{"id":50,"date":"2025-06-27T21:39:35","date_gmt":"2025-06-27T13:39:35","guid":{"rendered":"https:\/\/ferina.top\/?p=50"},"modified":"2025-06-27T21:59:09","modified_gmt":"2025-06-27T13:59:09","slug":"%e9%a3%9e%e8%a1%8c%e5%99%a8%e7%a9%ba%e9%97%b4%e6%a8%a1%e6%8b%9f-%e7%89%a9%e7%90%86%e5%bc%95%e6%93%8e","status":"publish","type":"post","link":"https:\/\/ferina.top\/index.php\/2025\/06\/27\/%e9%a3%9e%e8%a1%8c%e5%99%a8%e7%a9%ba%e9%97%b4%e6%a8%a1%e6%8b%9f-%e7%89%a9%e7%90%86%e5%bc%95%e6%93%8e\/","title":{"rendered":"\u98de\u884c\u5668\u7a7a\u95f4\u6a21\u62df-\u7269\u7406\u5f15\u64ce"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">1. \u7269\u7406\u5f15\u64ce\u6e90\u7801\u8be6\u89e3<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><br>MathUtils<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><br>\u5b9e\u73b03D\u7269\u7406\u5f15\u64ce\u6838\u5fc3\u6570\u5b66\u5de5\u5177\u96c6\uff0c\u5305\u542b\u5750\u6807\u7cfb\u8f6c\u6362\u3001\u6b27\u62c9\u89d2\u5904\u7406\u548c\u6b63\u4ea4\u5411\u91cf\u8ba1\u7b97<br><br>\u6838\u5fc3\u529f\u80fd\uff1a<br>&#8211; \u5411\u91cf\/\u77e9\u9635\u7684\u57fa\u7840\u8fd0\u7b97<br>&#8211; \u6b27\u62c9\u89d2\u4e0e\u65cb\u8f6c\u77e9\u9635\u7684\u76f8\u4e92\u8f6c\u6362<br>&#8211; \u6b63\u4ea4\u5750\u6807\u7cfb\u751f\u6210<br>&#8211; \u56db\u5143\u6570\u76f8\u5173\u8fd0\u7b97<br><br>\u51fd\u6570\u5206\u7c7b\u53ca\u8bf4\u660e\uff1a<br><br>\u3010\u6b63\u4ea4\u5750\u6807\u7cfb\u751f\u6210\u3011<br>1. getOrthoUnits(Vector3 v, Vector3 &amp;p, Vector3 &amp;q)<br>   &#8211; \u8f93\u5165\uff1a\u6cd5\u5411\u91cfv<br>   &#8211; \u8f93\u51fa\uff1a\u4e0ev\u6b63\u4ea4\u7684\u5355\u4f4d\u5411\u91cfp\u548cq(p\u00d7q=v)<br>   &#8211; \u7279\u70b9\uff1a\u81ea\u52a8\u9009\u62e9\u6570\u503c\u7a33\u5b9a\u7684\u8ba1\u7b97\u8def\u5f84<br><br>2. getMatrixFromAxisX(Vector3 x_dir, Vector3 y_sugg)<br>   &#8211; \u8f93\u5165\uff1aX\u8f74\u65b9\u5411\u548c\u5efa\u8baeY\u8f74<br>   &#8211; \u8f93\u51fa\uff1a\u5b8c\u6574\u7684\u6b63\u4ea4\u77e9\u9635[X,Y,Z]<br>   &#8211; \u7279\u70b9\uff1a\u81ea\u52a8\u5904\u7406\u9000\u5316\u60c5\u51b5<br><br>\u3010\u6b27\u62c9\u89d2\u8f6c\u6362\u3011(6\u79cd\u987a\u5e8f)<br>matrixToEuler[XYZ|XZY|YXZ|YZX|ZXY|ZYX]():<br>   &#8211; \u901a\u7528\u5904\u7406\u6d41\u7a0b\uff1a<br>     1. \u68c0\u67e5\u4e07\u5411\u9501\u60c5\u51b5(\u9608\u503c0.99)<br>     2. \u5e38\u89c4\u60c5\u51b5\u8ba1\u7b97\u4e09\u4e2a\u89d2\u5ea6<br>     3. \u4e07\u5411\u9501\u65f6\u8fd4\u56de\u7b80\u5316\u89e3<br>   &#8211; \u8fd4\u56de\u503c\uff1a\u662f\u5426\u552f\u4e00\u89e3<br><br>\u3010\u7279\u6b8a\u77e9\u9635\u751f\u6210\u3011<br>1. getCrossMatrix(Vector3 v)<br>   &#8211; \u751f\u6210\u53c9\u4e58\u77e9\u9635[v\u00d7]<br><br>2. \u56db\u5143\u6570\u76f8\u5173\u77e9\u9635\uff1a<br>   &#8211; getStarMatrix44(Quatern q)\uff1a\u56db\u5143\u6570\u4e58\u6cd5\u77e9\u9635(4&#215;4)<br>   &#8211; getGlMatrix34(Quatern q)\uff1a\u56db\u5143\u6570\u8f6c\u65cb\u8f6c\u77e9\u9635\u8f85\u52a9\u77e9\u9635<br>   &#8211; getFpMatrix34\/getFmMatrix34\uff1a\u56db\u5143\u6570\u5bfc\u6570\u8ba1\u7b97\u77e9\u9635<br><br>\u3010\u5173\u952e\u7b97\u6cd5\u7ec6\u8282\u3011<br>* \u6b27\u62c9\u89d2\u8f6c\u6362\u7edf\u4e00\u6a21\u5f0f\uff1a<br>  if (\u63a5\u8fd1\u4e07\u5411\u9501) {<br>    \u8fd4\u56de\u9000\u5316\u89e3 + false<br>  } else {<br>    \u8ba1\u7b97\u5b8c\u6574\u89d2\u5ea6 + true<br>  }<br><br>* \u6b63\u4ea4\u57fa\u751f\u6210\u7b56\u7565\uff1a<br>  if (Z\u5206\u91cf\u4e3b\u5bfc) {<br>    \u5728YZ\u5e73\u9762\u6784\u5efap<br>  } else {<br>    \u5728XY\u5e73\u9762\u6784\u5efap<br>  }<br><br>* \u56db\u5143\u6570\u77e9\u9635\u7279\u6027\uff1a<br>  StarMatrix44(q)*v = q\u2297v<br>  GlMatrix34(q)\u7528\u4e8e\u03c9\u2192q&#8217;\u8f6c\u6362<br>============================<br><br>[\u5178\u578b\u5e94\u7528\u573a\u666f]<br>1. \u78b0\u649e\u68c0\u6d4b\uff1a<br>   &#8211; \u4f7f\u7528getOrthoUnits\u751f\u6210\u63a5\u89e6\u5207\u5e73\u9762<br>   &#8211; \u7528getMatrixFromAxisX\u6784\u5efa\u78b0\u649e\u5750\u6807\u7cfb<br><br>2. \u5173\u8282\u7ea6\u675f\uff1a<br>   &#8211; \u6b27\u62c9\u89d2\u8f6c\u6362\u7528\u4e8e\u9650\u5236\u65cb\u8f6c\u81ea\u7531\u5ea6<br>   &#8211; \u53c9\u4e58\u77e9\u9635\u7528\u4e8e\u8ba1\u7b97\u529b\u77e9\u81c2<br><br>3. \u56db\u5143\u6570\u8fd0\u7b97\uff1a<br>   &#8211; StarMatrix\u7528\u4e8e\u56db\u5143\u6570\u63d2\u503c<br>   &#8211; GlMatrix\u7528\u4e8e\u89d2\u901f\u5ea6\u79ef\u5206<br><br>[\u6ce8\u610f\u4e8b\u9879]<br>1. \u6b27\u62c9\u89d2\u8f6c\u6362\u5728\u4e07\u5411\u9501\u4f4d\u7f6e\uff1a<br>   &#8211; \u8fd4\u56de\u7684\u89d2\u5ea6\u7ec4\u5408\u4e0d\u552f\u4e00<br>   &#8211; \u9700\u68c0\u67e5\u8fd4\u56de\u503c\u5224\u65ad\u662f\u5426\u552f\u4e00\u89e3<br><br>2. \u6b63\u4ea4\u57fa\u751f\u6210\uff1a<br>   &#8211; \u5efa\u8baeY\u8f74\u4e0d\u5e73\u884c\u4e8eX\u8f74\u65f6\u6700\u7a33\u5b9a<br>   &#8211; \u81ea\u52a8\u5904\u7406\u96f6\u5411\u91cf\u8f93\u5165<br><br>3. \u56db\u5143\u6570\u77e9\u9635\uff1a<br>   &#8211; Fp\/Fm\u77e9\u9635\u5206\u522b\u5bf9\u5e94\u524d\u540e\u4e58\u5bfc\u6570<br>   &#8211; \u6ce8\u610f\u56db\u5143\u6570\u987a\u5e8f(w,x,y,z)<br>============================<br><br>\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">cpp<br>\/\/ \u6784\u5efa\u6b63\u4ea4\u5750\u6807\u7cfb<br>Vector3 normal(1,2,3);<br>Vector3 tangent, binormal;<br>getOrthoUnits(normal, tangent, binormal);<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\/\/ \u4ece\u65cb\u8f6c\u77e9\u9635\u83b7\u53d6ZYX\u6b27\u62c9\u89d2<br>Matrix3x3 rot = \u2026;<br>Vector3 euler;<br>if(matrixToEulerZYX(rot, euler)) {<br>\/\/ \u975e\u4e07\u5411\u9501\u60c5\u51b5<br>} else {<br>\/\/ \u5904\u7406\u4e07\u5411\u9501<br>}<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\/\/ \u8ba1\u7b97\u89d2\u901f\u5ea6\u5f15\u8d77\u7684\u56db\u5143\u6570\u53d8\u5316\u7387<br>Matrix&lt;3,4&gt; G = getGlMatrix34(orientation);<br>Quatern q_dot = 0.5 * G.transpose() * angular_velocity;<br>&#8220;`<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8865\u5145\u8bf4\u660e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6240\u6709\u51fd\u6570\u8bbe\u8ba1\u4e3a\u65e0\u52a8\u6001\u5185\u5b58\u5206\u914d<\/li>\n\n\n\n<li>\u4f7f\u7528\u663e\u5f0f\u5206\u652f\u907f\u514d\u6570\u503c\u8bef\u5dee<\/li>\n\n\n\n<li>\u63d0\u4f9b\u5b8c\u6574\u7684\u6b27\u62c9\u89d2\u987a\u5e8f\u652f\u6301<\/li>\n\n\n\n<li>\u9608\u503c(0.99)\u53ef\u6839\u636e\u9700\u8981\u8c03\u6574<\/li>\n\n\n\n<li><\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">BodyBase.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u7269\u7406\u4f53\u57fa\u7c7b\uff08BodyBase\uff09\u7684\u6838\u5fc3\u529f\u80fd\u3002BodyBase\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u6240\u6709\u7269\u7406\u5bf9\u8c61\u7684\u57fa\u7840\u7c7b\uff0c\u8d1f\u8d23\u7ba1\u7406\u7269\u7406\u4f53\u7684\u72b6\u6001\uff08\u9759\u6001\u3001\u8fd0\u52a8\u5b66\u3001\u52a8\u6001\u3001\u4f11\u7720\u7b49\uff09\u3001\u78b0\u649e\u5ffd\u7565\u5217\u8868\u3001\u5305\u56f4\u76d2\u66f4\u65b0\u4ee5\u53ca\u4f11\u7720\u673a\u5236\u3002\u5b83\u4e3a\u521a\u4f53\u3001\u8f6f\u4f53\u7b49\u5177\u4f53\u7269\u7406\u5bf9\u8c61\u63d0\u4f9b\u901a\u7528\u7684\u72b6\u6001\u7ba1\u7406\u548c\u57fa\u7840\u529f\u80fd\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>isKinematic()<\/strong> &#8211; \u68c0\u67e5\u7269\u7406\u4f53\u662f\u5426\u4e3a\u8fd0\u52a8\u5b66\u7c7b\u578b\uff08\u53d7\u5916\u90e8\u63a7\u5236\uff0c\u4e0d\u53d7\u7269\u7406\u529b\u5f71\u54cd\uff09<\/li>\n\n\n\n<li><strong>isStatic()<\/strong> &#8211; \u68c0\u67e5\u7269\u7406\u4f53\u662f\u5426\u4e3a\u9759\u6001\u7c7b\u578b\uff08\u5b8c\u5168\u4e0d\u79fb\u52a8\u7684\u7269\u4f53\uff09<\/li>\n\n\n\n<li><strong>isSleep()<\/strong> &#8211; \u68c0\u67e5\u7269\u7406\u4f53\u662f\u5426\u5904\u4e8e\u4f11\u7720\u72b6\u6001\uff08\u6682\u505c\u7269\u7406\u8ba1\u7b97\u4ee5\u4f18\u5316\u6027\u80fd\uff09<\/li>\n\n\n\n<li><strong>setSleep()<\/strong> &#8211; \u5c06\u7269\u7406\u4f53\u8bbe\u7f6e\u4e3a\u4f11\u7720\u72b6\u6001\uff0c\u6682\u505c\u5176\u7269\u7406\u66f4\u65b0<\/li>\n\n\n\n<li><strong>setKinematic()<\/strong> &#8211; \u5c06\u7269\u7406\u4f53\u8bbe\u7f6e\u4e3a\u8fd0\u52a8\u5b66\u7c7b\u578b\uff0c\u6e05\u9664\u4f11\u7720\u72b6\u6001\u5e76\u8bbe\u7f6e\u8fd0\u52a8\u5b66\u6807\u5fd7<\/li>\n\n\n\n<li><strong>setStatic()<\/strong> &#8211; \u5c06\u7269\u7406\u4f53\u8bbe\u7f6e\u4e3a\u9759\u6001\u7c7b\u578b\uff0c\u6e05\u9664\u4f11\u7720\u72b6\u6001\u5e76\u8bbe\u7f6e\u9759\u6001\u6807\u5fd7<\/li>\n\n\n\n<li><strong>setDynamic()<\/strong> &#8211; \u5c06\u7269\u7406\u4f53\u8bbe\u7f6e\u4e3a\u52a8\u6001\u7c7b\u578b\uff0c\u4ec5\u4fdd\u7559\u4f11\u7720\u6807\u5fd7\uff0c\u6e05\u9664\u5176\u4ed6\u7c7b\u578b\u6807\u5fd7<\/li>\n\n\n\n<li><strong>setAwake()<\/strong> &#8211; \u5524\u9192\u7269\u7406\u4f53\uff0c\u6e05\u9664\u4f11\u7720\u6807\u5fd7\u5e76\u91cd\u7f6e\u4f11\u7720\u8ba1\u65f6\u5668<\/li>\n\n\n\n<li><strong>updateSleepTime()<\/strong> &#8211; \u66f4\u65b0\u4f11\u7720\u8ba1\u65f6\u5668\uff0c\u7d2f\u52a0\u65f6\u95f4\u5e76\u8fd4\u56de\u5f53\u524d\u4f11\u7720\u65f6\u95f4<\/li>\n\n\n\n<li><strong>resetSleepTime()<\/strong> &#8211; \u91cd\u7f6e\u4f11\u7720\u8ba1\u65f6\u5668\u4e3a\u96f6<\/li>\n\n\n\n<li><strong>setToWake()<\/strong> &#8211; \u6807\u8bb0\u7269\u7406\u4f53\u9700\u8981\u5728\u4e0b\u4e00\u5e27\u88ab\u5524\u9192<\/li>\n\n\n\n<li><strong>clearToWake()<\/strong> &#8211; \u6e05\u9664\u5f85\u5524\u9192\u6807\u5fd7<\/li>\n\n\n\n<li><strong>isToWake()<\/strong> &#8211; \u68c0\u67e5\u7269\u7406\u4f53\u662f\u5426\u88ab\u6807\u8bb0\u4e3a\u5f85\u5524\u9192<\/li>\n\n\n\n<li><strong>updateAABB()<\/strong> &#8211; \u6839\u636e\u5f53\u524d\u4e16\u754c\u53d8\u6362\u548c\u5f62\u72b6\u66f4\u65b0\u8f74\u5bf9\u9f50\u5305\u56f4\u76d2<\/li>\n\n\n\n<li><strong>addIgnoreCollision()<\/strong> &#8211; \u6dfb\u52a0\u9700\u8981\u5ffd\u7565\u78b0\u649e\u7684\u7269\u4f53ID\u5230\u5ffd\u7565\u5217\u8868<\/li>\n\n\n\n<li><strong>ignoreCollision()<\/strong> &#8211; \u68c0\u67e5\u6307\u5b9aID\u7684\u7269\u4f53\u662f\u5426\u5728\u78b0\u649e\u5ffd\u7565\u5217\u8868\u4e2d<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">AABBBox.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u8f74\u5bf9\u9f50\u5305\u56f4\u76d2\uff08Axis-Aligned Bounding Box, AABB\uff09\u7c7b\u7684\u6838\u5fc3\u529f\u80fd\u3002AABB\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u7528\u4e8e\u78b0\u649e\u68c0\u6d4b\u548c\u7a7a\u95f4\u5206\u5272\u7684\u91cd\u8981\u51e0\u4f55\u4f53\uff0c\u901a\u8fc7\u6700\u5c0f\u70b9\u548c\u6700\u5927\u70b9\u5b9a\u4e49\u4e00\u4e2a\u4e0e\u5750\u6807\u8f74\u5bf9\u9f50\u7684\u77e9\u5f62\u5305\u56f4\u76d2\uff0c\u5e7f\u6cdb\u7528\u4e8e\u5feb\u901f\u78b0\u649e\u68c0\u6d4b\u7684\u7c97\u7565\u9636\u6bb5\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u51fd\u6570\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>AABBBox\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u4f7f\u7528\u6700\u5c0f\u70b9\u548c\u6700\u5927\u70b9\u521d\u59cb\u5316AABB\u5305\u56f4\u76d2\u5bf9\u8c61<\/li>\n\n\n\n<li><strong>getExtent()<\/strong> &#8211; \u8ba1\u7b97\u5e76\u8fd4\u56de\u5305\u56f4\u76d2\u7684\u5c3a\u5bf8\u5411\u91cf\uff08\u957f\u3001\u5bbd\u3001\u9ad8\uff09\uff0c\u901a\u8fc7\u6700\u5927\u70b9\u51cf\u53bb\u6700\u5c0f\u70b9\u5f97\u5230<\/li>\n\n\n\n<li><strong>getVolume()<\/strong> &#8211; \u8ba1\u7b97\u5e76\u8fd4\u56de\u5305\u56f4\u76d2\u7684\u4f53\u79ef\uff0c\u901a\u8fc7\u4e09\u4e2a\u7ef4\u5ea6\u7684\u5c3a\u5bf8\u76f8\u4e58\u5f97\u5230<\/li>\n\n\n\n<li><strong>isContain()<\/strong> &#8211; \u5224\u65ad\u5f53\u524d\u5305\u56f4\u76d2\u662f\u5426\u5b8c\u5168\u5305\u542b\u53e6\u4e00\u4e2a\u5305\u56f4\u76d2\uff0c\u68c0\u67e5\u6240\u6709\u516d\u4e2a\u9762\u7684\u5305\u542b\u5173\u7cfb<\/li>\n\n\n\n<li><strong>testCollision()<\/strong> &#8211; \u5feb\u901f\u78b0\u649e\u68c0\u6d4b\u51fd\u6570\uff0c\u4f7f\u7528\u5206\u79bb\u8f74\u5b9a\u7406\u5224\u65ad\u4e24\u4e2aAABB\u662f\u5426\u76f8\u4ea4\uff0c\u901a\u8fc7\u68c0\u67e5\u4e09\u4e2a\u8f74\u5411\u7684\u91cd\u53e0\u60c5\u51b5<\/li>\n\n\n\n<li><strong>mergeAABB()<\/strong> &#8211; \u5c06\u53e6\u4e00\u4e2aAABB\u5408\u5e76\u5230\u5f53\u524d\u5305\u56f4\u76d2\u4e2d\uff0c\u6269\u5c55\u5f53\u524d\u5305\u56f4\u76d2\u4ee5\u5305\u542b\u4e24\u4e2a\u76d2\u5b50\u7684\u5e76\u96c6<\/li>\n\n\n\n<li><strong>isOverlap()<\/strong> &#8211; \u9759\u6001\u51fd\u6570\uff0c\u68c0\u6d4b\u4e24\u4e2aAABB\u662f\u5426\u91cd\u53e0\uff0c\u5e76\u8ba1\u7b97\u91cd\u53e0\u533a\u57df\u7684\u6700\u5c0f\u70b9\u548c\u6700\u5927\u70b9\uff0c\u8fd4\u56de\u91cd\u53e0\u72b6\u6001\u548c\u91cd\u53e0\u533a\u57df\u4fe1\u606f<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">BoxShape.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u76d2\u5b50\u5f62\u72b6\uff08BoxShape\uff09\u7c7b\u7684\u529f\u80fd\u3002BoxShape\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u7684\u51f8\u5f62\u72b6\u4e4b\u4e00\uff0c\u7528\u4e8e\u8868\u793a\u957f\u65b9\u4f53\u78b0\u649e\u4f53\u3002\u5b83\u7ee7\u627f\u81eaConvexShape\uff0c\u63d0\u4f9b\u4e86\u76d2\u5b50\u7684\u60ef\u6027\u5f20\u91cf\u8ba1\u7b97\u3001\u652f\u6491\u9876\u70b9\u67e5\u627e\u7b49\u529f\u80fd\uff0c\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u6700\u5e38\u7528\u7684\u78b0\u649e\u5f62\u72b6\u4e4b\u4e00\uff0c\u5e7f\u6cdb\u7528\u4e8e\u5efa\u7b51\u7269\u3001\u7bb1\u5b50\u7b49\u77e9\u5f62\u7269\u4f53\u7684\u7269\u7406\u6a21\u62df\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>BoxShape\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u4f7f\u7528\u534a\u5c3a\u5bf8\u5411\u91cf\u521d\u59cb\u5316\u76d2\u5b50\u5f62\u72b6\uff0c\u8bbe\u7f6e\u5f62\u72b6\u7c7b\u578b\u6807\u5fd7\u4e3aeBox\uff0c\u5e76\u5b58\u50a8\u76d2\u5b50\u7684\u534a\u5c3a\u5bf8\u53c2\u6570<\/li>\n\n\n\n<li><strong>getInertia()<\/strong> &#8211; \u8ba1\u7b97\u5e76\u8fd4\u56de\u76d2\u5b50\u7684\u60ef\u6027\u5f20\u91cf\u77e9\u9635\u3002\u6839\u636e\u76d2\u5b50\u7684\u51e0\u4f55\u7279\u6027\uff0c\u8ba1\u7b97\u7ed5\u4e09\u4e2a\u5750\u6807\u8f74\u7684\u8f6c\u52a8\u60ef\u91cf\uff0c\u7528\u4e8e\u7269\u7406\u6a21\u62df\u4e2d\u7684\u65cb\u8f6c\u8fd0\u52a8\u8ba1\u7b97<\/li>\n\n\n\n<li><strong>getHalfExtentsWithMargin()<\/strong> &#8211; \u8fd4\u56de\u5305\u542b\u78b0\u649e\u8fb9\u8ddd\u7684\u534a\u5c3a\u5bf8\u5411\u91cf\u3002\u5728\u539f\u59cb\u534a\u5c3a\u5bf8\u57fa\u7840\u4e0a\u52a0\u4e0a\u8fb9\u8ddd\u503c\uff0c\u7528\u4e8e\u78b0\u649e\u68c0\u6d4b\u4e2d\u7684\u5bb9\u9519\u5904\u7406<\/li>\n\n\n\n<li><strong>localGetSupportingVertex()<\/strong> &#8211; \u5728\u672c\u5730\u5750\u6807\u7cfb\u4e2d\u67e5\u627e\u6307\u5b9a\u65b9\u5411\u4e0a\u7684\u652f\u6491\u9876\u70b9\u3002\u8fd9\u662fGJK\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\u7684\u6838\u5fc3\u51fd\u6570\uff0c\u6839\u636e\u67e5\u8be2\u65b9\u5411\u8fd4\u56de\u76d2\u5b50\u8868\u9762\u6700\u8fdc\u7684\u9876\u70b9\u5750\u6807\uff0c\u5305\u542b\u5bb9\u5dee\u5904\u7406<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">CapsuleShape.