphere sphere) 53 | { 54 | sphere = sphere.Clone(); 55 | sphere.center = obb.RTMatrix * MathUtil.Vector4(sphere.center, 1); 56 | return TestAABBSphere(obb.GetAABB(), sphere); 57 | } 58 | 59 | public static bool TestOBBOBB(OBB obb1, OBB obb2) 60 | { 61 | //This algorithm comes from Separating Axis Theorem for Oriented Bounding Boxes 62 | 63 | //设置B到A的旋转矩阵 64 | Matrix4x4 r = Matrix4x4.identity; 65 | Matrix4x4 absR = Matrix4x4.identity; 66 | for (int i = 0; i < 3; i++) 67 | { 68 | for (int j = 0; j < 3; j++) 69 | { 70 | r[i, j] = Vector3.Dot(obb1.axis[i], obb2.axis[j]); 71 | absR[i, j] = Mathf.Abs(r[i, j]) + float.Epsilon; 72 | } 73 | } 74 | 75 | //t为A到B的位移向量 76 | Vector3 t = obb2.transformCenter - obb1.transformCenter; 77 | t = new Vector3(Vector3.Dot(obb1.axis[0], t), Vector3.Dot(obb1.axis[1], t), Vector3.Dot(obb1.axis[2], t)); 78 | 79 | float ra, rb; 80 | 81 | //测试分离轴 obb1.axis[0], obb1.axis[1], obb1.axis[2] 82 | for (int i = 0; i < 3; i++) 83 | { 84 | ra = obb1.transformRadius[i]; 85 | rb = obb2.transformRadius[0] * absR[i, 0] + obb2.transformRadius[1] * absR[i, 1] + 86 | obb2.transformRadius[2] * absR[i, 2]; 87 | if (Mathf.Abs(t[i]) > ra + rb) 88 | { 89 | return false; 90 | } 91 | } 92 | 93 | //测试分离轴 obb2.axis[0], obb2.axis[1], obb2.axis[2] 94 | for (int i = 0; i < 3; i++) 95 | { 96 | ra = obb1.transformRadius[0] * absR[0, i] + obb1.transformRadius[1] * absR[1, i] + 97 | obb1.transformRadius[2] * absR[2, i]; 98 | rb = obb2.transformRadius[i]; 99 | if (Mathf.Abs(t[0] * r[0, i] + t[1] * r[1, i] + t[2] * r[2, i]) > ra + rb) 100 | { 101 | return false; 102 | } 103 | } 104 | 105 | //测试分离轴 obb1.axis[0] X obb2.axis[0] 106 | ra = obb1.transformRadius[1] * absR[2, 0] + obb1.transformRadius[2] * absR[1, 0]; 107 | rb = obb2.transformRadius[1] * absR[0, 2] + obb2.transformRadius[2] * absR[0, 1]; 108 | if (Mathf.Abs(t[2] * absR[1, 0] - t[1] * absR[2, 0]) > ra + rb) 109 | { 110 | return false; 111 | } 112 | 113 | //测试分离轴 obb1.axis[0] X obb2.axis[1] 114 | ra = obb1.transformRadius[1] * absR[2, 1] + obb1.transformRadius[2] * absR[1, 1]; 115 | rb = obb2.transformRadius[0] * absR[0, 2] + obb2.transformRadius[2] * absR[0, 0]; 116 | if (Mathf.Abs(t[2] * absR[1, 1] - t[1] * absR[2, 1]) > ra + rb) 117 | { 118 | return false; 119 | } 120 | 121 | //测试分离轴 obb1.axis[0] X obb2.axis[2] 122 | ra = obb1.transformRadius[1] * absR[2, 2] + obb1.transformRadius[2] * absR[1, 2]; 123 | rb = obb2.transformRadius[0] * absR[0, 1] + obb2.transformRadius[1] * absR[0, 0]; 124 | if (Mathf.Abs(t[2] * absR[1, 2] - t[1] * absR[2, 2]) > ra + rb) 125 | { 126 | return false; 127 | } 128 | 129 | //测试分离轴 obb1.axis[1] X obb2.axis[0] 130 | ra = obb1.transformRadius[0] * absR[2, 0] + obb1.transformRadius[2] * absR[0, 0]; 131 | rb = obb2.transformRadius[1] * absR[1, 