球对球碰撞分辨率

Question

我正在浏览 youtube 上的一些碰撞检测教程，在其中一个教程中，那个人使用以下代码来解决两个球之间的碰撞：

/**
 * Rotates coordinate system for velocities
 *
 * Takes velocities and alters them as if the coordinate system they're on was rotated
 *
 * @param  Object | velocity | The velocity of an individual particle
 * @param  Float  | angle    | The angle of collision between two objects in radians
 * @return Object | The altered x and y velocities after the coordinate system has been rotated
 */

function rotate(velocity, angle) {
    const rotatedVelocities = {
        x: velocity.x * Math.cos(angle) - velocity.y * Math.sin(angle),
        y: velocity.x * Math.sin(angle) + velocity.y * Math.cos(angle)
    };

    return rotatedVelocities;
}

/**
 * Swaps out two colliding particles' x and y velocities after running through
 * an elastic collision reaction equation
 *
 * @param  Object | particle      | A particle object with x and y coordinates, plus velocity
 * @param  Object | otherParticle | A particle object with x and y coordinates, plus velocity
 * @return Null | Does not return a value
 */

function resolveCollision(particle, otherParticle) {
    const xVelocityDiff = particle.velocity.x - otherParticle.velocity.x;
    const yVelocityDiff = particle.velocity.y - otherParticle.velocity.y;

    const xDist = otherParticle.x - particle.x;
    const yDist = otherParticle.y - particle.y;

    // Prevent accidental overlap of particles
    if (xVelocityDiff * xDist + yVelocityDiff * yDist >= 0) {

        // Grab angle between the two colliding particles
        const angle = -Math.atan2(otherParticle.y - particle.y, otherParticle.x - particle.x);

        // Store mass in var for better readability in collision equation
        const m1 = particle.mass;
        const m2 = otherParticle.mass;

        // Velocity before equation
        const u1 = rotate(particle.velocity, angle);
        const u2 = rotate(otherParticle.velocity, angle);

        // Velocity after 1d collision equation
        const v1 = { x: u1.x * (m1 - m2) / (m1 + m2) + u2.x * 2 * m2 / (m1 + m2), y: u1.y };
        const v2 = { x: u2.x * (m1 - m2) / (m1 + m2) + u1.x * 2 * m2 / (m1 + m2), y: u2.y };

        // Final velocity after rotating axis back to original location
        const vFinal1 = rotate(v1, -angle);
        const vFinal2 = rotate(v2, -angle);

        // Swap particle velocities for realistic bounce effect
        particle.velocity.x = vFinal1.x;
        particle.velocity.y = vFinal1.y;

        otherParticle.velocity.x = vFinal2.x;
        otherParticle.velocity.y = vFinal2.y;
    }
}

这段代码我基本看懂了。但是，我无法理解这个 if 条件是如何工作来确定球是否重叠的。

if (xVelocityDiff * xDist + yVelocityDiff * yDist >= 0)

有人可以解释一下吗？

Answer 1

通过位置和速度的差异，你可以在otherParticle的框架中查看所有内容。在该坐标系中，otherParticle 静止在原点，particle 随 velocityDiff 移动。这是它的样子：

项xVelocityDiff * xDist + yVelocityDiff * yDist是两个向量的点积。如果 velocityDiff 指向 dist 的相反方向，即如果粒子像上图那样越来越近，则此点积为负。如果点积为正，则粒子正在远离 otherParticle，您无需执行任何操作。

球对球碰撞分辨率

Ball to Ball Collision resolution

language-agnostic

graphics

collision-detection

game-physics