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u80f6\u56ca\u5f62\u72b6\uff08CapsuleShape\uff09\u7c7b\u7684\u529f\u80fd\u3002CapsuleShape\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u7684\u51f8\u5f62\u72b6\u4e4b\u4e00\uff0c\u7531\u4e00\u4e2a\u5706\u67f1\u4f53\u548c\u4e24\u4e2a\u534a\u7403\u7ec4\u6210\uff0c\u5f62\u4f3c\u80f6\u56ca\u6216\u836f\u4e38\u3002\u5b83\u7ee7\u627f\u81eaConvexShape\uff0c\u5e7f\u6cdb\u7528\u4e8e\u89d2\u8272\u63a7\u5236\u5668\u3001\u67f1\u72b6\u7269\u4f53\u7b49\u9700\u8981\u5e73\u6ed1\u78b0\u649e\u8868\u9762\u7684\u573a\u666f\uff0c\u80fd\u591f\u63d0\u4f9b\u826f\u597d\u7684\u78b0\u649e\u54cd\u5e94\u548c\u6eda\u52a8\u7279\u6027\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>CapsuleShape\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u4f7f\u7528\u534a\u5f84\u548c\u534a\u9ad8\u5ea6\u521d\u59cb\u5316\u80f6\u56ca\u5f62\u72b6\uff0c\u8bbe\u7f6e\u5f62\u72b6\u7c7b\u578b\u6807\u5fd7\u4e3aeCapsule\uff0c\u5b58\u50a8\u80f6\u56ca\u7684\u51e0\u4f55\u53c2\u6570<\/li>\n\n\n\n<li><strong>getInertia()<\/strong> &#8211; \u8ba1\u7b97\u5e76\u8fd4\u56de\u80f6\u56ca\u7684\u60ef\u6027\u5f20\u91cf\u77e9\u9635\u3002\u80f6\u56ca\u7684\u60ef\u6027\u8ba1\u7b97\u8f83\u4e3a\u590d\u6742\uff0c\u9700\u8981\u8003\u8651\u5706\u67f1\u90e8\u5206\u548c\u4e24\u4e2a\u534a\u7403\u90e8\u5206\u7684\u8d21\u732e\uff1a\n<ul class=\"wp-block-list\">\n<li>Y\u8f74\uff08\u80f6\u56ca\u957f\u8f74\uff09\u7684\u8f6c\u52a8\u60ef\u91cf\u8f83\u5c0f<\/li>\n\n\n\n<li>X\u8f74\u548cZ\u8f74\u7684\u8f6c\u52a8\u60ef\u91cf\u76f8\u7b49\u4e14\u8f83\u5927\uff0c\u5305\u542b\u4e86\u5706\u67f1\u548c\u7403\u4f53\u90e8\u5206\u7684\u7ec4\u5408\u60ef\u6027<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>localGetSupportingVertex()<\/strong> &#8211; \u5728\u672c\u5730\u5750\u6807\u7cfb\u4e2d\u67e5\u627e\u6307\u5b9a\u65b9\u5411\u4e0a\u7684\u652f\u6491\u9876\u70b9\u3002\u8fd9\u662fGJK\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\u7684\u6838\u5fc3\u51fd\u6570\uff1a\n<ul class=\"wp-block-list\">\n<li>\u6839\u636e\u67e5\u8be2\u65b9\u5411\u7684Y\u5206\u91cf\u5224\u65ad\u5e94\u8be5\u4ece\u4e0a\u534a\u7403\u8fd8\u662f\u4e0b\u534a\u7403\u67e5\u627e\u652f\u6491\u70b9<\/li>\n\n\n\n<li>\u5c06\u89c4\u8303\u5316\u7684\u65b9\u5411\u5411\u91cf\u4e58\u4ee5\u534a\u5f84\uff08\u52a0\u5bb9\u5dee\uff09\u5f97\u5230\u7403\u9762\u4e0a\u7684\u652f\u6491\u70b9<\/li>\n\n\n\n<li>\u52a0\u4e0a\u5bf9\u5e94\u534a\u7403\u4e2d\u5fc3\u7684\u504f\u79fb\u91cf\u5f97\u5230\u6700\u7ec8\u7684\u652f\u6491\u9876\u70b9\u5750\u6807<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">CompoundShape.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u590d\u5408\u5f62\u72b6\u7c7b <code>CompoundShape<\/code>\uff0c\u7528\u4e8e\u5c06\u591a\u4e2a\u57fa\u7840\u51e0\u4f55\u5f62\u72b6\u7ec4\u5408\u6210\u4e00\u4e2a\u590d\u6742\u7684\u590d\u5408\u5f62\u72b6\u3002\u8fd9\u5728\u7269\u7406\u5f15\u64ce\u4e2d\u5e38\u7528\u4e8e\u521b\u5efa\u7531\u591a\u4e2a\u7b80\u5355\u5f62\u72b6\u7ec4\u6210\u7684\u590d\u6742\u7269\u4f53\uff0c\u5982\u6c7d\u8f66\u3001\u5efa\u7b51\u7269\u7b49\u3002\u8be5\u7c7b\u7ee7\u627f\u81ea <code>ShapeBase<\/code>\uff0c\u5e76\u4f7f\u7528\u8fb9\u754c\u4f53\u79ef\u5c42\u6b21\u7ed3\u6784\uff08BVH\uff09\u6765\u4f18\u5316\u78b0\u649e\u68c0\u6d4b\u6027\u80fd\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6784\u9020\u51fd\u6570 <code>CompoundShape(ObjectArray&lt;ShapeEle&gt; shapes)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u590d\u5408\u5f62\u72b6\u5bf9\u8c61<\/li>\n\n\n\n<li>\u8bbe\u7f6e\u5f62\u72b6\u6807\u5fd7\u4e3a\u590d\u5408\u7c7b\u578b<\/li>\n\n\n\n<li>\u8c03\u7528setShapes\u65b9\u6cd5\u8bbe\u7f6e\u5b50\u5f62\u72b6\u6570\u7ec4<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>setShapes(ObjectArray&lt;ShapeEle&gt; shapes)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u7f6e\u590d\u5408\u5f62\u72b6\u5305\u542b\u7684\u5b50\u5f62\u72b6\u6570\u7ec4<\/li>\n\n\n\n<li>\u6839\u636e\u5f62\u72b6\u6570\u91cf\u8ba1\u7b97BVH\u8282\u70b9\u5927\u5c0f\uff08\u6700\u5c118191\u4e2a\u5f62\u72b6per\u8282\u70b9\uff09<\/li>\n\n\n\n<li>\u521d\u59cb\u5316BVH\u7ed3\u6784\u7528\u4e8e\u52a0\u901f\u78b0\u649e\u68c0\u6d4b<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>getShapes()<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8fd4\u56de\u590d\u5408\u5f62\u72b6\u4e2d\u6240\u6709\u5b50\u5f62\u72b6\u7684\u5f15\u7528<\/li>\n\n\n\n<li>\u63d0\u4f9b\u5bf9\u5185\u90e8\u5f62\u72b6\u6570\u7ec4\u7684\u8bbf\u95ee\u63a5\u53e3<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>getAABBBox(const Coordsys &amp;transform)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u590d\u5408\u5f62\u72b6\u5728\u7ed9\u5b9a\u53d8\u6362\u4e0b\u7684\u8f74\u5bf9\u9f50\u5305\u56f4\u76d2\uff08AABB\uff09<\/li>\n\n\n\n<li>\u904d\u5386\u6240\u6709\u5b50\u5f62\u72b6\uff0c\u83b7\u53d6\u6bcf\u4e2a\u5f62\u72b6\u53d8\u6362\u540e\u7684AABB<\/li>\n\n\n\n<li>\u5c06\u6240\u6709\u5b50\u5f62\u72b6\u7684AABB\u5408\u5e76\u6210\u4e00\u4e2a\u603b\u7684\u5305\u56f4\u76d2<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>getInertia()<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u590d\u5408\u5f62\u72b6\u7684\u60ef\u6027\u5f20\u91cf<\/li>\n\n\n\n<li>\u4f7f\u7528\u5e73\u884c\u8f74\u5b9a\u7406\u8ba1\u7b97\u6bcf\u4e2a\u5b50\u5f62\u72b6\u5bf9\u603b\u60ef\u6027\u7684\u8d21\u732e<\/li>\n\n\n\n<li>\u8003\u8651\u5b50\u5f62\u72b6\u7684\u5c40\u90e8\u5750\u6807\u7cfb\u3001\u65cb\u8f6c\u548c\u8d28\u91cf\u6bd4\u4f8b<\/li>\n\n\n\n<li>\u8fd4\u56de\u5f52\u4e00\u5316\u540e\u7684\u603b\u60ef\u6027\u5f20\u91cf<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>getIntersectShapes(const AABBBox &amp;aabb, ObjectArray&lt;int&gt; &amp;intersect)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u67e5\u627e\u4e0e\u7ed9\u5b9aAABB\u76f8\u4ea4\u7684\u5b50\u5f62\u72b6\u7d22\u5f15<\/li>\n\n\n\n<li>\u4f7f\u7528BVH\u7ed3\u6784\u8fdb\u884c\u5feb\u901f\u7a7a\u95f4\u67e5\u8be2<\/li>\n\n\n\n<li>\u5c06\u76f8\u4ea4\u7684\u5f62\u72b6\u7d22\u5f15\u5b58\u50a8\u5728intersect\u6570\u7ec4\u4e2d<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>setCenter(const Vector3 &amp;center)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u7f6e\u590d\u5408\u5f62\u72b6\u7684\u4e2d\u5fc3\u70b9<\/li>\n\n\n\n<li>\u901a\u8fc7\u8c03\u6574\u6240\u6709\u5b50\u5f62\u72b6\u7684\u5c40\u90e8\u5750\u6807\u7cfb\u4f4d\u7f6e\u6765\u5b9e\u73b0\u91cd\u5fc3\u8c03\u6574<\/li>\n\n\n\n<li>\u5c06\u6240\u6709\u5b50\u5f62\u72b6\u76f8\u5bf9\u4e8e\u65b0\u4e2d\u5fc3\u91cd\u65b0\u5b9a\u4f4d<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">ConvexShape.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f5c\u7528\u4ecb\u7ecd<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u51f8\u5f62\u72b6\u57fa\u7c7b <code>ConvexShape<\/code> \u7684\u6838\u5fc3\u529f\u80fd\u3002\u51f8\u5f62\u72b6\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u4e00\u4e2a\u91cd\u8981\u7684\u51e0\u4f55\u5f62\u72b6\u62bd\u8c61\uff0c\u6240\u6709\u51f8\u51e0\u4f55\u4f53\uff08\u5982\u7403\u4f53\u3001\u76d2\u5b50\u3001\u80f6\u56ca\u4f53\u7b49\uff09\u90fd\u7ee7\u627f\u81ea\u8fd9\u4e2a\u7c7b\u3002\u8be5\u6587\u4ef6\u4e3b\u8981\u5b9e\u73b0\u4e86\u51f8\u5f62\u72b6\u7684\u8f74\u5bf9\u9f50\u5305\u56f4\u76d2\uff08AABB\uff09\u8ba1\u7b97\u529f\u80fd\uff0c\u8fd9\u662f\u78b0\u649e\u68c0\u6d4b\u7cfb\u7edf\u4e2d\u5bbd\u76f8\u4f4d\u68c0\u6d4b\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>getAABBBox(const Coordsys &amp;transform)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u51f8\u5f62\u72b6\u5728\u7ed9\u5b9a\u53d8\u6362\u4e0b\u7684\u8f74\u5bf9\u9f50\u5305\u56f4\u76d2\uff08AABB\uff09<\/li>\n\n\n\n<li>\u53c2\u6570\u8bf4\u660e\uff1a\n<ul class=\"wp-block-list\">\n<li>transform\uff1a\u5f62\u72b6\u7684\u4e16\u754c\u5750\u6807\u53d8\u6362\uff08\u5305\u542b\u4f4d\u7f6e\u548c\u65cb\u8f6c\uff09<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u7b97\u6cd5\u6d41\u7a0b\uff1a\n<ul class=\"wp-block-list\">\n<li>\u63d0\u53d6\u53d8\u6362\u4e2d\u7684\u65cb\u8f6c\u77e9\u9635<\/li>\n\n\n\n<li>\u5bf9\u4e8eX\u3001Y\u3001Z\u4e09\u4e2a\u5750\u6807\u8f74\u65b9\u5411\uff1a\n<ul class=\"wp-block-list\">\n<li>\u521b\u5efa\u6b63\u65b9\u5411\u5355\u4f4d\u5411\u91cf\uff0c\u53d8\u6362\u5230\u7269\u4f53\u5c40\u90e8\u5750\u6807\u7cfb<\/li>\n\n\n\n<li>\u8c03\u7528 <code>localGetSupportingVertex<\/code> \u83b7\u53d6\u8be5\u65b9\u5411\u4e0a\u7684\u652f\u6491\u9876\u70b9<\/li>\n\n\n\n<li>\u5c06\u652f\u6491\u9876\u70b9\u53d8\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb<\/li>\n\n\n\n<li>\u52a0\u4e0a\u5f62\u72b6\u8fb9\u8ddd\uff08margin\uff09\u5f97\u5230AABB\u6700\u5927\u503c<\/li>\n\n\n\n<li>\u521b\u5efa\u8d1f\u65b9\u5411\u5355\u4f4d\u5411\u91cf\uff0c\u91cd\u590d\u4e0a\u8ff0\u8fc7\u7a0b\u5f97\u5230AABB\u6700\u5c0f\u503c<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u8fd4\u56de\u7531\u6700\u5c0f\u548c\u6700\u5927\u5750\u6807\u6784\u6210\u7684AABB\u5305\u56f4\u76d2<\/li>\n\n\n\n<li>\u8fd9\u79cd\u65b9\u6cd5\u5229\u7528\u4e86\u51f8\u5f62\u72b6\u7684\u652f\u6491\u51fd\u6570\u7279\u6027\uff0c\u80fd\u591f\u7cbe\u786e\u8ba1\u7b97\u4efb\u610f\u51f8\u5f62\u72b6\u7684\u7d27\u81f4\u5305\u56f4\u76d2<\/li>\n\n\n\n<li>\u8003\u8651\u4e86\u5f62\u72b6\u7684\u8fb9\u8ddd\uff08mMargin\uff09\uff0c\u786e\u4fdd\u5305\u56f4\u76d2\u5305\u542b\u5b8c\u6574\u7684\u78b0\u649e\u533a\u57df<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u51fd\u6570\u662f\u51f8\u5f62\u72b6\u78b0\u649e\u68c0\u6d4b\u6d41\u6c34\u7ebf\u4e2d\u7684\u5173\u952e\u7ec4\u4ef6<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><br>CylinderShape.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><br>\u5b9e\u73b0\u5706\u67f1\u4f53\u78b0\u649e\u5f62\u72b6\u7684\u5c5e\u6027\u548c\u65b9\u6cd5<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u51fd\u6570\u5217\u8868\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>CylinderShape() &#8211; \u6784\u9020\u51fd\u6570\uff0c\u521d\u59cb\u5316\u5706\u67f1\u4f53\u5c3a\u5bf8<\/li>\n\n\n\n<li>getInertia() &#8211; \u8ba1\u7b97\u5706\u67f1\u4f53\u7684\u60ef\u6027\u5f20\u91cf<\/li>\n\n\n\n<li>localGetSupportingVertex() &#8211; \u8ba1\u7b97\u7ed9\u5b9a\u65b9\u5411\u4e0a\u7684\u652f\u6491\u9876\u70b9<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3b\u8981\u529f\u80fd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5b58\u50a8\u5706\u67f1\u4f53\u7684\u534a\u9ad8\u548c\u534a\u5f84<\/li>\n\n\n\n<li>\u63d0\u4f9b\u7269\u7406\u8ba1\u7b97\u6240\u9700\u7684\u51e0\u4f55\u7279\u6027<\/li>\n\n\n\n<li>\u652f\u6301\u78b0\u649e\u68c0\u6d4b\u7684\u652f\u6491\u70b9\u8ba1\u7b97<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><code>MeshShape<\/code> \u7b80\u7565\u89e3\u6790<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u529f\u80fd<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5c06 <code>.ply<\/code> \u6216 <code>.obj<\/code> \u6a21\u578b\u6587\u4ef6\u89e3\u6790\u4e3a\u4e00\u7ec4\u4e09\u89d2\u5f62\uff0c\u7528\u4e8e\u7269\u7406\u4eff\u771f\uff08\u5982\u78b0\u649e\u68c0\u6d4b\uff09\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u6784\u9020\u65b9\u5f0f<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u4f20\u5165\u9876\u70b9 + \u9762\u7d22\u5f15<\/strong> cpp\u590d\u5236\u7f16\u8f91<code>MeshShape(vertices, faces, size);<\/code><\/li>\n\n\n\n<li><strong>\u8bfb\u53d6\u6a21\u578b\u6587\u4ef6<\/strong> cpp\u590d\u5236\u7f16\u8f91<code>MeshShape(\"model.obj\", size);<\/code>\n<ul class=\"wp-block-list\">\n<li><code>.ply<\/code>: \u652f\u6301 ASCII \/ \u4e8c\u8fdb\u5236<\/li>\n\n\n\n<li><code>.obj<\/code>: \u8bfb\u53d6 <code>v<\/code> \u9876\u70b9 \u548c <code>f<\/code> \u4e09\u89d2\u9762<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u6838\u5fc3\u903b\u8f91\uff1a<code>setMesh(...)<\/code><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u904d\u5386\u6240\u6709\u9762<\/li>\n\n\n\n<li>\u6784\u9020\u4e09\u89d2\u5f62\uff08<code>TriangleShape<\/code>\uff09<\/li>\n\n\n\n<li>\u6839\u636e\u9762\u79ef\u8bbe\u5b9a\u8d28\u91cf\u6bd4\u4f8b<\/li>\n\n\n\n<li>\u6dfb\u52a0\u5230 <code>CompoundShape<\/code> \u4e2d<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u4f9d\u8d56\u7c7b<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>Vector3<\/code>: \u4e09\u7ef4\u70b9<\/li>\n\n\n\n<li><code>Vector&lt;3, int&gt;<\/code>: \u4e09\u89d2\u9762\u7d22\u5f15<\/li>\n\n\n\n<li><code>TriangleShape<\/code>: \u4e09\u89d2\u5f62\u7269\u7406\u5f62\u72b6<\/li>\n\n\n\n<li><code>CompoundShape<\/code>: \u53ef\u7ec4\u5408\u7684\u590d\u5408\u4f53<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>.obj<\/code> \u9876\u70b9\u7d22\u5f15\u4ece <strong>1<\/strong> \u5f00\u59cb\uff0c\u9700\u51cf1<\/li>\n\n\n\n<li>\u53ea\u652f\u6301 <strong>\u4e09\u89d2\u5f62\u9762<\/strong><\/li>\n\n\n\n<li><code>.ply<\/code> \u4ec5\u89e3\u6790\u51e0\u4f55\uff0c\u4e0d\u542b\u7eb9\u7406\/\u6cd5\u7ebf<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>SphereShape<\/code> \u7c7b\u8bf4\u660e<\/h3>\n\n\n\n<h3 class=\"wp-block-heading\">\u529f\u80fd<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8868\u793a\u4e00\u4e2a\u7403\u4f53\u7684\u51e0\u4f55\u5f62\u72b6\uff0c\u7ee7\u627f\u81ea <code>ConvexShape<\/code>\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458\u4e0e\u65b9\u6cd5<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6784\u9020\u51fd\u6570<\/strong> <code>SphereShape(Real radius)<\/code> \u521d\u59cb\u5316\u7403\u4f53\u534a\u5f84 <code>mRadius<\/code>\uff0c\u5e76\u5c06\u7c7b\u578b\u6807\u8bb0\u4e3a <code>ShapeFlag::eSphere<\/code>\u3002<\/li>\n\n\n\n<li><strong>\u60ef\u6027\u77e9\u8ba1\u7b97<\/strong> <code>Matrix3x3 getInertia() const<\/code> \u8fd4\u56de\u7403\u4f53\u7684\u60ef\u6027\u77e9\uff08\u7b80\u5316\u4e3a\u5bf9\u89d2\u77e9\u9635\uff09\uff1a I=0.4\u00d7r2\u00d7I3I = 0.4 \\times r^2 \\times I_3 \u5176\u4e2d I3I_3 \u662f\u5355\u4f4d\u77e9\u9635\u3002<\/li>\n\n\n\n<li><strong>\u652f\u6301\u70b9\u8ba1\u7b97<\/strong><code>Vector3 localGetSupportingVertex(const Vector3 &amp;position, const Real &amp;tolerance) const<\/code> \u8ba1\u7b97\u5728\u67d0\u65b9\u5411 <code>position<\/code> \u4e0a\u7684\u652f\u6301\u70b9\uff08Minkowski\u5dee\u4e2d\u7528\u4e8eGJK\u7b49\u7b97\u6cd5\uff09\uff1a\n<ul class=\"wp-block-list\">\n<li><code>r = mRadius + tolerance<\/code><\/li>\n\n\n\n<li>\u5f52\u4e00\u5316\u65b9\u5411\u5411\u91cf <code>position<\/code> \u5e76\u4e58\u4ee5\u534a\u5f84\uff0c\u8fd4\u56de\u7403\u9762\u4e0a\u7684\u70b9\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4ee3\u7801\u793a\u4f8b\u603b\u7ed3<\/h4>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u6784\u9020\u7403\u4f53\uff0c\u8bbe\u7f6e\u7c7b\u578b\u548c\u534a\u5f84\nSphereShape::SphereShape(Real radius) : ConvexShape() {\n    mType |= ShapeFlag::eSphere;\n    mRadius = radius;\n}\n\n\/\/ \u8ba1\u7b97\u60ef\u6027\u77e9\uff0c\u7b80\u5316\u4e3a\u5bf9\u89d2\u77e9\u9635\nMatrix3x3 SphereShape::getInertia() const {\n    Real element = mRadius * mRadius * 0.4;\n    return Matrix3x3::Identity() * element;\n}\n\n\/\/ \u8ba1\u7b97\u7ed9\u5b9a\u65b9\u5411\u7684\u652f\u6301\u70b9<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u9762\u662f\u4f60\u7ed9\u51fa\u7684 <code>TriangleShape<\/code> \u7c7b\u7684\u7b80\u7565\u89e3\u6790\u7b14\u8bb0\uff1a<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">TriangleShape\uff08\u4e09\u89d2\u5f62\u5f62\u72b6\uff09\u7c7b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8868\u793a\u7269\u7406\u5f15\u64ce\u4e2d\u4e00\u4e2a\u4e09\u89d2\u5f62\u7684\u78b0\u649e\u5f62\u72b6\uff0c\u7ee7\u627f\u81ea <code>ConvexShape<\/code>\uff0c\u7528\u6765\u53c2\u4e0e\u78b0\u649e\u68c0\u6d4b\u548c\u7269\u7406\u8ba1\u7b97\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458\u53d8\u91cf<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mVertices[3]<\/code>\uff1a\u4e09\u89d2\u5f62\u7684\u4e09\u4e2a\u9876\u70b9\u5750\u6807\uff08\u5c40\u90e8\u7a7a\u95f4\uff09<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">1. \u6784\u9020\u51fd\u6570 <code>TriangleShape(Vector3 p1, Vector3 p2, Vector3 p3)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u4e09\u89d2\u5f62\u7684\u4e09\u4e2a\u9876\u70b9<\/li>\n\n\n\n<li>\u6807\u8bb0\u7c7b\u578b\u4e3a\u4e09\u89d2\u5f62\uff08<code>ShapeFlag::eTriangle<\/code>\uff09<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">2. <code>getInertia()<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u4e09\u89d2\u5f62\u5f62\u72b6\u7684\u60ef\u6027\u5f20\u91cf\uff083&#215;3\u77e9\u9635\uff09<\/li>\n\n\n\n<li>\u901a\u8fc7\u7d2f\u52a0\u9876\u70b9\u5750\u6807\u7684\u5e73\u65b9\u548c\u4e58\u79ef\u8ba1\u7b97\u60ef\u6027\u5f20\u91cf\u5206\u91cf<\/li>\n\n\n\n<li>\u5bf9\u79f0\u77e9\u9635\u8d4b\u503c\uff08\u975e\u5bf9\u89d2\u5143\u7d20\u76f8\u7b49\uff09<\/li>\n\n\n\n<li>\u7ed3\u679c\u7528\u4e8e\u7269\u7406\u6a21\u62df\u4e2d\u521a\u4f53\u7684\u65cb\u8f6c\u60ef\u91cf\u8ba1\u7b97<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. <code>localGetSupportingVertex(const Vector3 &amp;position, const Real &amp;tolerance)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ed9\u5b9a\u4e00\u4e2a\u65b9\u5411\u5411\u91cf <code>position<\/code>\uff0c\u8ba1\u7b97\u652f\u6301\u9876\u70b9\uff08\u7528\u4e8eGJK\u7b49\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\uff09<\/li>\n\n\n\n<li>\u8ba1\u7b97\u6240\u6709\u9876\u70b9\u5728\u8be5\u65b9\u5411\u4e0a\u7684\u70b9\u79ef\uff0c\u8fd4\u56de\u6700\u5927\u70b9\u79ef\u5bf9\u5e94\u7684\u9876\u70b9\u52a0\u4e0a\u65b9\u5411\u5355\u4f4d\u5411\u91cf\u4e58\u4ee5\u5bb9\u5dee\u503c<\/li>\n\n\n\n<li>\u8fd4\u56de\u5f62\u72b6\u5728\u8be5\u65b9\u5411\u7684\u201c\u6700\u8fdc\u70b9\u201d<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">4. <code>getVertex(int index)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbf\u95ee\u4e09\u89d2\u5f62\u7684\u6307\u5b9a\u9876\u70b9<\/li>\n\n\n\n<li>\u901a\u8fc7\u65ad\u8a00\u4fdd\u8bc1\u7d22\u5f15\u5408\u6cd5<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u4eae\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7b80\u5355\u660e\u4e86\uff0c\u9002\u7528\u4e8e\u4e09\u89d2\u7f51\u683c\u78b0\u649e\u5f62\u72b6<\/li>\n\n\n\n<li>\u652f\u6301\u60ef\u6027\u8ba1\u7b97\u548c\u652f\u6301\u9876\u70b9\u67e5\u8be2\uff0c\u4e3a\u7269\u7406\u5f15\u64ce\u63d0\u4f9b\u5173\u952e\u63a5\u53e3<\/li>\n\n\n\n<li>\u652f\u6301\u5bb9\u5dee\u8c03\u8282\uff0c\u589e\u52a0\u6570\u503c\u7a33\u5b9a\u6027<\/li>\n\n\n\n<li><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">BVH.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u5c42\u6b21\u5305\u56f4\u76d2\uff08Bounding Volume Hierarchy, BVH\uff09\u6570\u636e\u7ed3\u6784\uff0c\u7528\u4e8e\u52a0\u901f\u590d\u5408\u5f62\u72b6\uff08CompoundShape\uff09\u7684\u7a7a\u95f4\u67e5\u8be2\u548c\u78b0\u649e\u68c0\u6d4b\u3002BVH\u901a\u8fc7\u9012\u5f52\u5730\u5c06\u5f62\u72b6\u5143\u7d20\u5206\u7ec4\u5230\u5c42\u6b21\u5316\u7684\u5305\u56f4\u76d2\u4e2d\uff0c\u53ef\u4ee5\u5feb\u901f\u526a\u9664\u4e0d\u76f8\u4ea4\u7684\u533a\u57df\uff0c\u663e\u8457\u63d0\u5347\u590d\u6742\u51e0\u4f55\u4f53\u7684\u78b0\u649e\u68c0\u6d4b\u548c\u7a7a\u95f4\u67e5\u8be2\u6027\u80fd\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>cmp()<\/strong> &#8211; \u5168\u5c40\u6bd4\u8f83\u51fd\u6570\uff0c\u7528\u4e8e\u6309\u6307\u5b9a\u8f74\u5411\u5bf9\u590d\u5408\u5f62\u72b6\u7684\u5b50\u5f62\u72b6\u5143\u7d20\u8fdb\u884c\u6392\u5e8f\uff0c\u6bd4\u8f83\u5404\u81ea\u5305\u56f4\u76d2\u4e2d\u5fc3\u70b9\u5728\u6307\u5b9a\u8f74\u4e0a\u7684\u5750\u6807\u503c<\/li>\n\n\n\n<li><strong>BVH\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u521d\u59cb\u5316BVH\u6811\uff0c\u8c03\u7528buildBVH\u9012\u5f52\u6784\u5efa\u6574\u4e2a\u5c42\u6b21\u7ed3\u6784\uff0c\u4f20\u5165\u590d\u5408\u5f62\u72b6\u548c\u6bcf\u4e2a\u53f6\u8282\u70b9\u7684\u6700\u5927\u5143\u7d20\u6570\u91cf<\/li>\n\n\n\n<li><strong>BVH\u6790\u6784\u51fd\u6570<\/strong> &#8211; \u6e05\u7406BVH\u6811\u7684\u6240\u6709\u8282\u70b9\u5185\u5b58<\/li>\n\n\n\n<li><strong>buildBVH()<\/strong> &#8211; \u9012\u5f52\u6784\u5efaBVH\u6811\u7684\u6838\u5fc3\u7b97\u6cd5\uff1a\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u5f53\u524d\u8303\u56f4\u5185\u6240\u6709\u5f62\u72b6\u7684\u8054\u5408\u5305\u56f4\u76d2<\/li>\n\n\n\n<li>\u5982\u679c\u5f62\u72b6\u6570\u91cf\u5c0f\u4e8e\u7b49\u4e8e\u9608\u503c\uff0c\u521b\u5efa\u53f6\u8282\u70b9\u5e76\u5b58\u50a8\u5f62\u72b6\u7d22\u5f15<\/li>\n\n\n\n<li>\u5426\u5219\u9009\u62e9\u6700\u957f\u7684\u8f74\u5411\u8fdb\u884c\u6392\u5e8f\u5206\u5272\uff0c\u9012\u5f52\u6784\u5efa\u5de6\u53f3\u5b50\u6811<\/li>\n\n\n\n<li>\u66f4\u65b0\u8282\u70b9\u7684\u5b50\u6811\u5927\u5c0f\u7edf\u8ba1\u4fe1\u606f<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>clear()<\/strong> &#8211; \u4f7f\u7528\u975e\u9012\u5f52\u65b9\u5f0f\uff08\u6808\uff09\u904d\u5386\u5e76\u5220\u9664BVH\u6811\u7684\u6240\u6709\u8282\u70b9\uff0c\u907f\u514d\u6df1\u5ea6\u9012\u5f52\u5bfc\u81f4\u7684\u6808\u6ea2\u51fa<\/li>\n\n\n\n<li><strong>setCompoundShape()<\/strong> &#8211; \u91cd\u65b0\u8bbe\u7f6e\u590d\u5408\u5f62\u72b6\u5e76\u91cd\u5efaBVH\u6811\uff0c\u5148\u6e05\u7406\u539f\u6709\u6811\u7ed3\u6784\u518d\u6784\u5efa\u65b0\u7684\u5c42\u6b21\u7ed3\u6784<\/li>\n\n\n\n<li><strong>search()<\/strong> &#8211; \u7a7a\u95f4\u67e5\u8be2\u51fd\u6570\uff0c\u5728BVH\u6811\u4e2d\u641c\u7d22\u4e0e\u7ed9\u5b9aAABB\u5305\u56f4\u76d2\u76f8\u4ea4\u7684\u6240\u6709\u5f62\u72b6\uff1a\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u975e\u9012\u5f52\u904d\u5386\uff08\u6808\uff09\u63d0\u9ad8\u6027\u80fd<\/li>\n\n\n\n<li>\u5bf9\u6bcf\u4e2a\u8282\u70b9\u8fdb\u884c\u5305\u56f4\u76d2\u76f8\u4ea4\u6d4b\u8bd5\u8fdb\u884c\u526a\u679d<\/li>\n\n\n\n<li>\u5bf9\u53f6\u8282\u70b9\u6536\u96c6\u76f8\u4ea4\u7684\u5f62\u72b6\u7d22\u5f15<\/li>\n\n\n\n<li>\u5bf9\u5185\u90e8\u8282\u70b9\u7ee7\u7eed\u904d\u5386\u5176\u5b50\u8282\u70b9<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">Axle.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u8f66\u8f86\u8f74\u7cfb\u7edf\uff08Axle\uff09\u7c7b\u7684\u529f\u80fd\u3002\u8f74\u7cfb\u7edf\u662f\u8f6e\u5f0f\u8f66\u8f86\u7269\u7406\u6a21\u62df\u4e2d\u7684\u6838\u5fc3\u7ec4\u4ef6\uff0c\u8d1f\u8d23\u7ba1\u7406\u4e00\u7ec4\u8f66\u8f6e\u3001\u60ac\u6302\u7cfb\u7edf\u548c\u4e0e\u5e95\u76d8\u7684\u8fde\u63a5\u7ea6\u675f\u3002\u5b83\u5904\u7406\u8f66\u8f6e\u7684\u8f6c\u5411\u3001\u6cb9\u95e8\u63a7\u5236\uff0c\u4ee5\u53ca\u60ac\u6302\u7cfb\u7edf\u7684\u7269\u7406\u6a21\u62df\uff0c\u662f\u8fde\u63a5\u5e95\u76d8\u548c\u8f66\u8f6e\u7684\u91cd\u8981\u4e2d\u95f4\u5c42\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Axle\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u521d\u59cb\u5316\u8f74\u7cfb\u7edf\uff0c\u8bbe\u7f6e\u5173\u8054\u7684\u5e95\u76d8\u5f15\u7528\u4ee5\u53ca\u8be5\u8f74\u662f\u5426\u652f\u6301\u8f6c\u5411\u548c\u6cb9\u95e8\u63a7\u5236\u7684\u6807\u5fd7\u4f4d<\/li>\n\n\n\n<li><strong>injectWorld()<\/strong> &#8211; \u5c06\u8f74\u7cfb\u7edf\u4e2d\u7684\u6240\u6709\u8f66\u8f6e\u521a\u4f53\u548c\u7ea6\u675f\u94fe\u63a5\u6ce8\u5165\u5230\u7269\u7406\u4e16\u754c\u4e2d\uff0c\u7528\u4e8e\u7269\u7406\u5f15\u64ce\u7684\u7edf\u4e00\u7ba1\u7406<\/li>\n\n\n\n<li><strong>addWheel()<\/strong> &#8211; \u5411\u8f74\u7cfb\u7edf\u6dfb\u52a0\u8f66\u8f6e\uff0c\u540c\u65f6\u521b\u5efa\u5bf9\u5e94\u7684\u60ac\u6302\u7cfb\u7edf\u548c\u901a\u7528\u94fe\u63a5\u7ea6\u675f\u3002\u8bbe\u7f6e\u60ac\u6302\u7684\u521a\u5ea6\u548c\u963b\u5c3c\u53c2\u6570\uff0c\u5e76\u786e\u4fdd\u60ac\u6302\u65b9\u5411\u5782\u76f4<\/li>\n\n\n\n<li><strong>getLeftSpeed()<\/strong> &#8211; \u8ba1\u7b97\u5e76\u8fd4\u56de\u5de6\u4fa7\u8f66\u8f6e\u7684\u5e73\u5747\u8f6c\u901f\uff0c\u5c06\u89d2\u901f\u5ea6\u8f6c\u6362\u4e3aRPM\uff08\u8f6c\/\u5206\u949f\uff09\u5355\u4f4d<\/li>\n\n\n\n<li><strong>getRightSpeed()<\/strong> &#8211; \u8ba1\u7b97\u5e76\u8fd4\u56de\u53f3\u4fa7\u8f66\u8f6e\u7684\u5e73\u5747\u8f6c\u901f\uff0c\u5c06\u89d2\u901f\u5ea6\u8f6c\u6362\u4e3aRPM\u5355\u4f4d<\/li>\n\n\n\n<li><strong>getSpeed()<\/strong> &#8211; \u8ba1\u7b97\u6574\u4e2a\u8f74\u7cfb\u7edf\u7684\u5e73\u5747\u8f6c\u901f\uff0c\u53d6\u5de6\u53f3\u4e24\u4fa7\u8f66\u8f6e\u8f6c\u901f\u7684\u5e73\u5747\u503c<\/li>\n\n\n\n<li><strong>setWorldTransform()<\/strong> &#8211; \u8bbe\u7f6e\u8f74\u7cfb\u7edf\u4e2d\u6240\u6709\u8f66\u8f6e\u7684\u4e16\u754c\u5750\u6807\u53d8\u6362\uff0c\u7528\u4e8e\u66f4\u65b0\u8f66\u8f6e\u5728\u4e16\u754c\u7a7a\u95f4\u4e2d\u7684\u4f4d\u7f6e\u548c\u671d\u5411<\/li>\n\n\n\n<li><strong>update()<\/strong> &#8211; \u66f4\u65b0\u8f74\u7cfb\u7edf\u72b6\u6001\uff0c\u904d\u5386\u6240\u6709\u60ac\u6302\u7cfb\u7edf\u5e76\u8c03\u7528\u5176\u66f4\u65b0\u51fd\u6570\uff0c\u5904\u7406\u60ac\u6302\u7684\u7269\u7406\u8ba1\u7b97<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">Brake.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u5239\u8f66\u7cfb\u7edf\uff08Brake\uff09\u7c7b\u7684\u529f\u80fd\u3002Brake\u7c7b\u8d1f\u8d23\u8f66\u8f86\u5239\u8f66\u673a\u5236\u7684\u7269\u7406\u6a21\u62df\uff0c\u901a\u8fc7\u65bd\u52a0\u4e0e\u8f66\u8f6e\u65cb\u8f6c\u65b9\u5411\u76f8\u53cd\u7684\u5236\u52a8\u626d\u77e9\u6765\u5b9e\u73b0\u5239\u8f66\u6548\u679c\u3002\u5b83\u662f\u8f66\u8f86\u7269\u7406\u7cfb\u7edf\u4e2d\u7684\u91cd\u8981\u7ec4\u4ef6\uff0c\u4e3a\u8f66\u8f6e\u63d0\u4f9b\u53ef\u63a7\u7684\u5236\u52a8\u529b\uff0c\u5b9e\u73b0\u8f66\u8f86\u7684\u51cf\u901f\u548c\u505c\u6b62\u529f\u80fd\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Brake\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u521d\u59cb\u5316\u5239\u8f66\u7cfb\u7edf\uff0c\u8bbe\u7f6e\u6700\u5927\u5236\u52a8\u626d\u77e9\u503c\uff0c\u8be5\u503c\u51b3\u5b9a\u4e86\u5239\u8f66\u7cfb\u7edf\u7684\u5236\u52a8\u80fd\u529b\u4e0a\u9650<\/li>\n\n\n\n<li><strong>applyBrake()<\/strong> &#8211; \u5bf9\u6307\u5b9a\u8f66\u8f6e\u65bd\u52a0\u5239\u8f66\u529b\u3002\u6839\u636e\u8f66\u8f6e\u5f53\u524d\u7684\u89d2\u901f\u5ea6\u65b9\u5411\u8ba1\u7b97\u5236\u52a8\u626d\u77e9\u65b9\u5411\uff0c\u7136\u540e\u65bd\u52a0\u4e0e\u65cb\u8f6c\u65b9\u5411\u76f8\u53cd\u7684\u626d\u77e9\uff0c\u626d\u77e9\u5927\u5c0f\u7531\u6700\u5927\u5236\u52a8\u626d\u77e9\u548c\u5239\u8f66\u8f93\u5165\u503c\uff080-1\uff09\u7684\u4e58\u79ef\u51b3\u5b9a<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">BroadPhaseBase.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\u57fa\u7c7b\uff08BroadPhaseBase\uff09\u7684\u529f\u80fd\u3002\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\u662f\u7269\u7406\u5f15\u64ce\u78b0\u649e\u68c0\u6d4b\u6d41\u6c34\u7ebf\u7684\u7b2c\u4e00\u9636\u6bb5\uff0c\u8d1f\u8d23\u5feb\u901f\u7b5b\u9009\u51fa\u53ef\u80fd\u53d1\u751f\u78b0\u649e\u7684\u7269\u4f53\u5bf9\uff0c\u8fc7\u6ee4\u6389\u660e\u663e\u4e0d\u4f1a\u78b0\u649e\u7684\u7269\u4f53\u7ec4\u5408\uff0c\u4e3a\u540e\u7eed\u7684\u7cbe\u786e\u78b0\u649e\u68c0\u6d4b\uff08\u7a84\u76f8\u68c0\u6d4b\uff09\u63d0\u4f9b\u5019\u9009\u5bf9\u8c61\uff0c\u5927\u5e45\u63d0\u5347\u78b0\u649e\u68c0\u6d4b\u7684\u6574\u4f53\u6027\u80fd\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>getOverlappingPairs()<\/strong> &#8211; \u8fd4\u56de\u5f53\u524d\u68c0\u6d4b\u5230\u7684\u91cd\u53e0\u7269\u4f53\u5bf9\u5217\u8868\u7684\u5e38\u91cf\u5f15\u7528\uff0c\u4f9b\u7a84\u76f8\u78b0\u649e\u68c0\u6d4b\u9636\u6bb5\u4f7f\u7528<\/li>\n\n\n\n<li><strong>clear()<\/strong> &#8211; \u6e05\u7a7a\u91cd\u53e0\u7269\u4f53\u5bf9\u5217\u8868\uff0c\u901a\u5e38\u5728\u6bcf\u5e27\u5f00\u59cb\u65f6\u8c03\u7528\uff0c\u91cd\u7f6e\u78b0\u649e\u68c0\u6d4b\u72b6\u6001<\/li>\n\n\n\n<li><strong>defaultValidatePairFunc()<\/strong> &#8211; \u9ed8\u8ba4\u7684\u7269\u4f53\u5bf9\u9a8c\u8bc1\u51fd\u6570\uff0c\u7528\u4e8e\u8fc7\u6ee4\u65e0\u6548\u7684\u78b0\u649e\u5bf9\uff1a\n<ul class=\"wp-block-list\">\n<li>\u9759\u6001\u7269\u4f53\u4e4b\u95f4\u4e0d\u68c0\u6d4b\u78b0\u649e<\/li>\n\n\n\n<li>\u8fd0\u52a8\u5b66\u7269\u4f53\u4e4b\u95f4\u4e0d\u68c0\u6d4b\u78b0\u649e<\/li>\n\n\n\n<li>\u4f11\u7720\u7269\u4f53\u4e4b\u95f4\u4e0d\u68c0\u6d4b\u78b0\u649e<\/li>\n\n\n\n<li>\u88ab\u6807\u8bb0\u4e3a\u5ffd\u7565\u78b0\u649e\u7684\u7269\u4f53\u5bf9\u4e0d\u68c0\u6d4b\u78b0\u649e<\/li>\n\n\n\n<li>\u901a\u8fc7\u9a8c\u8bc1\u7684\u7269\u4f53\u5bf9\u624d\u4f1a\u8fdb\u5165\u540e\u7eed\u7684\u7cbe\u786e\u78b0\u649e\u68c0\u6d4b\u6d41\u7a0b<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">BroadPhaseSimple.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u7b80\u5355\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\uff08BroadPhaseSimple\uff09\u7c7b\u7684\u529f\u80fd\u3002\u8fd9\u662f\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\u7684\u4e00\u4e2a\u57fa\u7840\u5b9e\u73b0\uff0c\u4f7f\u7528\u6734\u7d20\u7684O(n\u00b2)\u7b97\u6cd5\u5bf9\u6240\u6709\u7269\u4f53\u8fdb\u884c\u4e24\u4e24AABB\u5305\u56f4\u76d2\u91cd\u53e0\u68c0\u6d4b\u3002\u867d\u7136\u6027\u80fd\u8f83\u4f4e\uff0c\u4f46\u5b9e\u73b0\u7b80\u5355\u3001\u7a33\u5b9a\u53ef\u9760\uff0c\u9002\u7528\u4e8e\u7269\u4f53\u6570\u91cf\u8f83\u5c11\u7684\u573a\u666f\u6216\u4f5c\u4e3a\u5176\u4ed6\u9ad8\u7ea7\u5e7f\u76f8\u7b97\u6cd5\u7684\u53c2\u8003\u5b9e\u73b0\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>calculateOverlappingPairs()<\/strong> &#8211; \u8ba1\u7b97\u6240\u6709\u91cd\u53e0\u7684\u7269\u4f53\u5bf9\u7684\u6838\u5fc3\u51fd\u6570\uff1a\n<ul class=\"wp-block-list\">\n<li>\u9996\u5148\u6e05\u7a7a\u4e4b\u524d\u7684\u91cd\u53e0\u5bf9\u6807\u5fd7<\/li>\n\n\n\n<li>\u4f7f\u7528\u53cc\u91cd\u5faa\u73af\u904d\u5386\u6240\u6709\u521a\u4f53\u5bf9\u8c61\uff08\u907f\u514d\u91cd\u590d\u68c0\u6d4b\u76f8\u540c\u7684\u5bf9\uff09<\/li>\n\n\n\n<li>\u5bf9\u6bcf\u4e2a\u7269\u4f53\u5bf9\u8c03\u7528\u9a8c\u8bc1\u51fd\u6570\uff0c\u8fc7\u6ee4\u6389\u65e0\u6548\u7684\u78b0\u649e\u7ec4\u5408<\/li>\n\n\n\n<li>\u83b7\u53d6\u4e24\u4e2a\u7269\u4f53\u7684AABB\u5305\u56f4\u76d2\u5e76\u8fdb\u884c\u91cd\u53e0\u68c0\u6d4b<\/li>\n\n\n\n<li>\u5982\u679cAABB\u91cd\u53e0\uff0c\u5219\u5c06\u8be5\u7269\u4f53\u5bf9\u6dfb\u52a0\u5230\u91cd\u53e0\u5bf9\u5217\u8868\u4e2d<\/li>\n\n\n\n<li>\u6700\u540e\u79fb\u9664\u672a\u4f7f\u7528\u7684\u91cd\u53e0\u5bf9\uff0c\u6e05\u7406\u8fc7\u671f\u7684\u78b0\u649e\u5bf9\u4fe1\u606f<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">BroadPhaseSweepAndPrune.