2] + obb2.transformRadius[2] * absR[1, 1]; 132 | if (Mathf.Abs(t[0] * absR[2, 0] - t[2] * absR[0, 0]) > ra + rb) 133 | { 134 | return false; 135 | } 136 | 137 | //测试分离轴 obb1.axis[1] X obb2.axis[1] 138 | ra = obb1.transformRadius[0] * absR[2, 1] + obb1.transformRadius[2] * absR[0, 1]; 139 | rb = obb2.transformRadius[0] * absR[1, 2] + obb2.transformRadius[2] * absR[1, 0]; 140 | if (Mathf.Abs(t[0] * absR[2, 1] - t[2] * absR[0, 1]) > ra + rb) 141 | { 142 | return false; 143 | } 144 | 145 | //测试分离轴 obb1.axis[1] X obb2.axis[2] 146 | ra = obb1.transformRadius[0] * absR[2, 2] + obb1.transformRadius[2] * absR[0, 2]; 147 | rb = obb2.transformRadius[0] * absR[1, 1] + obb2.transformRadius[1] * absR[1, 0]; 148 | if (Mathf.Abs(t[0] * absR[2, 2] - t[2] * absR[0, 2]) > ra + rb) 149 | { 150 | return false; 151 | } 152 | 153 | //测试分离轴 obb1.axis[2] X obb2.axis[0] 154 | ra = obb1.transformRadius[0] * absR[1, 0] + obb1.transformRadius[1] * absR[0, 0]; 155 | rb = obb2.transformRadius[1] * absR[2, 2] + obb2.transformRadius[2] * absR[2, 1]; 156 | if (Mathf.Abs(t[1] * absR[0, 0] - t[0] * absR[1, 0]) > ra + rb) 157 | { 158 | return false; 159 | } 160 | 161 | //测试分离轴 obb1.axis[2] X obb2.axis[1] 162 | ra = obb1.transformRadius[0] * absR[1, 1] + obb1.transformRadius[1] * absR[0, 1]; 163 | rb = obb2.transformRadius[0] * absR[2, 2] + obb2.transformRadius[2] * absR[2, 0]; 164 | if (Mathf.Abs(t[1] * absR[0, 1] - t[0] * absR[1, 1]) > ra + rb) 165 | { 166 | return false; 167 | } 168 | 169 | //测试分离轴 obb1.axis[2] X obb2.axis[2] 170 | ra = obb1.transformRadius[0] * absR[1, 2] + obb1.transformRadius[1] * absR[0, 2]; 171 | rb = obb2.transformRadius[0] * absR[2, 1] + obb2.transformRadius[1] * absR[2, 0]; 172 | if (Mathf.Abs(t[1] * absR[0, 2] - t[0] * absR[1, 2]) > ra + rb) 173 | { 174 | return false; 175 | } 176 | 177 | return true; 178 | } 179 | 180 | public static bool TestAABBOBB(AABB aabb, OBB obb) 181 | { 182 | return TestOBBOBB(aabb.GetOBB(), obb); 183 | } 184 | 185 | } 186 | -------------------------------------------------------------------------------- /Assets/Scripts/Util.cs.meta: 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # UnityCollisionDetection 2 | Unity中实现碰撞检测 3 | 4 | AABB.cs Sphere.cs OBB.cs BVH.cs 是包围碰撞体的内部实现 5 | AABBCollider.cs SphereCollider.cs OBBCollider.cs MeshCollider.cs 为对应组件脚本 6 | 7 | BVH.cs Grid.cs 是场景管理加速结构的内部实现 8 | BVHAccelerator.cs GridAccelerator.cs 为对应组件脚本 9 | 10 | ![Grid](https://github.com/JBLRADISH/UnityCollisionDetection/blob/master/Assets/Grid.png) 11 | ![BVH](https://github.com/JBLRADISH/UnityCollisionDetection/blob/master/Assets/BVH.png) 12 | ![MeshCollider](https://github.com/JBLRADISH/UnityCollisionDetection/blob/master/Assets/MeshCollider.png) 13 | --------------------------------------------------------------------------------