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u626b\u63cf\u4e0e\u526a\u679d\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\uff08BroadPhaseSweepAndPrune\uff09\u7c7b\u7684\u529f\u80fd\u3002\u8fd9\u662f\u4e00\u79cd\u9ad8\u6548\u7684\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\uff0c\u901a\u8fc7\u5728\u67d0\u4e2a\u5750\u6807\u8f74\u4e0a\u5bf9\u7269\u4f53\u8fdb\u884c\u6392\u5e8f\uff0c\u7136\u540e\u626b\u63cf\u6392\u5e8f\u540e\u7684\u5217\u8868\u6765\u5feb\u901f\u8bc6\u522b\u53ef\u80fd\u78b0\u649e\u7684\u7269\u4f53\u5bf9\u3002\u76f8\u6bd4\u7b80\u5355\u7684O(n\u00b2)\u7b97\u6cd5\uff0c\u8be5\u7b97\u6cd5\u5728\u7269\u4f53\u5206\u5e03\u8f83\u4e3a\u5747\u5300\u65f6\u80fd\u663e\u8457\u63d0\u5347\u6027\u80fd\uff0c\u5e76\u4e14\u80fd\u591f\u81ea\u9002\u5e94\u9009\u62e9\u6700\u4f18\u7684\u6392\u5e8f\u8f74\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>BroadPhaseSweepAndPrune\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u521d\u59cb\u5316\u626b\u63cf\u526a\u679d\u5e7f\u76f8\u68c0\u6d4b\u5668\uff0c\u8bbe\u7f6e\u76ee\u6807\u8f74\u4e3aX\u8f74\uff08\u7d22\u5f150\uff09<\/li>\n\n\n\n<li><strong>calculateOverlappingPairs()<\/strong> &#8211; \u8ba1\u7b97\u91cd\u53e0\u7269\u4f53\u5bf9\u7684\u6838\u5fc3\u7b97\u6cd5\uff1a\n<ul class=\"wp-block-list\">\n<li>\u6e05\u7a7a\u4e4b\u524d\u7684\u91cd\u53e0\u5bf9\u6807\u5fd7\uff0c\u5904\u7406\u5c11\u4e8e2\u4e2a\u7269\u4f53\u7684\u8fb9\u754c\u60c5\u51b5<\/li>\n\n\n\n<li>\u6309\u7167\u5f53\u524d\u76ee\u6807\u8f74\u7684\u6700\u5c0f\u503c\u5bf9\u6240\u6709\u78b0\u649e\u5bf9\u8c61\u8fdb\u884c\u6392\u5e8f<\/li>\n\n\n\n<li>\u626b\u63cf\u6392\u5e8f\u540e\u7684\u6570\u7ec4\uff0c\u5bf9\u6bcf\u4e2a\u7269\u4f53\u4e0e\u5176\u540e\u7eed\u7269\u4f53\u8fdb\u884c\u78b0\u649e\u68c0\u6d4b<\/li>\n\n\n\n<li>\u5728\u626b\u63cf\u8fc7\u7a0b\u4e2d\u7d2f\u8ba1\u7269\u4f53\u4e2d\u5fc3\u70b9\u7684\u7edf\u8ba1\u4fe1\u606f\uff08\u548c\u3001\u5e73\u65b9\u548c\uff09<\/li>\n\n\n\n<li>\u5229\u7528\u6392\u5e8f\u7279\u6027\u8fdb\u884c\u526a\u679d\u4f18\u5316\uff1a\u5982\u679c\u540e\u7eed\u7269\u4f53\u7684\u6700\u5c0f\u503c\u8d85\u8fc7\u5f53\u524d\u7269\u4f53\u7684\u6700\u5927\u503c\uff0c\u5219\u8df3\u51fa\u5185\u5c42\u5faa\u73af<\/li>\n\n\n\n<li>\u5bf9\u91cd\u53e0\u7684AABB\u6267\u884c\u7cbe\u786e\u91cd\u53e0\u68c0\u6d4b\u5e76\u6dfb\u52a0\u5230\u91cd\u53e0\u5bf9\u5217\u8868<\/li>\n\n\n\n<li>\u6e05\u7406\u672a\u4f7f\u7528\u7684\u91cd\u53e0\u5bf9<\/li>\n\n\n\n<li>\u6839\u636e\u7edf\u8ba1\u7684\u65b9\u5dee\u4fe1\u606f\u81ea\u9002\u5e94\u66f4\u65b0\u6392\u5e8f\u8f74\uff0c\u9009\u62e9\u65b9\u5dee\u6700\u5927\u7684\u8f74\u4f5c\u4e3a\u4e0b\u4e00\u5e27\u7684\u76ee\u6807\u8f74\uff0c\u4ee5\u83b7\u5f97\u66f4\u597d\u7684\u526a\u679d\u6548\u679c<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">BroadPhaseUtils.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\u7684\u5de5\u5177\u7c7b\uff0c\u4e3b\u8981\u5305\u542b\u57fa\u4e8e\u54c8\u5e0c\u8868\u7684\u91cd\u53e0\u5bf9\u5bb9\u5668\uff08HashedBroadphaseOverlappingPairContainer\uff09\u3002\u8be5\u5bb9\u5668\u8d1f\u8d23\u9ad8\u6548\u5730\u7ba1\u7406\u548c\u5b58\u50a8\u5e7f\u76f8\u78b0\u649e\u68c0\u6d4b\u9636\u6bb5\u53d1\u73b0\u7684\u7269\u4f53\u91cd\u53e0\u5bf9\uff0c\u4f7f\u7528\u54c8\u5e0c\u8868\u4f18\u5316\u67e5\u627e\u6027\u80fd\uff0c\u5e76\u63d0\u4f9b\u4e86\u6dfb\u52a0\u3001\u5220\u9664\u3001\u67e5\u627e\u91cd\u53e0\u5bf9\u7b49\u6838\u5fc3\u529f\u80fd\uff0c\u540c\u65f6\u5904\u7406\u7269\u4f53\u7684\u4f11\u7720\u5524\u9192\u903b\u8f91\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>HashedBroadphaseOverlappingPairContainer\u6784\u9020\u51fd\u6570<\/strong> &#8211; \u521d\u59cb\u5316\u54c8\u5e0c\u91cd\u53e0\u5bf9\u5bb9\u5668<\/li>\n\n\n\n<li><strong>\u6790\u6784\u51fd\u6570<\/strong> &#8211; \u6e05\u7406\u5bb9\u5668\u8d44\u6e90\uff0c\u8c03\u7528clear()\u51fd\u6570<\/li>\n\n\n\n<li><strong>findPair()<\/strong> &#8211; \u67e5\u627e\u6307\u5b9a\u7684\u4e24\u4e2a\u7269\u4f53\u662f\u5426\u5b58\u5728\u91cd\u53e0\u5bf9\uff0c\u901a\u8fc7\u89c4\u8303\u5316\u7269\u4f53\u987a\u5e8f\uff08\u8f83\u5c0fID\u5728\u524d\uff09\u540e\u8c03\u7528\u5185\u90e8\u67e5\u627e\u51fd\u6570<\/li>\n\n\n\n<li><strong>removePair()<\/strong> &#8211; \u4ece\u5bb9\u5668\u4e2d\u79fb\u9664\u6307\u5b9a\u7684\u91cd\u53e0\u5bf9\uff0c\u4f7f\u7528\u54c8\u5e0c\u67e5\u627e\u5b9a\u4f4d\u540e\u5220\u9664\uff0c\u5e76\u901a\u8fc7\u4ea4\u6362\u6700\u540e\u4e00\u4e2a\u5143\u7d20\u6765\u907f\u514d\u6570\u7ec4\u7a7a\u6d1e<\/li>\n\n\n\n<li><strong>clear()<\/strong> &#8211; \u6e05\u7a7a\u6240\u6709\u91cd\u53e0\u5bf9\u6570\u636e\uff0c\u91cd\u7f6e\u54c8\u5e0c\u8868\u548c\u6570\u7ec4<\/li>\n\n\n\n<li><strong>clearPairFlag()<\/strong> &#8211; \u6e05\u9664\u6240\u6709\u91cd\u53e0\u5bf9\u7684\u4f7f\u7528\u6807\u5fd7\uff0c\u4e3a\u65b0\u4e00\u8f6e\u5e7f\u76f8\u68c0\u6d4b\u505a\u51c6\u5907<\/li>\n\n\n\n<li><strong>addPair()<\/strong> &#8211; \u6dfb\u52a0\u65b0\u7684\u91cd\u53e0\u5bf9\u5230\u5bb9\u5668\u4e2d\uff0c\u5982\u679c\u5df2\u5b58\u5728\u5219\u66f4\u65b0\u4f7f\u7528\u6807\u5fd7\uff0c\u5426\u5219\u521b\u5efa\u65b0\u7684\u91cd\u53e0\u5bf9\u8bb0\u5f55<\/li>\n\n\n\n<li><strong>removeUnusedPair()<\/strong> &#8211; \u79fb\u9664\u672a\u4f7f\u7528\u7684\u91cd\u53e0\u5bf9\uff0c\u540c\u65f6\u5904\u7406\u7269\u4f53\u4f11\u7720\u903b\u8f91\uff1a\u5f53\u4e0a\u65b9\u7269\u4f53\u4f11\u7720\u800c\u4e0b\u65b9\u7269\u4f53\u6d3b\u8dc3\u65f6\uff0c\u5524\u9192\u4e0a\u65b9\u7269\u4f53\u4ee5\u5904\u7406\u91cd\u529b\u5f71\u54cd<\/li>\n\n\n\n<li><strong>getOverlappingPairs()<\/strong> &#8211; \u8fd4\u56de\u5f53\u524d\u6240\u6709\u91cd\u53e0\u5bf9\u7684\u5e38\u91cf\u5f15\u7528<\/li>\n\n\n\n<li><strong>internalFindPair() (\u91cd\u8f7d1)<\/strong> &#8211; \u5185\u90e8\u67e5\u627e\u51fd\u6570\uff0c\u6839\u636e\u7269\u4f53\u5bf9\u8ba1\u7b97\u54c8\u5e0c\u503c\u540e\u8c03\u7528\u91cd\u8f7d\u7248\u672c<\/li>\n\n\n\n<li><strong>internalFindPair() (\u91cd\u8f7d2)<\/strong> &#8211; \u5185\u90e8\u67e5\u627e\u51fd\u6570\u7684\u6838\u5fc3\u5b9e\u73b0\uff0c\u5728\u54c8\u5e0c\u8868\u4e2d\u67e5\u627e\u5339\u914d\u7684\u91cd\u53e0\u5bf9<\/li>\n\n\n\n<li><strong>computeHash()<\/strong> &#8211; \u8ba1\u7b97\u4e24\u4e2a\u7269\u4f53ID\u7684\u54c8\u5e0c\u503c\uff0c\u4f7f\u7528boost\u98ce\u683c\u7684\u54c8\u5e0c\u7ec4\u5408\u7b97\u6cd5\uff0c\u786e\u4fdd\u76f8\u540c\u7684\u7269\u4f53\u5bf9\u603b\u662f\u4ea7\u751f\u76f8\u540c\u7684\u54c8\u5e0c\u503c<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">CompoundCompoundCollisionAlgorithm.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u590d\u5408\u5f62\u72b6\u4e4b\u95f4\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\uff08CompoundCompoundCollisionAlgorithm\uff09\u3002\u5f53\u4e24\u4e2a\u590d\u5408\u5f62\u72b6\uff08CompoundShape\uff09\u53d1\u751f\u78b0\u649e\u65f6\uff0c\u8be5\u7b97\u6cd5\u8d1f\u8d23\u5904\u7406\u590d\u6742\u7684\u5c42\u6b21\u5316\u78b0\u649e\u68c0\u6d4b\uff0c\u901a\u8fc7\u7a7a\u95f4\u526a\u679d\u548c\u9012\u5f52\u5206\u6d3e\u6765\u9ad8\u6548\u5730\u68c0\u6d4b\u6240\u6709\u53ef\u80fd\u7684\u5b50\u5f62\u72b6\u78b0\u649e\u7ec4\u5408\uff0c\u907f\u514d\u4e0d\u5fc5\u8981\u7684\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>processCollision()<\/strong> &#8211; \u5904\u7406\u4e24\u4e2a\u590d\u5408\u5f62\u72b6\u4e4b\u95f4\u78b0\u649e\u68c0\u6d4b\u7684\u6838\u5fc3\u51fd\u6570\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5c06\u8f93\u5165\u7684\u5f62\u72b6\u5f3a\u5236\u8f6c\u6362\u4e3aCompoundShape\u7c7b\u578b<\/li>\n\n\n\n<li>\u83b7\u53d6\u4e24\u4e2a\u590d\u5408\u5f62\u72b6\u7684\u4e16\u754c\u53d8\u6362\u4fe1\u606f<\/li>\n\n\n\n<li>\u4f7f\u7528\u7a7a\u95f4\u67e5\u8be2\u4f18\u5316\uff1a\u5c06\u7b2c\u4e8c\u4e2a\u590d\u5408\u5f62\u72b6\u7684AABB\u53d8\u6362\u5230\u7b2c\u4e00\u4e2a\u590d\u5408\u5f62\u72b6\u7684\u672c\u5730\u5750\u6807\u7cfb\u4e2d<\/li>\n\n\n\n<li>\u8c03\u7528\u7b2c\u4e00\u4e2a\u590d\u5408\u5f62\u72b6\u7684<code>getIntersectShapes()<\/code>\u65b9\u6cd5\uff0c\u83b7\u53d6\u6240\u6709\u53ef\u80fd\u4e0e\u7b2c\u4e8c\u4e2a\u590d\u5408\u5f62\u72b6\u76f8\u4ea4\u7684\u5b50\u5f62\u72b6\u7d22\u5f15\u5217\u8868<\/li>\n\n\n\n<li>\u904d\u5386\u76f8\u4ea4\u7684\u5b50\u5f62\u72b6\uff0c\u5bf9\u6bcf\u4e2a\u5b50\u5f62\u72b6\u4e0e\u7b2c\u4e8c\u4e2a\u5b8c\u6574\u590d\u5408\u5f62\u72b6\u8fdb\u884c\u9012\u5f52\u78b0\u649e\u68c0\u6d4b<\/li>\n\n\n\n<li>\u901a\u8fc7NarrowPhaseDispatcher\u5206\u6d3e\u5177\u4f53\u7684\u78b0\u649e\u7b97\u6cd5\uff0c\u5904\u7406\u5b50\u5f62\u72b6\u4e0e\u590d\u5408\u5f62\u72b6\u7684\u78b0\u649e<\/li>\n\n\n\n<li>\u8fd4\u56de\u6700\u7ec8\u68c0\u6d4b\u5230\u7684\u78b0\u649e\u70b9\u6570\u91cf<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u7b97\u6cd5\u901a\u8fc7\u5c42\u6b21\u5316\u5904\u7406\u548c\u7a7a\u95f4\u526a\u679d\u5927\u5e45\u51cf\u5c11\u4e86\u590d\u5408\u5f62\u72b6\u78b0\u649e\u68c0\u6d4b\u7684\u8ba1\u7b97\u590d\u6742\u5ea6\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">CompoundConvexCollisionAlgorithm.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong> \u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u590d\u5408\u5f62\u72b6\u4e0e\u51f8\u5f62\u72b6\u4e4b\u95f4\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\uff08CompoundConvexCollisionAlgorithm\uff09\u3002\u5f53\u590d\u5408\u5f62\u72b6\uff08CompoundShape\uff09\u4e0e\u51f8\u5f62\u72b6\uff08ConvexShape\uff09\u53d1\u751f\u78b0\u649e\u65f6\uff0c\u8be5\u7b97\u6cd5\u8d1f\u8d23\u9ad8\u6548\u5730\u5904\u7406\u8fd9\u79cd\u6df7\u5408\u7c7b\u578b\u7684\u78b0\u649e\u68c0\u6d4b\uff0c\u901a\u8fc7\u7a7a\u95f4\u526a\u679d\u6280\u672f\u53ea\u68c0\u6d4b\u590d\u5408\u5f62\u72b6\u4e2d\u53ef\u80fd\u4e0e\u51f8\u5f62\u72b6\u76f8\u4ea4\u7684\u5b50\u5f62\u72b6\uff0c\u907f\u514d\u5168\u91cf\u68c0\u6d4b\u7684\u6027\u80fd\u5f00\u9500\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>processCollision()<\/strong> &#8211; \u5904\u7406\u590d\u5408\u5f62\u72b6\u4e0e\u51f8\u5f62\u72b6\u4e4b\u95f4\u78b0\u649e\u68c0\u6d4b\u7684\u6838\u5fc3\u51fd\u6570\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5c06\u8f93\u5165\u7684\u5f62\u72b6\u5206\u522b\u5f3a\u5236\u8f6c\u6362\u4e3aCompoundShape\u548cConvexShape\u7c7b\u578b<\/li>\n\n\n\n<li>\u83b7\u53d6\u590d\u5408\u5f62\u72b6\u548c\u51f8\u5f62\u72b6\u7684\u4e16\u754c\u53d8\u6362\u4fe1\u606f<\/li>\n\n\n\n<li>\u6267\u884c\u7a7a\u95f4\u67e5\u8be2\u4f18\u5316\uff1a\u5c06\u51f8\u5f62\u72b6\u7684AABB\u5305\u56f4\u76d2\u53d8\u6362\u5230\u590d\u5408\u5f62\u72b6\u7684\u672c\u5730\u5750\u6807\u7cfb\u4e2d<\/li>\n\n\n\n<li>\u8c03\u7528\u590d\u5408\u5f62\u72b6\u7684<code>getIntersectShapes()<\/code>\u65b9\u6cd5\uff0c\u5feb\u901f\u7b5b\u9009\u51fa\u53ef\u80fd\u4e0e\u51f8\u5f62\u72b6\u76f8\u4ea4\u7684\u5b50\u5f62\u72b6\u7d22\u5f15<\/li>\n\n\n\n<li>\u904d\u5386\u7b5b\u9009\u51fa\u7684\u76f8\u4ea4\u5b50\u5f62\u72b6\uff0c\u5bf9\u6bcf\u4e2a\u5b50\u5f62\u72b6\u4e0e\u51f8\u5f62\u72b6\u8fdb\u884c\u7cbe\u786e\u78b0\u649e\u68c0\u6d4b<\/li>\n\n\n\n<li>\u901a\u8fc7NarrowPhaseDispatcher\u5206\u6d3e\u5408\u9002\u7684\u78b0\u649e\u7b97\u6cd5\u6765\u5904\u7406\u5b50\u5f62\u72b6\u4e0e\u51f8\u5f62\u72b6\u7684\u5177\u4f53\u78b0\u649e<\/li>\n\n\n\n<li>\u7d2f\u79ef\u6240\u6709\u5b50\u78b0\u649e\u7684\u7ed3\u679c\u5230\u8f93\u51fa\u53c2\u6570\u4e2d<\/li>\n\n\n\n<li>\u8fd4\u56de\u68c0\u6d4b\u5230\u7684\u78b0\u649e\u63a5\u89e6\u70b9\u603b\u6570<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u7b97\u6cd5\u901a\u8fc7BVH\u6216\u7c7b\u4f3c\u7684\u7a7a\u95f4\u6570\u636e\u7ed3\u6784\u5b9e\u73b0\u9ad8\u6548\u7684\u7a7a\u95f4\u526a\u679d\uff0c\u663e\u8457\u63d0\u5347\u4e86\u590d\u5408\u5f62\u72b6\u4e0e\u51f8\u5f62\u72b6\u78b0\u649e\u68c0\u6d4b\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">ConstraintUtils.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u7269\u7406\u5f15\u64ce\u4e2d\u7ea6\u675f\u7cfb\u7edf\u7684\u6838\u5fc3\u5de5\u5177\u7c7b\uff0c\u5305\u542b\u7ea6\u675f\u65b9\u7a0b\uff08ConstraintEquation\uff09\u548c\u7ea6\u675f\u5143\u7ec4\uff08ConstraintTuple\uff09\u4e24\u4e2a\u4e3b\u8981\u7c7b\u3002\u8fd9\u4e9b\u7c7b\u7528\u4e8e\u5904\u7406\u521a\u4f53\u95f4\u7684\u5404\u79cd\u7ea6\u675f\u5173\u7cfb\uff0c\u5982\u5173\u8282\u3001\u78b0\u649e\u7ea6\u675f\u7b49\uff0c\u662f\u7269\u7406\u4eff\u771f\u4e2d\u7ea6\u675f\u6c42\u89e3\u5668\u7684\u57fa\u7840\u7ec4\u4ef6\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">ConstraintEquation \u7c7b\u51fd\u6570<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6784\u9020\u51fd\u6570 <code>ConstraintEquation()<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u7ea6\u675f\u65b9\u7a0b\u5bf9\u8c61<\/li>\n\n\n\n<li>\u8bbe\u7f6e\u9ed8\u8ba4\u53c2\u6570\uff1a\u6fc0\u6d3b\u72b6\u6001\u4e3atrue\uff0c\u6a21\u5f0f\u4e3aLOCK\uff08\u9501\u5b9a\u6a21\u5f0f\uff09<\/li>\n\n\n\n<li>\u521d\u59cb\u5316\u62c9\u683c\u6717\u65e5\u4e58\u6570\u3001\u504f\u7f6e\u3001\u5bf9\u89d2\u7ebf\u5143\u7d20\u7b49\u4e3a0<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>violation(Real mc_i)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u7ea6\u675f\u8fdd\u53cd\u7a0b\u5ea6<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u5355\u5411\u7ea6\u675f\uff08UNILATERAL\uff09\uff0c\u5982\u679cmc_i &gt; 0\u5219\u8fd4\u56de0\uff08\u65e0\u8fdd\u53cd\uff09<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u5176\u4ed6\u7ea6\u675f\u7c7b\u578b\u76f4\u63a5\u8fd4\u56demc_i\u503c<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>defaultProject()<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6267\u884c\u9ed8\u8ba4\u7684\u7ea6\u675f\u6295\u5f71\u64cd\u4f5c<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u5355\u5411\u7ea6\u675f\uff0c\u786e\u4fdd\u62c9\u683c\u6717\u65e5\u4e58\u6570l_i\u4e0d\u4e3a\u8d1f\u6570<\/li>\n\n\n\n<li>\u7528\u4e8e\u7ea6\u675f\u6c42\u89e3\u8fc7\u7a0b\u4e2d\u7684\u6295\u5f71\u6b65\u9aa4<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">ConstraintTuple \u7c7b\u51fd\u6570<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u6784\u9020\u51fd\u6570 <code>ConstraintTuple()<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u7ea6\u675f\u5143\u7ec4\u5bf9\u8c61<\/li>\n\n\n\n<li>\u5c06\u521a\u4f53\u6307\u9488\u8bbe\u4e3a\u7a7a\uff0c\u96c5\u53ef\u6bd4\u77e9\u9635Cq\u548c\u8f85\u52a9\u77e9\u9635Eq\u8bbe\u4e3a\u96f6<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>updateAuxiliary(Real &amp;g_i)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66f4\u65b0\u7ea6\u675f\u7684\u8f85\u52a9\u53d8\u91cf<\/li>\n\n\n\n<li>\u8ba1\u7b97Eq\u77e9\u9635\uff1a\u524d3\u4e2a\u5143\u7d20\u4e3a\u8d28\u91cf\u9006\u77e9\u9635\u4e58\u4ee5\u96c5\u53ef\u6bd4\u77e9\u9635\u7684\u7ebf\u6027\u90e8\u5206<\/li>\n\n\n\n<li>\u540e3\u4e2a\u5143\u7d20\u4e3a\u60ef\u6027\u9006\u77e9\u9635\u4e58\u4ee5\u96c5\u53ef\u6bd4\u77e9\u9635\u7684\u89d2\u5ea6\u90e8\u5206<\/li>\n\n\n\n<li>\u66f4\u65b0\u5bf9\u89d2\u7ebf\u5143\u7d20g_i\uff08\u7528\u4e8e\u7ea6\u675f\u6c42\u89e3\u7684\u7cfb\u6570\u77e9\u9635\uff09<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>computeJacobianTimesState()<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u96c5\u53ef\u6bd4\u77e9\u9635\u4e0e\u5f53\u524d\u72b6\u6001\u5411\u91cf\u7684\u70b9\u79ef<\/li>\n\n\n\n<li>\u72b6\u6001\u5411\u91cf\u5305\u542b\u7ebf\u6027\u901f\u5ea6\u548c\u5c40\u90e8\u5750\u6807\u7cfb\u4e0b\u7684\u89d2\u901f\u5ea6<\/li>\n\n\n\n<li>\u8fd4\u56deJ\u00b7v\u7684\u8ba1\u7b97\u7ed3\u679c\uff08\u7ea6\u675f\u901f\u5ea6\uff09<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>incrementState(Real deltal)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u636e\u7ea6\u675f\u6c42\u89e3\u7ed3\u679c\u589e\u91cf\u66f4\u65b0\u521a\u4f53\u72b6\u6001<\/li>\n\n\n\n<li>\u66f4\u65b0\u7ebf\u6027\u901f\u5ea6\uff1av += Eq_linear * deltal<\/li>\n\n\n\n<li>\u66f4\u65b0\u89d2\u901f\u5ea6\uff1a\u03c9 += R * Eq_angular * deltal\uff08R\u4e3a\u65cb\u8f6c\u77e9\u9635\uff09<\/li>\n\n\n\n<li>\u7528\u4e8e\u7ea6\u675f\u6c42\u89e3\u8fed\u4ee3\u8fc7\u7a0b\u4e2d\u7684\u72b6\u6001\u66f4\u65b0<\/li>\n\n\n\n<li><\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">ConvexConvexCollisionAlgorithm.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6587\u4ef6\u5b9e\u73b0\u4e86\u51f8\u5f62\u72b6\u4e4b\u95f4\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5\u7c7b <code>ConvexConvexCollisionAlgorithm<\/code>\u3002\u8fd9\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u7a84\u76f8\u4f4d\u78b0\u649e\u68c0\u6d4b\u7cfb\u7edf\u7684\u6838\u5fc3\u7ec4\u4ef6\uff0c\u4e13\u95e8\u7528\u4e8e\u5904\u7406\u4e24\u4e2a\u51f8\u51e0\u4f55\u5f62\u72b6\uff08\u5982\u7403\u4f53\u3001\u76d2\u5b50\u3001\u80f6\u56ca\u7b49\uff09\u4e4b\u95f4\u7684\u7cbe\u786e\u78b0\u649e\u68c0\u6d4b\u548c\u7a7f\u900f\u6df1\u5ea6\u8ba1\u7b97\u3002\u8be5\u7b97\u6cd5\u4f7f\u7528EPA\uff08Expanding Polytope Algorithm\uff09\u6765\u8ba1\u7b97\u78b0\u649e\u7ec6\u8282\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u6240\u6709\u51fd\u6570\u5927\u81f4\u4f5c\u7528\u4ecb\u7ecd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\"><strong><code>processCollision(const Ref&lt;ShapeBase&gt; &amp;shape0, const Ref&lt;ShapeBase&gt; &amp;shape1, const Coordsys &amp;trans0, const Coordsys &amp;trans1, CollisionResult &amp;resultOut)<\/code><\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5904\u7406\u4e24\u4e2a\u51f8\u5f62\u72b6\u4e4b\u95f4\u7684\u78b0\u649e\u68c0\u6d4b\u4e3b\u51fd\u6570<\/li>\n\n\n\n<li>\u53c2\u6570\u8bf4\u660e\uff1a\n<ul class=\"wp-block-list\">\n<li>shape0, shape1\uff1a\u4e24\u4e2a\u5f85\u68c0\u6d4b\u7684\u5f62\u72b6\u5bf9\u8c61<\/li>\n\n\n\n<li>trans0, trans1\uff1a\u4e24\u4e2a\u5f62\u72b6\u7684\u4e16\u754c\u5750\u6807\u53d8\u6362<\/li>\n\n\n\n<li>resultOut\uff1a\u8f93\u51fa\u78b0\u649e\u7ed3\u679c\u7684\u5f15\u7528<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u5c06\u8f93\u5165\u7684\u57fa\u7840\u5f62\u72b6\u8f6c\u6362\u4e3a\u51f8\u5f62\u72b6\u7c7b\u578b<\/li>\n\n\n\n<li>\u521b\u5efaEPA\u7b97\u6cd5\u5b9e\u4f8b\u8fdb\u884c\u7a7f\u900f\u6df1\u5ea6\u8ba1\u7b97<\/li>\n\n\n\n<li>\u4f7f\u7528EPA\u7b97\u6cd5\u7684GetPenetrationDepth\u65b9\u6cd5\u68c0\u6d4b\u662f\u5426\u76f8\u4ea4<\/li>\n\n\n\n<li>\u5982\u679c\u53d1\u751f\u78b0\u649e\uff1a\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u78b0\u649e\u6cd5\u5411\u91cf\uff08\u53d6v1\u7684\u8d1f\u65b9\u5411\u5e76\u5f52\u4e00\u5316\uff09<\/li>\n\n\n\n<li>\u8ba1\u7b97\u63a5\u89e6\u70b9\u4f4d\u7f6e\uff08\u8003\u8651\u5f62\u72b6\u8fb9\u8dddmargin\uff09<\/li>\n\n\n\n<li>\u8ba1\u7b97\u7a7f\u900f\u6df1\u5ea6\uff08\u8003\u8651\u4e24\u4e2a\u5f62\u72b6\u7684\u8fb9\u8ddd\uff09<\/li>\n\n\n\n<li>\u5c06\u78b0\u649e\u4fe1\u606f\u6dfb\u52a0\u5230\u7ed3\u679c\u4e2d<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u8fd4\u56de\u503c\uff1a1\u8868\u793a\u6709\u78b0\u649e\uff0c0\u8868\u793a\u65e0\u78b0\u649e<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u7b97\u6cd5\u662f\u7269\u7406\u5f15\u64ce\u4e2d\u5904\u7406\u51f8\u5f62\u72b6\u78b0\u649e\u7684\u6807\u51c6\u65b9\u6cd5\uff0cEPA\u7b97\u6cd5\u80fd\u591f\u63d0\u4f9b\u51c6\u786e\u7684\u7a7f\u900f\u6df1\u5ea6\u548c\u63a5\u89e6\u4fe1\u606f\uff0c\u8fd9\u5bf9\u4e8e\u78b0\u649e\u54cd\u5e94\u548c\u7ea6\u675f\u6c42\u89e3\u81f3\u5173\u91cd\u8981\uff0c\u4e3a\u5bbd\u76f8\u4f4d\u78b0\u649e\u68c0\u6d4b\u63d0\u4f9b\u9ad8\u6548\u7684\u7a7a\u95f4\u5212\u5206\u57fa\u7840\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><br>CylinderBoxCollisionAlgorithm.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><br>\u5b9e\u73b0\u5706\u67f1\u4f53(Cylinder)\u4e0e\u76d2\u5b50(Box)\u4e4b\u95f4\u7684\u78b0\u649e\u68c0\u6d4b\u7b97\u6cd5<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u51fd\u6570\u5217\u8868\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>PointInsideBox() &#8211; \u68c0\u6d4b\u70b9\u662f\u5426\u5728\u76d2\u5b50\u5185\u90e8<\/li>\n\n\n\n<li>addContactPoint() &#8211; \u6dfb\u52a0\u76d2\u5b50\u4e0e\u70b9\u7684\u78b0\u649e\u63a5\u89e6\u70b9(\u4e24\u4e2a\u91cd\u8f7d\u7248\u672c)<\/li>\n\n\n\n<li>FindClosestBoxFace() &#8211; \u627e\u5230\u79bb\u7ed9\u5b9a\u4f4d\u7f6e\u6700\u8fd1\u7684\u76d2\u5b50\u9762<\/li>\n\n\n\n<li>IntersectLinePlane() &#8211; \u8ba1\u7b97\u76f4\u7ebf\u4e0e\u5e73\u9762\u7684\u4ea4\u70b9<\/li>\n\n\n\n<li>IntersectSegmentBox() &#8211; \u68c0\u6d4b\u7ebf\u6bb5\u4e0e\u76d2\u5b50\u7684\u76f8\u4ea4<\/li>\n\n\n\n<li>IntersectSegmentCylinder() &#8211; \u68c0\u6d4b\u7ebf\u6bb5\u4e0e\u5706\u67f1\u4f53\u7684\u76f8\u4ea4<\/li>\n\n\n\n<li>processCollision() &#8211; \u4e3b\u5904\u7406\u51fd\u6570\uff0c\u6267\u884c\u5706\u67f1\u4f53\u4e0e\u76d2\u5b50\u7684\u78b0\u649e\u68c0\u6d4b<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3b\u8981\u7b97\u6cd5\u6d41\u7a0b\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5c06\u5706\u67f1\u4f53\u8f6c\u6362\u5230\u76d2\u5b50\u5750\u6807\u7cfb<\/li>\n\n\n\n<li>\u68c0\u67e5\u5706\u67f1\u4f53\u4fa7\u9762\u4e0e\u76d2\u5b50\u9762\u7684\u78b0\u649e<\/li>\n\n\n\n<li>\u68c0\u67e5\u76d2\u5b50\u8fb9\u4e0e\u5706\u67f1\u4f53\u7684\u78b0\u649e<\/li>\n\n\n\n<li>\u751f\u6210\u78b0\u649e\u63a5\u89e6\u70b9\u4fe1\u606f<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">Driveline.cpp<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>============================\n\n\u5b9e\u73b0\u8f6e\u5f0f\u8f66\u8f86\u4f20\u52a8\u7cfb\u7edf\u7684\u626d\u77e9\u5206\u914d\u903b\u8f91\uff08\u6a21\u62df\u9650\u6ed1\u5dee\u901f\u5668\uff09\n\n\u6838\u5fc3\u529f\u80fd\uff1a\n- \u6839\u636e\u8f66\u8f6e\u8f6c\u901f\u5dee\u52a8\u6001\u5206\u914d\u626d\u77e9\n- \u6a21\u62dfTorsten\u9650\u6ed1\u5dee\u901f\u5668\u7279\u6027\n- \u652f\u6301\u53ef\u914d\u7f6e\u7684\u6700\u5927\u626d\u77e9\u504f\u7f6e\u6bd4\n\n\u51fd\u6570\u5217\u8868\uff1a\n1. Driveline() - \u6784\u9020\u51fd\u6570\uff0c\u521d\u59cb\u5316\u6700\u5927\u626d\u77e9\u504f\u7f6e\u6bd4\n2. applyTorque() - \u4e3b\u903b\u8f91\u51fd\u6570\uff0c\u6267\u884c\u626d\u77e9\u5206\u914d\u7b97\u6cd5\n\n\u7b97\u6cd5\u6d41\u7a0b\uff1a\n1. \u83b7\u53d6\u5de6\u53f3\u8f66\u8f6e\u8f6c\u901f\u5dee\n2. \u6839\u636e\u8f6c\u901f\u5dee\u8ba1\u7b97\u52a8\u6001\u626d\u77e9\u504f\u7f6e\u6bd4\uff1a\n   - \u8f6c\u901f\u5dee\u22640.25\u65f6\uff0c\u504f\u7f6e\u6bd4\u4e3a1:1\uff08\u5b8c\u5168\u5f00\u653e\u5dee\u901f\u5668\uff09\n   - \u8f6c\u901f\u5dee\u22650.5\u65f6\uff0c\u91c7\u7528\u6700\u5927\u504f\u7f6e\u6bd4(mMaxBias:1)\n   - \u4e2d\u95f4\u72b6\u6001\u7ebf\u6027\u8fc7\u6e21\n3. \u5c06\u8f93\u5165\u626d\u77e9\u5206\u4e3a\u5feb\u6162\u4e24\u90e8\u5206\uff1a\n   - \u6162\u8f6e\u83b7\u5f97\u8f83\u5927\u626d\u77e9(alpha)\n   - \u5feb\u8f6e\u83b7\u5f97\u8f83\u5c0f\u626d\u77e9(1-alpha)\n4. \u6839\u636e\u5b9e\u9645\u8f6c\u901f\u786e\u5b9a\u5de6\u53f3\u8f6e\u7684\u5feb\u6162\u72b6\u6001\n5. \u5c06\u8ba1\u7b97\u540e\u7684\u626d\u77e9\u65bd\u52a0\u5230\u5bf9\u5e94\u8f66\u8f6e\n\n\u6280\u672f\u7279\u70b9\uff1a\n- \u4f7f\u7528\u56db\u6bb5\u5f0f\u7ebf\u6027\u6a21\u578b\u6a21\u62df\u9650\u6ed1\u7279\u6027\n- \u626d\u77e9\u5206\u914d\u8003\u8651\u8f66\u8f6e\u4e16\u754c\u5750\u6807\u7cfb\u65cb\u8f6c\n- \u652f\u6301\u591a\u8f6e\u8f74\u914d\u7f6e\uff08\u901a\u8fc7Axle\u7c7b\u7ba1\u7406\uff09\n============================<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5173\u952e\u53c2\u6570\u8bf4\u660e\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mMaxBias<\/code>\uff1a\u6700\u5927\u626d\u77e9\u504f\u7f6e\u6bd4\uff08\u5982\u8bbe\u7f6e\u4e3a4\u8868\u793a\u6700\u591a4:1\u7684\u626d\u77e9\u5206\u914d\uff09<\/li>\n\n\n\n<li><code>diff<\/code>\uff1a\u5f52\u4e00\u5316\u7684\u8f66\u8f6e\u8f6c\u901f\u5dee\uff08|\u5de6\u901f &#8211; \u53f3\u901f|\uff09<\/li>\n\n\n\n<li><code>bias<\/code>\uff1a\u52a8\u6001\u8ba1\u7b97\u7684\u5f53\u524d\u626d\u77e9\u504f\u7f6e\u6bd4<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5178\u578b\u5e94\u7528\u573a\u666f\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\/\/ \u521b\u5efa\u4f20\u52a8\u7cfb\u7edf\uff08\u6700\u5927\u504f\u7f6e\u6bd44:1\uff09\nauto driveline = CreateRef&lt;Driveline&gt;(4.0f); \n\n\/\/ \u5bf9\u67d0\u8f66\u8f74\u65bd\u52a01000Nm\u626d\u77e9\ndriveline-&gt;applyTorque(axle, 1000.0f);<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u6ce8\u610f\uff1a\u5b9e\u9645\u5b9e\u73b0\u4e2d\u626d\u77e9\u65b9\u5411\u9700\u8981\u8003\u8651\u8f66\u8f6e\u5c40\u90e8\u5750\u6807\u7cfb\u5230\u4e16\u754c\u5750\u6807\u7cfb\u7684\u65cb\u8f6c\u53d8\u6362\uff08\u901a\u8fc7getWorldTransform()\u5904\u7406\uff09<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">FrictionContactConstraint.cpp<\/h3>\n\n\n\n<pre class=\"wp-block-code\"><code>\n\u5b9e\u73b0\u5e26\u6469\u64e6\u7684\u63a5\u89e6\u7ea6\u675f\u6c42\u89e3\u5668\uff0c\u91c7\u7528\u987a\u5e8f\u8109\u51b2(Sequential Impulse)\u65b9\u6cd5\u5904\u7406\u521a\u4f53\u78b0\u649e\n\n\u6838\u5fc3\u529f\u80fd\uff1a\n- \u5904\u7406\u78b0\u649e\u70b9\u6cd5\u5411\u548c\u5207\u5411\u7ea6\u675f\n- \u652f\u6301\u9759\u6469\u64e6\u548c\u52a8\u6469\u64e6\u6a21\u578b\n- \u5b9e\u73b0Anitescu-Tasora\u6295\u5f71\u7b97\u6cd5\n- \u652f\u6301\u6062\u590d\u7cfb\u6570(\u5f39\u6027)\u548c\u7a7f\u900f\u4fee\u6b63\n\n\u5173\u952e\u53c2\u6570\uff1a\n- restitutionVelocityThreshold (0.1)\uff1a\u89e6\u53d1\u5f39\u6027\u78b0\u649e\u7684\u6700\u5c0f\u76f8\u5bf9\u901f\u5ea6\n- penetrationThreshold (0.3)\uff1a\u6700\u5927\u5141\u8bb8\u7a7f\u900f\u6df1\u5ea6\n- kerp (0.2)\uff1a\u7a7f\u900f\u4fee\u6b63\u7cfb\u6570\n\n\u4e3b\u8981\u51fd\u6570\uff1a\n1. initSequentialImpulse() - \u521d\u59cb\u5316\u7ea6\u675f\u4fe1\u606f\n   - \u8ba1\u7b97\u6cd5\u5411\u548c\u5207\u5411\u7ea6\u675f\u7684\u6709\u6548\u8d28\u91cf\n   - \u8bbe\u7f6e\u7ea6\u675fRHS\u9879\n   - \u5904\u7406\u5f39\u6027\u78b0\u649e\u548c\u7a7f\u900f\u4fee\u6b63\n\n2. iterateSequentialImpulse() - \u6267\u884c\u987a\u5e8f\u8109\u51b2\u8fed\u4ee3\n   - \u8ba1\u7b97\u6cd5\u5411\u51b2\u91cf(\u8003\u8651\u7a7f\u900f\u6062\u590d)\n   - \u8ba1\u7b97\u5207\u5411\u51b2\u91cf(\u57fa\u4e8e\u5e93\u4f26\u6469\u64e6)\n   - \u5e94\u7528\u51b2\u91cf\u5230\u521a\u4f53\n\n3. computeJacobianForContactPart() - \u8ba1\u7b97\u63a5\u89e6\u7ea6\u675f\u96c5\u53ef\u6bd4\u77e9\u9635\n   - \u6784\u5efa\u6cd5\u5411(N)\u548c\u5207\u5411(U,V)\u7ea6\u675f\u7a7a\u95f4\n   - \u5904\u7406\u53cc\u521a\u4f53\u7684\u76f8\u5bf9\u8fd0\u52a8\n\n4. project() - \u6267\u884c\u6469\u64e6\u9525\u6295\u5f71\n   - \u5c06\u89e3\u6295\u5f71\u5230\u6469\u64e6\u9525\u7ea6\u675f\u7a7a\u95f4\n   - \u5904\u7406\u9759\u6469\u64e6\u548c\u52a8\u6469\u64e6\u8f6c\u6362\n\n\u6280\u672f\u7279\u70b9\uff1a\n- \u91c7\u7528\u6709\u6548\u8d28\u91cf(Effective Mass)\u7b80\u5316\u8ba1\u7b97\n- \u652f\u6301\u540c\u65f6\u5904\u7406\u591a\u4e2a\u63a5\u89e6\u70b9\n- \u4f7f\u7528\u51b2\u91cf-\u901f\u5ea6\u516c\u5f0f\u800c\u975e\u529b-\u52a0\u901f\u5ea6\n- \u5b9e\u73b0\u975e\u7a7f\u900f\u7ea6\u675f\u548c\u6469\u64e6\u7ea6\u675f\u7684\u8026\u5408\u6c42\u89e3\n============================\n\n&#91;\u7ea6\u675f\u5904\u7406\u6d41\u7a0b]\n1. \u521d\u59cb\u5316\u9636\u6bb5\uff1a\n   - \u4ece\u78b0\u649e\u7ed3\u679c\u63d0\u53d6\u63a5\u89e6\u70b9\u4fe1\u606f\n   - \u8ba1\u7b97\u6bcf\u4e2a\u63a5\u89e6\u70b9\u7684\uff1a\n     * \u76f8\u5bf9\u4f4d\u7f6e\u5411\u91cf(rA, rB)\n     * \u6cd5\u5411\u91cf\u548c\u5207\u5e73\u9762\n     * \u6709\u6548\u8d28\u91cf\u9879(nDenomInv, tDenomInv)\n\n2. \u8fed\u4ee3\u6c42\u89e3\u9636\u6bb5\uff1a\n   while (!converged) {\n     - \u8ba1\u7b97\u5f53\u524d\u76f8\u5bf9\u901f\u5ea6\n     - \u6c42\u89e3\u6cd5\u5411\u51b2\u91cf(\u8003\u8651\u7a7f\u900f\u548c\u6062\u590d)\n     - \u6c42\u89e3\u5207\u5411\u51b2\u91cf(\u53d7\u6cd5\u5411\u529b\u7ea6\u675f)\n     - \u5e94\u7528\u51b2\u91cf\u66f4\u65b0\u521a\u4f53\u901f\u5ea6\n   }\n\n3. \u6295\u5f71\u9636\u6bb5\uff1a\n   - \u786e\u4fdd\u89e3\u6ee1\u8db3\u6469\u64e6\u9525\u7ea6\u675f\n   - \u5904\u7406\u9759\/\u52a8\u6469\u64e6\u8f6c\u6362\n   - \u7ef4\u6301\u975e\u7a7f\u900f\u6761\u4ef6\n\n&#91;\u5173\u952e\u7b97\u6cd5\u7ec6\u8282]\n* \u6cd5\u5411\u7ea6\u675f\u5904\u7406\uff1a\n  \u03bb\u2099 = max(0, (\u0394v + e\u00b7v\u207b)\/nDenomInv)\n\n* \u5207\u5411\u7ea6\u675f\u5904\u7406\uff1a\n  \u03bb\u209c \u2208 &#91;-\u03bc\u03bb\u2099, +\u03bc\u03bb\u2099]\n\n* \u6709\u6548\u8d28\u91cf\u8ba1\u7b97\uff1a\n  1\/M_eff = 1\/m\u2081 + 1\/m\u2082 + (r\u2081\u00d7n)\u1d40I\u2081\u207b\u00b9(r\u2081\u00d7n) + (r\u2082\u00d7n)\u1d40I\u2082\u207b\u00b9(r\u2082\u00d7n)\n\n* Anitescu-Tasora\u6295\u5f71\uff1a\n  if (f\u209c\u00b2 > (\u03bcf\u2099)\u00b2) {\n    f\u2099' = (f\u209c\/\u03bc + f\u2099)\/(1 + \u03bc\u00b2)\n    f\u209c' = \u03bcf\u2099'\n  }\n============================<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8865\u5145\u8bf4\u660e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u8be5\u5b9e\u73b0\u7279\u522b\u9002\u5408\u5904\u7406\u5806\u53e0\u7269\u4f53\u548c\u6ed1\u52a8\u6469\u64e6\u7b49\u590d\u6742\u63a5\u89e6\u60c5\u51b5<\/li>\n\n\n\n<li>kerp\u53c2\u6570\u63a7\u5236\u7a7f\u900f\u4fee\u6b63\u7684\u521a\u5ea6\uff0c\u503c\u8d8a\u5927\u4fee\u6b63\u8d8a\u6fc0\u8fdb<\/li>\n\n\n\n<li>\u6469\u64e6\u7cfb\u6570\u901a\u8fc7sqrt\u8f6c\u6362\u5b9e\u73b0\u66f4\u5e73\u6ed1\u7684\u9759\u52a8\u6469\u64e6\u8fc7\u6e21<\/li>\n\n\n\n<li>\u7ea6\u675f\u96c5\u53ef\u6bd4\u77e9\u9635\u7684\u8ba1\u7b97\u8003\u8651\u4e86\u521a\u4f53\u7684\u65cb\u8f6c\u6548\u5e94<\/li>\n\n\n\n<li>\u652f\u6301\u8fd0\u52a8\u5b66\u521a\u4f53(kinematic)\u7684\u7279\u6b8a\u5904\u7406<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\"><br>GenericLinkConstraint.cpp<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><br>\u5b9e\u73b0\u901a\u7528\u521a\u4f53\u94fe\u63a5\u7ea6\u675f\uff0c\u652f\u63016\u81ea\u7531\u5ea6(D6)\u7684\u4f4d\u59ff\u7ea6\u675f<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6838\u5fc3\u529f\u80fd\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8fde\u63a5\u4e24\u4e2a\u521a\u4f53\u5e76\u7ea6\u675f\u5176\u76f8\u5bf9\u8fd0\u52a8<\/li>\n\n\n\n<li>\u652f\u6301\u72ec\u7acb\u63a7\u5236\u5404\u5e73\u79fb\/\u65cb\u8f6c\u81ea\u7531\u5ea6\u7684\u7ea6\u675f\u72b6\u6001<\/li>\n\n\n\n<li>\u91c7\u7528\u987a\u5e8f\u8109\u51b2\u6cd5\u6c42\u89e3\u7ea6\u675f<\/li>\n\n\n\n<li>\u63d0\u4f9b\u5b8c\u6574\u7684\u96c5\u53ef\u6bd4\u77e9\u9635\u8ba1\u7b97<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5173\u952e\u53c2\u6570\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>kerp (0.2)\uff1a\u4f4d\u7f6e\u4fee\u6b63\u521a\u5ea6\u7cfb\u6570<\/li>\n\n\n\n<li>damping (1.0)\uff1a\u901f\u5ea6\u963b\u5c3c\u7cfb\u6570<\/li>\n\n\n\n<li>mFrameInA\/mFrameInB\uff1a\u4e24\u521a\u4f53\u7684\u5c40\u90e8\u8fde\u63a5\u5750\u6807\u7cfb<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e3b\u8981\u51fd\u6570\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>setLimit() &#8211; \u8bbe\u7f6e\u5404\u81ea\u7531\u5ea6\u7ea6\u675f\u72b6\u6001<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63a7\u5236X\/Y\/Z\u5e73\u79fb\u548c\u65cb\u8f6c\u7684\u7ea6\u675f\u5f00\u5173<\/li>\n\n\n\n<li>\u521d\u59cb\u5316\u7ea6\u675f\u65b9\u7a0b\u6570\u7ec4<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>calculateTransforms() &#8211; \u8ba1\u7b97\u76f8\u5bf9\u4f4d\u59ff<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5904\u7406\u6b27\u62c9\u89d2\u4e07\u5411\u9501\u95ee\u9898<\/li>\n\n\n\n<li>\u8ba1\u7b97\u8d28\u91cf\u52a0\u6743\u56e0\u5b50(mFactA\/B)<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>initSequentialImpulse() &#8211; \u521d\u59cb\u5316\u7ea6\u675f\u6c42\u89e3<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u6709\u6548\u8d28\u91cf(m_jacDiagABInv)<\/li>\n\n\n\n<li>\u8bbe\u7f6e\u7ea6\u675fRHS\u9879(\u542b\u5f39\u6027\u4fee\u6b63)<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>iterateSequentialImpulse() &#8211; \u6267\u884c\u7ea6\u675f\u8fed\u4ee3<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u51b2\u91cf\u589e\u91cf\u5e76\u66f4\u65b0\u521a\u4f53\u901f\u5ea6<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>UpdateState() &#8211; \u66f4\u65b0\u7ea6\u675f\u72b6\u6001<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u5b8c\u6574\u96c5\u53ef\u6bd4\u77e9\u9635(Cq1\/Cq2)<\/li>\n\n\n\n<li>\u5904\u7406\u65cb\u8f6c\u5bfc\u6570\u7684\u56db\u5143\u6570\u8f6c\u6362<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u6280\u672f\u7279\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u652f\u6301\u6df7\u5408\u7ea6\u675f\u6a21\u5f0f(\u53cc\u8fb9\/\u5355\u8fb9)<\/li>\n\n\n\n<li>\u4f7f\u7528\u56db\u5143\u6570\u907f\u514d\u65cb\u8f6c\u5947\u5f02\u6027<\/li>\n\n\n\n<li>\u8003\u8651\u9759\u6001\u521a\u4f53\u7684\u7279\u6b8a\u5904\u7406<\/li>\n\n\n\n<li> \u63d0\u4f9b\u7ea6\u675f\u529b\u53cd\u9988(react\u5411\u91cf)<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">[\u7ea6\u675f\u5750\u6807\u7cfb\u4f53\u7cfb]<br>BodyA BodyB<br>\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510 \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br>\u2502 FrameInA \u2502 FrameInB<br>\u2502 (mA) \u2502 (mB)<br>\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518 \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br>\u2502 \u2502<br>\u2502 relative transform \u2502<br>\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br>\u2193<br>relM \/ relM_dt<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">[\u6838\u5fc3\u7b97\u6cd5\u6d41\u7a0b]<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u9636\u6bb5\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u7f6e\u7ea6\u675f\u81ea\u7531\u5ea6(setLimit)<\/li>\n\n\n\n<li>\u8ba1\u7b97\u521d\u59cb\u76f8\u5bf9\u4f4d\u59ff(calculateTransforms)<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6bcf\u5e27\u66f4\u65b0\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66f4\u65b0\u6807\u8bb0\u70b9\u5750\u6807(UpdateRelMarkerCoords)<\/li>\n\n\n\n<li>\u8ba1\u7b97\u7ea6\u675f\u72b6\u6001(UpdateState)<\/li>\n\n\n\n<li>\u8f6c\u6362\u96c5\u53ef\u6bd4\u77e9\u9635(UpdateCqw)<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7ea6\u675f\u6c42\u89e3\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u6709\u6548\u8d28\u91cf(initSequentialImpulse)<\/li>\n\n\n\n<li>\u8fed\u4ee3\u6c42\u89e3\u901f\u5ea6\u7ea6\u675f(iterateSequentialImpulse)<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">[\u96c5\u53ef\u6bd4\u77e9\u9635\u7ed3\u6784]<br>Cq1 (\u5bf9Body1\u7684\u5bfc\u6570) = [ CqxT | -CqxT\u00b7R1\u00b7P1*\u00b7G1 ]<br>[ 0 | S(q2\u207b\u00b9q1) ]<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Cq2 (\u5bf9Body2\u7684\u5bfc\u6570) = [ -CqxT | CqxT\u00b7R2\u00b7Q2<em>\u00b7G2 + Aq\u1d40\u00b7(PQw<\/em>)\u00b7G2 ]<br>[ 0 | S(q1\u207b\u00b9q2) ]<br>\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>CqxT = Aq\u1d40\u00b7Ao2\u1d40<\/li>\n\n\n\n<li>P1<em>\/Q2<\/em> \u4e3a\u4f4d\u7f6e\u5411\u91cf\u7684\u53c9\u4e58\u77e9\u9635<\/li>\n\n\n\n<li>G1\/G2 \u4e3a\u56db\u5143\u6570\u8f6c\u6362\u77e9\u9635<\/li>\n\n\n\n<li>S() \u4e3a\u56db\u5143\u6570\u661f\u578b\u77e9\u9635<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">[\u987a\u5e8f\u8109\u51b2\u6c42\u89e3]<br>\u03bb = (J\u00b7M\u207b\u00b9\u00b7J\u1d40)\u207b\u00b9\u00b7(\u03b2\u00b7C\/\u0394t + J\u00b7v)<br>\u5176\u4e2d\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u03b2 = kerp\/\u0394t (\u4f4d\u7f6e\u4fee\u6b63\u589e\u76ca)<\/li>\n\n\n\n<li>C \u4e3a\u7ea6\u675f\u8bef\u5dee<\/li>\n\n\n\n<li>&#8211; v \u4e3a\u76f8\u5bf9\u901f\u5ea6<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u8865\u5145\u8bf4\u660e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u8be5\u7ea6\u675f\u53ef\u7528\u4e8e\u5b9e\u73b0\u5404\u79cd\u673a\u68b0\u8fde\u63a5\uff0c\u5982\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u94f0\u94fe\u5173\u8282(\u7ea6\u675f5\u4e2a\u81ea\u7531\u5ea6)<\/li>\n\n\n\n<li>\u6ed1\u5757\u5173\u8282(\u7ea6\u675f5\u4e2a\u81ea\u7531\u5ea6)<\/li>\n\n\n\n<li>\u7403\u7a9d\u5173\u8282(\u7ea6\u675f3\u4e2a\u81ea\u7531\u5ea6)<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7279\u6b8a\u5904\u7406\u5305\u62ec\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6b27\u62c9\u89d2\u4e00\u81f4\u6027\u4fee\u6b63(\u9632\u6b62\u4e07\u5411\u9501\u8df3\u53d8)<\/li>\n\n\n\n<li>\u9759\u6001\u521a\u4f53\u7684\u8d28\u91cf\u52a0\u6743\u4f18\u5316<\/li>\n\n\n\n<li>\u56db\u5143\u6570\u5bfc\u6570\u7684\u9ad8\u6548\u8ba1\u7b97<\/li>\n<\/ul>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u6027\u80fd\u4f18\u5316\u70b9\uff1a<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528SIMD\u52a0\u901f\u77e9\u9635\u8fd0\u7b97<\/li>\n\n\n\n<li>\u7a00\u758f\u96c5\u53ef\u6bd4\u77e9\u9635\u5b58\u50a8<\/li>\n\n\n\n<li>\u70ed\u542f\u52a8\u51b2\u91cf\u7f13\u5b58<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u793a\u4f8b\u7528\u6cd5\uff1a<br>&#8220;`cpp<br>\/\/ \u521b\u5efa\u4e24\u4e2a\u521a\u4f53\u7684\u901a\u7528\u94fe\u63a5\u7ea6\u675f<br>auto constraint = CreateRef(bodyA, bodyB, frameA, frameB);<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\/\/ \u8bbe\u7f6e\u4e3a\u6ed1\u5757\u5173\u8282(\u53ea\u5141\u8bb8X\u8f74\u5e73\u79fb)<br>constraint-&gt;setLimit(true, false, false, \/\/ X\u5e73\u79fb\u81ea\u7531\uff0cY\/Z\u56fa\u5b9a<br>true, true, true); \/\/ \u6240\u6709\u65cb\u8f6c\u56fa\u5b9a<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><code>NarrowPhaseDispatcher<\/code> <\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u529f\u80fd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5904\u7406\u521a\u4f53\u78b0\u649e\u7684\u201c<strong>\u7a84\u76f8\u4f4d\u78b0\u649e\u68c0\u6d4b<\/strong>\u201d\uff0c\u6839\u636e\u7269\u4f53\u5f62\u72b6\u7c7b\u578b\u8c03\u7528\u5177\u4f53\u7b97\u6cd5\u8fdb\u884c\u7cbe\u786e\u78b0\u649e\u8ba1\u7b97\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u7ed3\u6784<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">\u6784\u9020\u51fd\u6570<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>NarrowPhaseDispatcher();    \/\/ \u521d\u59cb\u5316\n~NarrowPhaseDispatcher();   \/\/ \u81ea\u52a8\u6e05\u7406\u7f13\u5b58\n<\/code><\/pre>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e3b\u8981\u51fd\u6570\uff1a<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>int calculateCollisionResults(const ObjectArray&lt;BroadphaseOverlappingPair&gt;&amp; overlappingPairs);\n<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f93\u5165\uff1a\u6765\u81ea\u7c97\u9636\u6bb5\u7684\u91cd\u53e0\u7269\u4f53\u5bf9<\/li>\n\n\n\n<li>\u5e76\u884c\u5904\u7406\u6bcf\u5bf9\u7269\u4f53<\/li>\n\n\n\n<li>\u8c03\u7528 <code>dispatch(...)<\/code> \u5224\u5b9a\u5177\u4f53\u78b0\u649e\u7c7b\u578b<\/li>\n\n\n\n<li>\u8f93\u51fa\uff1a\u53d1\u751f\u771f\u5b9e\u78b0\u649e\u7684\u7ed3\u679c\u5217\u8868<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u6d3e\u53d1\u5668\u6838\u5fc3\uff1a<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>dispatch(shape0, shape1, trans0, trans1, resultOut);\n<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u636e <code>ShapeFlag<\/code> \u5224\u65ad\u5f62\u72b6\u7ec4\u5408<\/li>\n\n\n\n<li>\u8c03\u7528\u5bf9\u5e94\u7684 <code>xxxCollisionAlgorithm<\/code> \u6267\u884c\u5b9e\u9645\u78b0\u649e\u8ba1\u7b97<\/li>\n\n\n\n<li>\u5982\uff1a\n<ul class=\"wp-block-list\">\n<li><code>BoxBoxCollisionAlgorithm<\/code><\/li>\n\n\n\n<li><code>SphereSphereCollisionAlgorithm<\/code><\/li>\n\n\n\n<li><code>ConvexConvexCollisionAlgorithm<\/code> \u7b49<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u652f\u6301\u7684\u78b0\u649e\u7c7b\u578b\u793a\u610f<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u7c7b\u578b\u7ec4\u5408<\/th><th>\u7b97\u6cd5<\/th><\/tr><\/thead><tbody><tr><td>Box vs Box<\/td><td><code>BoxBoxCollisionAlgorithm<\/code><\/td><\/tr><tr><td>Sphere vs Sphere<\/td><td><code>SphereSphereCollisionAlgorithm<\/code><\/td><\/tr><tr><td>Sphere vs Box<\/td><td><code>SphereBoxCollisionAlgorithm<\/code><\/td><\/tr><tr><td>Sphere vs Cylinder<\/td><td><code>SphereCylinderCollisionAlgorithm<\/code><\/td><\/tr><tr><td>Convex vs Convex<\/td><td><code>ConvexConvexCollisionAlgorithm<\/code><\/td><\/tr><tr><td>Compound vs Convex<\/td><td><code>CompoundConvexCollisionAlgorithm<\/code><\/td><\/tr><tr><td>Compound vs Compound<\/td><td><code>CompoundCompoundCollisionAlgorithm<\/code><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">Cylinder vs Box \u88ab\u6ce8\u91ca\u6389\uff0c\u6807\u6ce8\u6709 <code>@bug<\/code><\/p>\n<\/blockquote>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u7279\u522b\u8bf4\u660e<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u7ebf\u7a0b\u6c60 <code>ThreadPool::parallelFor<\/code> \u5e76\u884c\u5904\u7406\u78b0\u649e\u5bf9<\/li>\n\n\n\n<li>\u81ea\u52a8\u5904\u7406\u9700\u8981\u4ea4\u6362\u7269\u4f53\u987a\u5e8f\u7684\u60c5\u51b5\uff08<code>setSwapFlag<\/code>\uff09<\/li>\n\n\n\n<li>\u652f\u6301\u52a8\u6001\u62d3\u5c55\u66f4\u591a\u78b0\u649e\u7b97\u6cd5<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>PSORSolver<\/code> \u7b80\u7565\u7b14\u8bb0<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u529f\u80fd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u57fa\u4e8e <strong>\u6295\u5f71\u8d85\u677e\u5f1b\u8fed\u4ee3\uff08PSOR\uff09\u6cd5<\/strong> \u89e3\u51b3\u521a\u4f53\u7ea6\u675f\u7cfb\u7edf\u4e2d\u7684\u62c9\u683c\u6717\u65e5\u4e58\u5b50\uff0c\u8fdb\u800c\u8ba1\u7b97\u7ea6\u675f\u53cd\u529b\uff08\u4f8b\u5982\uff1a\u78b0\u649e\u3001\u6469\u64e6\u7b49\uff09\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u53c2\u6570\u7b80\u8ff0<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u53c2\u6570\u540d<\/th><th>\u542b\u4e49<\/th><\/tr><\/thead><tbody><tr><td><code>mIteration<\/code><\/td><td>\u6700\u5927\u8fed\u4ee3\u6b21\u6570\uff08\u9ed8\u8ba4 200\uff09<\/td><\/tr><tr><td><code>mOmega<\/code><\/td><td>\u677e\u5f1b\u56e0\u5b50\uff0c\u63a7\u5236\u8fed\u4ee3\u6b65\u957f<\/td><\/tr><tr><td><code>mShlambda<\/code><\/td><td>\u5e73\u6ed1\u7cfb\u6570\uff081 \u8868\u793a\u65e0\u5e73\u6ed1\uff09<\/td><\/tr><tr><td><code>mTolerance<\/code><\/td><td>\u6536\u655b\u5bb9\u5dee\uff0c\u63a7\u5236\u9000\u51fa\u6761\u4ef6<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u51fd\u6570\uff1a<code>solve(dt, rigidBodies, constraints)<\/code><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u521d\u59cb\u5316\u9636\u6bb5<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u6bcf\u4e2a\u7ea6\u675f\u51c6\u5907\u8f85\u52a9\u53d8\u91cf\uff08\u5982\u8212\u5c14\u8865 <code>g_i<\/code>\u3001\u521a\u5ea6 <code>Cq*invM*CqT<\/code>\uff09<\/li>\n\n\n\n<li>\u5c06\u590d\u5408\u6469\u64e6\u7ea6\u675f\u5206\u7ec4\u5e73\u5747\u5316 <code>g_i<\/code><\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u4e3b\u5faa\u73af\uff08\u8fed\u4ee3\u6c42\u89e3\uff09<\/strong><br>\u5bf9\u6240\u6709\u7ea6\u675f\u65b9\u7a0b\u8fdb\u884c\u8fed\u4ee3\uff1a\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u6b8b\u5dee <code>r = J*v + b + C*\u03bb<\/code><\/li>\n\n\n\n<li>\u66f4\u65b0 \u03bb\uff08\u62c9\u683c\u6717\u65e5\u4e58\u5b50\uff09<\/li>\n\n\n\n<li>\u6295\u5f71 \u03bb \u5230\u5408\u6cd5\u8303\u56f4\uff08\u5982\u4e0d\u53ef\u4e3a\u8d1f\uff09<\/li>\n\n\n\n<li>\u5e94\u7528\u5e73\u6ed1\uff08\u5982\u679c\u542f\u7528\uff09<\/li>\n\n\n\n<li>\u66f4\u65b0\u7269\u4f53\u72b6\u6001\uff08\u901a\u8fc7 <code>incrementState(...)<\/code>\uff09<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u7279\u6b8a\u5904\u7406\uff1a\u6469\u64e6\u7ea6\u675f\u662f\u4e09\u5143\u7ec4<\/strong>\n<ul class=\"wp-block-list\">\n<li>N\u3001U\u3001V \u4e09\u4e2a\u65b9\u5411\u7ea6\u675f\u4e00\u8d77\u5904\u7406<\/li>\n\n\n\n<li>\u5e73\u6ed1\u4e0e\u6295\u5f71\u5408\u5e76\u5904\u7406<\/li>\n\n\n\n<li>\u7ef4\u62a4 <code>lambda_friction[3]<\/code> \u66f4\u65b0\u5e45\u5ea6<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u7c7b\/\u7ed3\u6784<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>ConstraintBase<\/code>\uff1a\u7ea6\u675f\u57fa\u7c7b<\/li>\n\n\n\n<li><code>ConstraintEquation<\/code>\uff1a\u7ebf\u6027\u5316\u7ea6\u675f\u9879\uff08\u4e00\u4e2a \u03bb\uff09<\/li>\n\n\n\n<li><code>incrementState(...)<\/code>\uff1a\u628a \u03bb \u8f6c\u5316\u4e3a\u901f\u5ea6\u5f71\u54cd<\/li>\n\n\n\n<li><code>mProjectFunc()<\/code>\uff1a\u5c06 \u03bb \u6295\u5f71\u5230\u7269\u7406\u5141\u8bb8\u533a\uff08\u6bd4\u5982\u53ea\u80fd\u63a8\u52a8\u4e0d\u80fd\u62c9\uff09<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u652f\u6301\u70ed\u542f\u52a8\u4ee3\u7801\u5df2\u6ce8\u91ca\uff08\u5373\u53ef\u4ee5\u4ece\u4e0a\u4e00\u6b65\u7ed3\u679c\u7ee7\u7eed\u8fed\u4ee3\uff09<\/li>\n\n\n\n<li>\u6469\u64e6\u9879\u6210\u7ec4\u5904\u7406\uff0c\u5fc5\u987b\u6b63\u786e\u914d\u5bf9<\/li>\n\n\n\n<li>\u6295\u5f71\u548c\u5e73\u6ed1\u662f\u6536\u655b\u4e0e\u7a33\u5b9a\u7684\u5173\u952e\u673a\u5236<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u6ce8\u610f\u4e8b\u9879<\/h4>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>RenderBody3D<\/code> \u7b80\u7565\u7b14\u8bb0<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u529f\u80fd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5c06\u521a\u4f53 (<code>BodyBase<\/code>) \u5bf9\u8c61\u8f6c\u5316\u4e3a<strong>\u53ef\u6e32\u67d3\u7684\u4e09\u89d2\u7f51\u683c\u6570\u636e<\/strong>\uff08\u9876\u70b9 + \u9762\uff09\uff0c\u7528\u4e8e 3D \u53ef\u89c6\u5316\uff08\u5982 OpenGL \u6216 GUI \u663e\u793a\uff09\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6784\u9020\u51fd\u6570\uff1a<code>RenderBody3D(const Ref&lt;BodyBase>&amp;)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u83b7\u53d6\u521a\u4f53\u7684\u5f62\u72b6 <code>ShapeBase<\/code><\/li>\n\n\n\n<li>\u5982\u679c\u662f\u590d\u5408\u4f53\uff08<code>CompoundShape<\/code>\uff09\uff1a\n<ul class=\"wp-block-list\">\n<li>\u904d\u5386\u5b50\u5f62\u72b6<\/li>\n\n\n\n<li>\u5206\u522b\u751f\u6210\u7f51\u683c\uff0c\u5e94\u7528\u5c40\u90e8\u53d8\u6362<\/li>\n\n\n\n<li>\u5408\u5e76\u6240\u6709 mesh<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u5982\u679c\u662f\u7b80\u5355\u5f62\u72b6\uff1a\n<ul class=\"wp-block-list\">\n<li>\u76f4\u63a5\u751f\u6210\u9ed8\u8ba4\u7f51\u683c<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u51fd\u6570<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>getVertices() \u2192 Eigen::MatrixXd<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8fd4\u56de\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u6240\u6709\u9876\u70b9<\/li>\n\n\n\n<li>\u5e94\u7528\u7269\u4f53\u7684\u65cb\u8f6c\u548c\u5e73\u79fb\u53d8\u6362<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>setDefalutMesh(...)<\/code><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u6839\u636e\u7269\u4f53\u7684<strong>\u5f62\u72b6\u7c7b\u578b<\/strong>\u751f\u6210\u5bf9\u5e94\u7684\u9ed8\u8ba4\u4e09\u89d2\u7f51\u683c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u5f62\u72b6\u7c7b\u578b<\/th><th>\u7f51\u683c\u6765\u6e90<\/th><\/tr><\/thead><tbody><tr><td>Box<\/td><td><code>BoxMesh<\/code><\/td><\/tr><tr><td>Sphere<\/td><td><code>IcosphereMesh<\/code><\/td><\/tr><tr><td>Cylinder<\/td><td><code>CylinderMesh<\/code><\/td><\/tr><tr><td>Capsule<\/td><td>Cylinder + \u4e0a\u4e0b\u7403<\/td><\/tr><tr><td>Triangle<\/td><td>3 \u9876\u70b9\u7ec4\u6210\u7684\u9762<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5185\u90e8\u6570\u636e\u7ed3\u6784<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u6210\u5458\u540d<\/th><th>\u4f5c\u7528<\/th><\/tr><\/thead><tbody><tr><td><code>mVertices<\/code><\/td><td>\u6240\u6709\u9876\u70b9\uff08\u5c40\u90e8\uff09<\/td><\/tr><tr><td><code>mFaces<\/code><\/td><td>\u9762\u7d22\u5f15\uff08\u4e09\u89d2\u5f62\uff09<\/td><\/tr><tr><td><code>mBodyBase<\/code><\/td><td>\u5173\u8054\u7684\u7269\u7406\u521a\u4f53<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u9876\u70b9\u8f6c\u6362\u6d41\u7a0b<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f53\u8c03\u7528 <code>getVertices()<\/code> \u65f6\uff0c\u6267\u884c\u53d8\u6362\u6d41\u7a0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u5c40\u90e8\u5750\u6807 \u2192 \u4e16\u754c\u5750\u6807\nv_world = R^T * v_local + position\n<\/code><\/pre>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6ce8\u610f\u4e8b\u9879<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u590d\u5408\u4f53\u5f62\u72b6\u9010\u4e2a\u5b50\u5f62\u72b6\u7d2f\u52a0\u7f51\u683c<\/li>\n\n\n\n<li>\u6240\u6709 mesh \u6570\u636e\u90fd\u6765\u81ea <code>DefaultMesh<\/code>\uff08\u9884\u8bbe\u6a21\u578b\uff09<\/li>\n\n\n\n<li>Capsule \u7531 Cylinder + \u4e24\u4e2a Sphere \u62fc\u63a5\u751f\u6210<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u7c7b\u6e32\u67d3\u6a21\u5757\u901a\u5e38\u53ea\u7528\u4e8e<strong>\u53ef\u89c6\u5316\u5c55\u793a<\/strong>\uff0c\u4e0d\u53c2\u4e0e\u7269\u7406\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u662f <code>SequentialImpulseConstraintSolver<\/code> \u7684<strong>\u7b80\u8981\u89e3\u6790\u7b14\u8bb0<\/strong>\uff1a<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>SequentialImpulseConstraintSolver<\/code> \u7b80\u7565\u7b14\u8bb0<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\ud83d\udccc \u529f\u80fd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b9e\u73b0\u7ecf\u5178\u7684<strong>Sequential Impulse\uff08\u9010\u6b21\u51b2\u91cf\uff09\u65b9\u6cd5<\/strong>\uff0c\u7528\u4e8e\u521a\u4f53\u52a8\u529b\u5b66\u4e2d\u6c42\u89e3\u7ea6\u675f\u53cd\u529b\uff08\u5982\u78b0\u649e\u548c\u5173\u8282\uff09\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u7ed3\u6784\u7b80\u8ff0<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">\u6784\u9020\u51fd\u6570<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>SequentialImpulseConstraintSolver() {\n    mIteration = 10;  \/\/ \u9ed8\u8ba4\u8fed\u4ee3\u6b21\u6570\n}\n<\/code><\/pre>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e3b\u51fd\u6570<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>void solve(Real dt, const ObjectArray&lt;Ref&lt;RigidBody&gt;&gt;&amp; rigidBodies,\n           const ObjectArray&lt;Ref&lt;ConstraintBase&gt;&gt;&amp; constraints)\n<\/code><\/pre>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u89e3\u7b97\u6d41\u7a0b<\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u521d\u59cb\u5316\u51b2\u91cf\u7ea6\u675f<\/strong> <code>constraint-&gt;initSequentialImpulse(dt);<\/code> \u6bcf\u4e2a\u7ea6\u675f\u6839\u636e\u5f53\u524d\u72b6\u6001\u51c6\u5907\u8fed\u4ee3\u6240\u9700\u7684\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong>\u9010\u6b21\u8fed\u4ee3\u51b2\u91cf<\/strong> <code>for (int iter = 0; iter &lt; mIteration; ++iter) { for (auto &amp;constraint : constraints) { constraint-&gt;iterateSequentialImpulse(); } }<\/code> \u591a\u8f6e\u8fed\u4ee3\uff08\u7c7b\u4f3c\u9ad8\u65af-\u8d5b\u5fb7\u5c14\uff09\uff0c\u6bcf\u6b21\u66f4\u65b0\u4e00\u4e2a\u7ea6\u675f\u7684\u51b2\u91cf\uff0c\u7acb\u5373\u5f71\u54cd\u521a\u4f53\u72b6\u6001\u3002<\/li>\n<\/ol>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u6ce8\uff1a\u6ce8\u91ca\u4e2d\u63d0\u5230\u5e76\u884c\u6267\u884c <code>iterateSequentialImpulse()<\/code> \u662f\u4e0d\u6b63\u786e\u7684\uff08\u4f9d\u8d56\u524d\u4e00\u6b65\u7684\u521a\u4f53\u72b6\u6001\uff09\uff0c\u867d\u7136\u89c6\u89c9\u6548\u679c\u201c\u770b\u8d77\u6765\u201d\u6ca1\u95ee\u9898\u3002<\/p>\n<\/blockquote>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f9d\u8d56\u63a5\u53e3\uff08\u7531\u7ea6\u675f\u7c7b\u5b9e\u73b0\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>ConstraintBase::initSequentialImpulse(dt)<\/code><br>\u521d\u59cb\u5316\u9636\u6bb5\u8ba1\u7b97\u7cfb\u6570\u3001\u504f\u5dee\u7b49<\/li>\n\n\n\n<li><code>ConstraintBase::iterateSequentialImpulse()<\/code><br>\u5b9e\u9645\u51b2\u91cf\u8ba1\u7b97\u4e0e\u5e94\u7528\u9636\u6bb5<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u7279\u70b9\u4e0e\u5e94\u7528<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66f4\u5feb\u3001\u66f4\u7b80\u5355\u3001\u9002\u5408\u5b9e\u65f6\u4eff\u771f<\/li>\n\n\n\n<li>\u901a\u5e38\u7528\u4e8e\u6e38\u620f\u5f15\u64ce\u4e2d\u7684\u7a33\u5b9a\u521a\u4f53\u6c42\u89e3\u5668\uff08\u5982 Bullet\uff09<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>SimulatorGUI<\/code> \u7b80\u7565\u7b14\u8bb0<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u529f\u80fd\u6982\u89c8<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd9\u662f\u4e00\u4e2a\u7528\u4e8e\u56fe\u5f62\u5316\u5c55\u793a\u548c\u63a7\u5236\u7269\u7406\u4eff\u771f\u7684<strong>GUI \u63a7\u5236\u5668\u7c7b<\/strong>\uff0c\u57fa\u4e8e <code>libigl<\/code> + <code>ImGui<\/code> \u642d\u5efa\u3002<br>\u63d0\u4f9b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u52a8\u753b\u5c55\u793a<\/li>\n\n\n\n<li>\u63a7\u5236\u9762\u677f\uff08\u6682\u505c\u3001\u5355\u6b65\u3001\u91cd\u7f6e\uff09<\/li>\n\n\n\n<li>Debug \u78b0\u649e\u70b9\u53ef\u89c6\u5316<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u7c7b\u7ed3\u6784\u6838\u5fc3<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u6210\u5458\u53d8\u91cf<\/th><th>\u8bf4\u660e<\/th><\/tr><\/thead><tbody><tr><td><code>mViewer<\/code><\/td><td><code>libigl::Viewer<\/code> \u5b9e\u4f8b<\/td><\/tr><tr><td><code>mSimThread<\/code><\/td><td>\u540e\u53f0\u4eff\u771f\u7ebf\u7a0b<\/td><\/tr><tr><td><code>mIsPaused<\/code><\/td><td>\u662f\u5426\u6682\u505c\u4eff\u771f<\/td><\/tr><tr><td><code>mTime<\/code>, <code>mFrame<\/code><\/td><td>\u4eff\u771f\u65f6\u95f4\u4e0e\u5e27\u6570<\/td><\/tr><tr><td><code>mRenders<\/code><\/td><td>\u6bcf\u4e2a\u521a\u4f53\u5bf9\u5e94\u7684\u6e32\u67d3\u5668\uff08<code>RenderBody3D<\/code>\uff09<\/td><\/tr><tr><td><code>mColorMap<\/code><\/td><td>\u7269\u4f53\u72b6\u6001\u7684\u989c\u8272\u6620\u5c04\uff08\u9759\u6b62\u3001\u8fd0\u52a8\u3001\u63a7\u5236\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u542f\u52a8\u6d41\u7a0b<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>run()<\/code><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u7269\u7406\u4e16\u754c (<code>init()<\/code>)<\/li>\n\n\n\n<li>\u521b\u5efa\u521a\u4f53\u7f51\u683c (<code>initMeshes()<\/code>)<\/li>\n\n\n\n<li>\u542f\u52a8 Viewer \u6e32\u67d3 (<code>mViewer.launch()<\/code>)<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u56fe\u5f62\u663e\u793a\uff1a<code>render()<\/code><\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5bf9\u6240\u6709\u7269\u4f53\u8c03\u7528\uff1a\n<ul class=\"wp-block-list\">\n<li><code>getVertices()<\/code>\uff1a\u53d8\u6362\u540e\u7684\u9876\u70b9<\/li>\n\n\n\n<li><code>getFaces()<\/code>\uff1a\u4e09\u89d2\u9762\u7d22\u5f15<\/li>\n\n\n\n<li>\u6839\u636e\u7269\u4f53\u72b6\u6001\u7740\u8272\uff08\u5982\uff1a\u9759\u6b62\u84dd\u8272\uff09<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>Debug \u53ef\u89c6\u5316\uff1a\n<ul class=\"wp-block-list\">\n<li>\u663e\u793a\u78b0\u649e\u70b9\uff1a\u7ea2\u8272\u4e3a\u70b9 A\uff0c\u84dd\u8272\u4e3a\u70b9 B<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\ud83c\udfae \u7528\u6237\u4ea4\u4e92<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>onGUI()<\/code><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u901a\u8fc7 ImGui \u7ed8\u5236\u83dc\u5355\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u663e\u793a\u5e27\u6570\u3001FPS\u3001\u65f6\u95f4\u7b49\u7edf\u8ba1\u4fe1\u606f<\/li>\n\n\n\n<li>\u63a7\u5236\u4eff\u771f\u72b6\u6001\uff08\u8fd0\u884c\/\u6682\u505c\/\u5355\u6b65\/\u91cd\u7f6e\uff09<\/li>\n\n\n\n<li>\u8bbe\u7f6e\u65f6\u95f4\u6b65\u957f dt<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>onKeyPressed()<\/code><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u7a7a\u683c\u952e \u2192 \u5207\u6362\u6682\u505c\/\u64ad\u653e<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4eff\u771f\u7ebf\u7a0b\uff1a<code>runSimThread()<\/code><\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u540e\u53f0\u7ebf\u7a0b\u4e0d\u65ad\u6267\u884c <code>step()<\/code>\uff0c\u524d\u63d0\u662f\u672a\u6682\u505c\u3002<\/p>\n\n\n\n<h5 class=\"wp-block-heading\"><code>step()<\/code> \u6267\u884c\u6d41\u7a0b\uff1a<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>update(mDt);                  \/\/ \u6267\u884c\u7269\u7406\u6a21\u62df\u4e00\u6b65\n\u7edf\u8ba1\u65f6\u95f4\u4e0e\u5e27\u7387\uff1b\nstd::this_thread::sleep_for(); \/\/ \u63a7\u5236\u4eff\u771f\u901f\u5ea6\n<\/code><\/pre>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u521d\u59cb\u5316\u6e32\u67d3\u6a21\u578b\uff1a<code>initMeshes()<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u904d\u5386 <code>RigidWorld<\/code> \u4e2d\u7684\u521a\u4f53<\/li>\n\n\n\n<li>\u4e3a\u6bcf\u4e2a\u521a\u4f53\u6784\u9020 <code>RenderBody3D<\/code> \u5e76\u5efa\u7acb Viewer \u7f51\u683c<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u91cd\u7f6e\u529f\u80fd\uff1a<code>reset()<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u505c\u6b62\u7ebf\u7a0b<\/li>\n\n\n\n<li>\u91cd\u7f6e\u7edf\u8ba1\u503c<\/li>\n\n\n\n<li>\u6e05\u7a7a\u4e16\u754c\uff0c\u91cd\u65b0\u521d\u59cb\u5316\u4eff\u771f\u4e0e mesh<\/li>\n\n\n\n<li>\u91cd\u65b0\u521b\u5efa\u4eff\u771f\u7ebf\u7a0b<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6280\u672f\u6808\u6982\u89c8<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u4f9d\u8d56\u5e93<\/th><th>\u7528\u9014<\/th><\/tr><\/thead><tbody><tr><td><code>libigl<\/code><\/td><td>\u7f51\u683c\u6e32\u67d3 + Viewer \u63a7\u5236<\/td><\/tr><tr><td><code>ImGui<\/code><\/td><td>GUI \u63a7\u5236\u9762\u677f<\/td><\/tr><tr><td><code>Eigen<\/code><\/td><td>\u77e9\u9635\u3001\u5411\u91cf\u64cd\u4f5c<\/td><\/tr><tr><td><code>std::thread<\/code><\/td><td>\u540e\u53f0\u4eff\u771f\u6267\u884c\u7ebf\u7a0b<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>SphereBoxCollisionAlgorithm<\/code> \u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u529f\u80fd\u6982\u89c8<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u7c7b\u8d1f\u8d23\u5904\u7406<strong>\u7403\u4f53\uff08Sphere\uff09\u4e0e\u76d2\u5b50\uff08Box\uff09\u4e4b\u95f4\u7684\u78b0\u649e\u68c0\u6d4b\u4e0e\u6c42\u89e3<\/strong>\u3002\u6838\u5fc3\u903b\u8f91\u662f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u7403\u4e2d\u5fc3\u8f6c\u6362\u5230\u76d2\u5b50\u5c40\u90e8\u7a7a\u95f4<\/li>\n\n\n\n<li>\u627e\u5230\u7403\u4e2d\u5fc3\u5230\u76d2\u5b50\u6700\u8fd1\u8868\u9762\u7684\u70b9<\/li>\n\n\n\n<li>\u6839\u636e\u7403\u534a\u5f84\u4e0e\u76d2\u5b50 margin \u5224\u65ad\u662f\u5426\u53d1\u751f\u78b0\u649e<\/li>\n\n\n\n<li>\u82e5\u78b0\u649e\uff0c\u8ba1\u7b97\u6cd5\u7ebf\u3001\u7a7f\u900f\u6df1\u5ea6\u3001\u63a5\u89e6\u70b9\uff0c\u5e76\u586b\u5165 <code>CollisionResult<\/code><\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\ud83d\udd27 \u6838\u5fc3\u51fd\u6570\u89e3\u6790<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>getSphereDistance(...)<\/code><\/h4>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u5224\u65ad\u7403\u4f53\u662f\u5426\u4e0e\u76d2\u5b50\u53d1\u751f\u63a5\u89e6\uff0c\u5e76\u8ba1\u7b97\u63a5\u89e6\u4fe1\u606f<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8f93\u5165<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>sphereCenter<\/code>\uff1a\u7403\u5fc3\uff08\u4e16\u754c\u5750\u6807\u7cfb\uff09<\/li>\n\n\n\n<li><code>fRadius<\/code>\uff1a\u7403\u4f53\u603b\u534a\u5f84\uff08\u5305\u542b margin\uff09<\/li>\n\n\n\n<li><code>boxShape<\/code> \u548c <code>transBox<\/code>\uff1a\u76d2\u5b50\u5f62\u72b6\u4e0e\u53d8\u6362\u4fe1\u606f<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8f93\u51fa<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>pointOnBox<\/code>\uff1a\u63a5\u89e6\u70b9\uff08\u5728\u76d2\u5b50\u8868\u9762\uff09<\/li>\n\n\n\n<li><code>normal<\/code>\uff1a\u63a5\u89e6\u6cd5\u7ebf\uff08\u4ece\u76d2\u5b50\u6307\u5411\u7403\uff09<\/li>\n\n\n\n<li><code>penetrationDepth<\/code>\uff1a\u7a7f\u900f\u6df1\u5ea6\uff08\u8d1f\u503c\u8868\u793a\u91cd\u53e0\uff09<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u4e3b\u8981\u6b65\u9aa4<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u628a\u7403\u5fc3\u53d8\u6362\u5230\u76d2\u5b50\u5c40\u90e8\u5750\u6807\u7cfb <code>sphereRelPos<\/code><\/li>\n\n\n\n<li>\u627e\u51fa\u7403\u5fc3\u5728\u76d2\u5b50\u5185\u90e8\/\u5916\u90e8\u7684\u6700\u63a5\u8fd1\u70b9 <code>closestPoint<\/code><\/li>\n\n\n\n<li>\u5224\u65ad\u8ddd\u79bb\u5e73\u65b9 <code>dist2<\/code> \u662f\u5426\u5c0f\u4e8e <code>(r + margin)^2<\/code>\uff1a\u82e5\u5426\uff0c\u6ca1\u78b0\u649e<\/li>\n\n\n\n<li>\u82e5\u7403\u5fc3\u5728\u76d2\u5b50\u5185\uff0c\u5219\u8c03\u7528 <code>getSpherePenetration()<\/code> \u83b7\u53d6\u6700\u6d45\u7a7f\u900f\u65b9\u5411<\/li>\n\n\n\n<li>\u5426\u5219\uff0c\u8ba1\u7b97\u7a7f\u900f\u6df1\u5ea6\u4e0e\u6cd5\u7ebf<\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><code>getSpherePenetration(...)<\/code><\/h4>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u5728\u7403\u5fc3\u5df2\u5728\u76d2\u5b50<strong>\u5185\u90e8<\/strong>\u7684\u60c5\u51b5\u4e0b\uff0c\u627e\u51fa<strong>\u6700\u6d45\u7684\u7a7f\u900f\u9762<\/strong>\u3001\u6cd5\u7ebf\u4e0e\u7a7f\u900f\u6df1\u5ea6<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">\u903b\u8f91\u662f\u9010\u4e2a\u6bd4\u8f83\u7403\u5fc3\u8ddd\u79bb 6 \u4e2a\u9762\u7684\u4f4d\u7f6e\uff0c\u627e\u5230\u6700\u8fd1\u7684\u9762\u65b9\u5411\u4f5c\u4e3a\u6cd5\u7ebf\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><code>processCollision(...)<\/code><\/h4>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">\u8c03\u5ea6\u4e0a\u8ff0\u4e24\u4e2a\u51fd\u6570\uff0c\u82e5\u6709\u78b0\u649e\u5219\u5199\u5165 <code>resultOut<\/code><\/p>\n<\/blockquote>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7c7b\u578b\u8f6c\u6362\u6210\u5177\u4f53 <code>SphereShape<\/code> \/ <code>BoxShape<\/code><\/li>\n\n\n\n<li>\u8c03\u7528 <code>getSphereDistance()<\/code><\/li>\n\n\n\n<li>\u82e5\u53d1\u751f\u78b0\u649e\uff0c\u6dfb\u52a0\u63a5\u89e6\u70b9\u4fe1\u606f\u5230 <code>resultOut<\/code><\/li>\n<\/ol>\n\n\n\n<pre class=\"wp-block-code\"><code>resultOut.addCollisionPoint(\n    \u6cd5\u7ebf, \n    \u63a5\u89e6\u70b9\uff08\u53bb\u6389 box margin\uff09, \n    \u7a7f\u900f\u6df1\u5ea6\uff08\u542b sphere &amp; box margin\uff09\n);\n<\/code><\/pre>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8f93\u5165\u8f93\u51fa\u6837\u4f8b\u8bf4\u660e\uff08\u793a\u610f\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8f93\u5165\uff1a\n<ul class=\"wp-block-list\">\n<li>\u7403\u534a\u5f84 r=1\uff0c\u4f4d\u7f6e\u5728\u76d2\u5b50\u8fb9\u7f18\u9644\u8fd1<\/li>\n\n\n\n<li>\u76d2\u5b50\u8fb9\u957f 2x2x2\uff0c\u4f4d\u4e8e\u539f\u70b9<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u8f93\u51fa\uff1a\n<ul class=\"wp-block-list\">\n<li>\u662f\u5426\u78b0\u649e<\/li>\n\n\n\n<li>\u63a5\u89e6\u70b9\uff08\u5728\u76d2\u5b50\u8fb9\u7f18\uff09<\/li>\n\n\n\n<li>\u6cd5\u7ebf\uff08\u4ece\u76d2\u5b50\u6307\u5411\u7403\uff09<\/li>\n\n\n\n<li>\u7a7f\u900f\u6df1\u5ea6\uff1a<code>\u8ddd\u79bb - (r + margin)<\/code><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u7279\u70b9\u603b\u7ed3<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u7279\u6027<\/th><th>\u63cf\u8ff0<\/th><\/tr><\/thead><tbody><tr><td>\u652f\u6301 margin<\/td><td>\u53ef\u907f\u514d\u96f6\u7a7f\u900f\u8bef\u5dee\u95ee\u9898<\/td><\/tr><tr><td>\u5904\u7406\u5185\u90e8\/\u5916\u90e8\u4e24\u79cd\u60c5\u51b5<\/td><td>\u7528\u4e0d\u540c\u7b56\u7565\u6c42\u6cd5\u7ebf<\/td><\/tr><tr><td>\u8f6c\u6362\u5230\u5c40\u90e8\u7a7a\u95f4\u8ba1\u7b97<\/td><td>\u7b80\u5316\u51e0\u4f55\u5224\u65ad\u903b\u8f91<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>SphereCylinderCollisionAlgorithm<\/code> \u7ed3\u6784\u89e3\u6790<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u529f\u80fd\u6982\u89c8<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u7c7b\u8d1f\u8d23\u5904\u7406<strong>\u7403\u4f53\uff08Sphere\uff09\u4e0e\u5706\u67f1\u4f53\uff08Cylinder\uff09\u4e4b\u95f4\u7684\u7a84\u76f8\u4f4d\u78b0\u649e\u68c0\u6d4b<\/strong>\uff0c\u6839\u636e\u7403\u4e2d\u5fc3\u76f8\u5bf9\u4e8e\u5706\u67f1\u4f4d\u7f6e\uff0c\u5206\u4e3a <strong>\u4e09\u79cd\u60c5\u51b5<\/strong>\uff08Case A, B, C\uff09\u5224\u65ad\u662f\u5426\u63a5\u89e6\u5e76\u8bb0\u5f55\u78b0\u649e\u70b9\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\"><code>processCollision(...)<\/code> \u6838\u5fc3\u903b\u8f91<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\">\u8f93\u5165\uff1a<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>shape0<\/code>: \u7403\u4f53\uff08SphereShape\uff09<\/li>\n\n\n\n<li><code>shape1<\/code>: \u5706\u67f1\u4f53\uff08CylinderShape\uff09<\/li>\n\n\n\n<li><code>trans0<\/code>, <code>trans1<\/code>: \u5404\u81ea\u7684\u4e16\u754c\u5750\u6807\u53d8\u6362<\/li>\n\n\n\n<li><code>resultOut<\/code>: \u8f93\u51fa\u78b0\u649e\u70b9\u5bb9\u5668<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\ud83d\udcd0 \u5c40\u90e8\u53d8\u91cf\u542b\u4e49<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u53d8\u91cf<\/th><th>\u8bf4\u660e<\/th><\/tr><\/thead><tbody><tr><td><code>diff<\/code><\/td><td>\u7403\u5fc3\u76f8\u5bf9\u4e8e\u5706\u67f1\u5c40\u90e8\u7a7a\u95f4\u7684\u4f4d\u7f6e<\/td><\/tr><tr><td><code>r1<\/code><\/td><td><code>diff<\/code> \u7684\u6c34\u5e73\uff08x-z\uff09\u6295\u5f71<\/td><\/tr><tr><td><code>r1_len<\/code><\/td><td>\u6c34\u5e73\u6295\u5f71\u957f\u5ea6\uff08\u7403\u5fc3\u5230\u5706\u67f1\u8f74\u7ebf\u7684\u8ddd\u79bb\uff09<\/td><\/tr><tr><td><code>y1<\/code><\/td><td>\u7403\u5fc3\u5728\u5706\u67f1\u5c40\u90e8\u7a7a\u95f4\u7684 y \u5750\u6807<\/td><\/tr><tr><td><code>H1<\/code><\/td><td>\u5706\u67f1\u4f53\u7684\u534a\u9ad8 + margin<\/td><\/tr><tr><td><code>radius0<\/code>, <code>radius1<\/code><\/td><td>\u7403\u4f53\/\u5706\u67f1\u4f53\u7684\u534a\u5f84\uff0c\u5747\u542b margin<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e09\u79cd\u78b0\u649e\u60c5\u51b5\u5224\u65ad<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">Case A\uff08\u7403\u5fc3\u5728\u67f1\u4f53\u9ad8\u5ea6\u8303\u56f4\u5185\uff09<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>if (y1 \u2208 &#91;-H1, H1])\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8bf4\u660e<\/strong>\uff1a\u7403\u5fc3\u5728\u67f1\u4f53\u4e2d\u95f4\u90e8\u5206 \u2192 <strong>\u67f1\u9762\u78b0\u649e<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5224\u65ad\uff1a\u6c34\u5e73\u8ddd\u79bb\u662f\u5426\u5c0f\u4e8e <code>r0 + r1<\/code><\/li>\n\n\n\n<li>\u6b63\u5e38\u6c42\u5706\u5468\u70b9\u6cd5\u7ebf\u4e0e\u6df1\u5ea6<\/li>\n\n\n\n<li>\u6cd5\u7ebf\u65b9\u5411\uff1a\u4ece\u67f1\u4f53\u6307\u5411\u7403<\/li>\n\n\n\n<li>\u63a5\u89e6\u70b9\u5728\u67f1\u9762\u4e0a<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h5 class=\"wp-block-heading\">Case B\uff08\u7403\u5fc3\u5728\u67f1\u9876\/\u5e95\u5916\u4fa7\uff09<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>if (r1_len &gt; radius1 &amp;&amp; y1 \u8d85\u51fa\u4e0a\u4e0b\u754c)\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8bf4\u660e<\/strong>\uff1a\u7403\u5fc3\u9760\u8fd1\u5706\u67f1\u8fb9\u7f18\u7684\u4fa7\u8fb9 \u2192 <strong>\u7403\u9762\u548c\u67f1\u5706\u8fb9\u7f18\u7684\u89d2\u70b9\u78b0\u649e<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u78b0\u649e\u70b9\u4e3a\u67f1\u9876\/\u5e95\u7684\u8fb9\u7f18<\/li>\n\n\n\n<li>\u6cd5\u7ebf\u65b9\u5411\u4e3a\u4e24\u70b9\u4e4b\u95f4\u5411\u91cf\u5f52\u4e00\u5316<\/li>\n\n\n\n<li>\u6df1\u5ea6\u4e3a\u7403\u5fc3\u4e0e\u8fb9\u7f18\u70b9\u8ddd\u79bb &#8211; \u7403\u534a\u5f84<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h5 class=\"wp-block-heading\">Case C\uff08\u7403\u5fc3\u9760\u8fd1\u67f1\u9876\/\u5e95\u6b63\u4e0a\u65b9\/\u4e0b\u65b9\uff09<\/h5>\n\n\n\n<pre class=\"wp-block-code\"><code>else \/\/ r1_len &lt;= radius1 \u4e14 y1 \u8d85\u51fa\u4e0a\u4e0b\u754c\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8bf4\u660e<\/strong>\uff1a\u7403\u9760\u8fd1\u5706\u67f1\u9876\u9762\u6216\u5e95\u9762\u4e2d\u592e \u2192 <strong>\u67f1\u76d6\u78b0\u649e<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6cd5\u7ebf\u65b9\u5411\u6cbf\u67f1\u4f53 y \u8f74\u65b9\u5411<\/li>\n\n\n\n<li>\u63a5\u89e6\u70b9\u5728\u67f1\u9876\/\u5e95\u6b63\u4e2d\u5fc3\u9644\u8fd1<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6700\u540e<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u7edf\u4e00\u5c06\u7ed3\u679c\u901a\u8fc7\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>resultOut.addCollisionPoint(normalOnSurfaceB, pos1 - normalOnSurfaceB * cylinderShape-&gt;getMargin(), ...);\n<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bb0\u5f55\u5230 <code>CollisionResult<\/code> \u4e2d\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u7279\u70b9\u603b\u7ed3<\/h4>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u7279\u6027<\/th><th>\u63cf\u8ff0<\/th><\/tr><\/thead><tbody><tr><td>\u5206\u4e09\u79cd\u533a\u57df\u5904\u7406<\/td><td>\u51c6\u786e\u5339\u914d\u4e0d\u540c\u51e0\u4f55\u90e8\u4f4d\uff08\u4fa7\u9762\u3001\u8fb9\u7f18\u3001\u76d6\u9762\uff09<\/td><\/tr><tr><td>\u4f7f\u7528\u5c40\u90e8\u7a7a\u95f4\u5224\u65ad<\/td><td>\u964d\u4f4e\u8ba1\u7b97\u590d\u6742\u5ea6<\/td><\/tr><tr><td>\u6cd5\u7ebf\u548c\u7a7f\u900f\u6df1\u5ea6\u5904\u7406\u5b8c\u5907<\/td><td>\u517c\u987e\u51e0\u4f55\u6b63\u786e\u6027\u548c\u6570\u503c\u9c81\u68d2\u6027<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\"><br>Vector3 SphereShape::localGetSupportingVertex(const Vector3 &amp;position, const Real &amp;tolerance) const {<br>    Real r = mRadius + tolerance;<br>    Real l = position.norm();<br>    return position * (r \/ l);<br>}<br><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>SphereSphereCollisionAlgorithm<\/code> <\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u6838\u5fc3\u903b\u8f91<\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u83b7\u53d6\u7403\u5fc3\u5dee\u5411\u91cf\u4e0e\u8ddd\u79bb<\/strong> <code>Vector3 diff = trans0.getPosition() - trans1.getPosition(); Real len = diff.norm();<\/code> \u8ba1\u7b97\u4e24\u4e2a\u7403\u4f53\u4e2d\u5fc3\u70b9\u7684\u4f4d\u7f6e\u5dee\u548c\u8ddd\u79bb\u3002<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u4e24\u4e2a\u7403\u4f53\u7684\u201c\u6709\u6548\u534a\u5f84\u201d<\/strong> <code>Real radius0 = sphere0-&gt;getRadius() + sphere0-&gt;getMargin(); Real radius1 = sphere1-&gt;getRadius() + sphere1-&gt;getMargin();<\/code> \u8fd9\u91cc\u534a\u5f84\u52a0\u4e0a\u4e86\u5404\u81ea\u7684\u78b0\u649e\u8fb9\u754c\u4f59\u91cf\uff08margin\uff09\uff0c\u7528\u4e8e\u66f4\u7a33\u5b9a\u7684\u78b0\u649e\u68c0\u6d4b\u3002<\/li>\n\n\n\n<li><strong>\u5224\u65ad\u662f\u5426\u78b0\u649e<\/strong> <code>if (len &gt; (radius0 + radius1)) return 0;<\/code> \u5982\u679c\u4e24\u7403\u5fc3\u8ddd\u79bb\u5927\u4e8e\u4e24\u7403\u6709\u6548\u534a\u5f84\u4e4b\u548c\uff0c\u8bf4\u660e\u6ca1\u6709\u78b0\u649e\uff0c\u76f4\u63a5\u8fd4\u56de\u3002<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u7a7f\u900f\u6df1\u5ea6\uff08\u8d1f\u503c\u8868\u793a\u7a7f\u900f\uff09<\/strong> <code>Real dist = len - (radius0 + radius1);<\/code><\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u78b0\u649e\u6cd5\u7ebf<\/strong> <code>Vector3 normalOnSurfaceB(1, 0, 0); if (len &gt; REAL_EPSILON) { normalOnSurfaceB = diff \/ len; }<\/code> \u5982\u679c\u4e24\u4e2a\u7403\u4e2d\u5fc3\u70b9\u91cd\u5408\uff0c\u4f7f\u7528\u9ed8\u8ba4\u6cd5\u7ebf (1,0,0)\uff0c\u5426\u5219\u6cd5\u7ebf\u6307\u5411\u4ece\u74031\u6307\u5411\u74030\u7684\u65b9\u5411\u3002<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u78b0\u649e\u70b9<\/strong> <code>Vector3 pos1 = trans1.getPosition() + radius1 * normalOnSurfaceB;<\/code> \u78b0\u649e\u70b9\u4f4d\u4e8e\u74031\u8868\u9762\uff0c\u6cbf\u6cd5\u7ebf\u65b9\u5411\u504f\u79fb\u534a\u5f84\u3002<\/li>\n\n\n\n<li><strong>\u6dfb\u52a0\u78b0\u649e\u70b9<\/strong> <code>resultOut.addCollisionPoint(normalOnSurfaceB, pos1 - normalOnSurfaceB * sphere1-&gt;getMargin(), dist + sphere0-&gt;getMargin() + sphere1-&gt;getMargin());<\/code><\/li>\n<\/ol>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u603b\u7ed3<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8be5\u7b97\u6cd5\u7528\u7b80\u5355\u7684\u51e0\u4f55\u8ddd\u79bb\u5224\u65ad\u4e24\u7403\u78b0\u649e\u3002<\/li>\n\n\n\n<li>\u5904\u7406\u4e86\u78b0\u649e\u8fb9\u754c\u4f59\u91cf\u4ee5\u63d0\u9ad8\u7a33\u5b9a\u6027\u3002<\/li>\n\n\n\n<li>\u652f\u6301\u7a7f\u900f\u6df1\u5ea6\u7684\u8ba1\u7b97\u3002<\/li>\n\n\n\n<li>\u8fd4\u56de\u78b0\u649e\u70b9\u4e0e\u6cd5\u7ebf\uff0c\u4f9b\u540e\u7eed\u7269\u7406\u54cd\u5e94\u4f7f\u7528\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">Suspension \u8f66\u8f86\u60ac\u6302\u7cfb\u7edf\u7c7b \u2014 \u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u529f\u80fd\u6982\u8ff0\uff1a<\/strong><br>\u8be5\u7c7b\u7528\u4e8e\u6a21\u62df\u8f66\u8f86\u60ac\u6302\u7cfb\u7edf\u4e2d\u5f39\u7c27\u548c\u963b\u5c3c\u7684\u529b\u5b66\u884c\u4e3a\uff0c\u5c06\u8f66\u8f6e\u548c\u8f66\u4f53\u901a\u8fc7\u5f39\u7c27-\u963b\u5c3c\u7cfb\u7edf\u8fde\u63a5\uff0c\u5b9e\u73b0\u60ac\u6302\u6548\u679c\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458\u53d8\u91cf<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mChassis<\/code>\uff1a\u8f66\u4f53\u5bf9\u8c61\u5f15\u7528<\/li>\n\n\n\n<li><code>mWheel<\/code>\uff1a\u8f66\u8f6e\u5bf9\u8c61\u5f15\u7528<\/li>\n\n\n\n<li><code>mSpringStiffness<\/code>\uff1a\u5f39\u7c27\u521a\u5ea6\u7cfb\u6570<\/li>\n\n\n\n<li><code>mSpringDamping<\/code>\uff1a\u5f39\u7c27\u963b\u5c3c\u7cfb\u6570<\/li>\n\n\n\n<li><code>mIsIdler<\/code>\uff1a\u5e03\u5c14\u503c\uff0c\u6807\u8bb0\u662f\u5426\u662f\u60f0\u8f6e\uff08\u975e\u9a71\u52a8\u8f6e\uff0c\u4e0d\u53c2\u4e0e\u52a8\u529b\u4f20\u9012\uff09<\/li>\n\n\n\n<li><code>mWheelRelLoc<\/code>\uff1a\u8f66\u8f6e\u76f8\u5bf9\u8f66\u4f53\u4f4d\u7f6e\uff08\u521d\u59cb\u5316\u65f6\u83b7\u53d6\uff09<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6838\u5fc3\u65b9\u6cd5<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>update(Real dt)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6761\u4ef6\u5224\u65ad\uff1a<\/strong> \u5ffd\u7565\u60f0\u8f6e\uff08<code>mIsIdler == false<\/code> \u65f6\u624d\u8ba1\u7b97\uff09<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u5f39\u7c27\u53d8\u5f62\u5411\u91cf\uff1a<\/strong><br><code>dir = \u5f53\u524d\u8f66\u8f6e\u4f4d\u7f6e - \u8f66\u4f53\u4e58\u4ee5\u521d\u59cb\u76f8\u5bf9\u8f66\u8f6e\u4f4d\u7f6e<\/code><br>\u4ee3\u8868\u5f39\u7c27\u62c9\u4f38\u6216\u538b\u7f29\u7684\u65b9\u5411\u548c\u957f\u5ea6\u3002<\/li>\n\n\n\n<li><strong>\u5f39\u7c27\u529b\u8ba1\u7b97\uff1a<\/strong><br><code>force = - stiffness * dir<\/code> \uff08\u5f39\u7c27\u529b\u4e0e\u53d8\u5f62\u6210\u53cd\u6bd4\uff0c\u65b9\u5411\u76f8\u53cd\uff09<\/li>\n\n\n\n<li><strong>\u83b7\u53d6\u5f39\u7c27\u76f8\u5bf9\u8f66\u4f53\u4f4d\u7f6e\u7684\u901f\u5ea6 <code>velSpring<\/code> \u548c\u8f66\u8f6e\u901f\u5ea6 <code>velSpindle<\/code><\/strong><\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u963b\u5c3c\u529b\u548c\u5f39\u7c27\u529b\u7684\u5408\u529b\uff0c\u5e76\u5206\u522b\u5bf9\u8f66\u8f6e\u548c\u8f66\u4f53\u65bd\u52a0\u51b2\u91cf<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u8f66\u8f6e\u52a0\uff1a<code>force * dt + damping * (velSpring - velSpindle)<\/code><\/li>\n\n\n\n<li>\u8f66\u4f53\u52a0\uff1a\u76f8\u53cd\u65b9\u5411\u7684\u529b\uff08\u9075\u5faa\u725b\u987f\u7b2c\u4e09\u5b9a\u5f8b\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">\u603b\u7ed3<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u7c7b\u6a21\u62df\u4e86\u60ac\u6302\u5f39\u7c27\u7684\u5f39\u6027\u6062\u590d\u529b\u548c\u963b\u5c3c\u963b\u529b\uff0c\u52a8\u6001\u8c03\u6574\u8f66\u8f6e\u548c\u8f66\u4f53\u7684\u53d7\u529b\uff0c\u4fdd\u6301\u60ac\u6302\u7cfb\u7edf\u7684\u7a33\u5b9a\u548c\u73b0\u5b9e\u611f\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">TerrainMaterial \u5730\u5f62\u6750\u8d28\u7c7b \u2014 \u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u529f\u80fd\uff1a<\/strong><br>\u7ba1\u7406\u5730\u5f62\u8868\u9762\u7684\u6469\u64e6\u7cfb\u6570\u548c\u5f39\u6027\uff08\u6062\u590d\u7cfb\u6570\uff09\u6570\u636e\uff0c\u57fa\u4e8e\u591a\u5f20\u201c\u6743\u91cd\u8d34\u56fe\u201d\u8ba1\u7b97\u6750\u8d28\u53c2\u6570\uff0c\u652f\u6301\u5730\u5f62\u4e0d\u540c\u533a\u57df\u6750\u8d28\u8868\u73b0\u5dee\u5f02\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6838\u5fc3\u6d41\u7a0b<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6784\u9020\u51fd\u6570\u52a0\u8f7d\u6743\u91cd\u8d34\u56fe<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u8f93\u5165\uff1a\u5730\u5f62\u5305\u56f4\u76d2\uff08<code>AABBBox<\/code>\uff09\u548c\u591a\u4e2a\u6743\u91cd\u8d34\u56fe\uff08<code>WeightMap<\/code>\u6570\u7ec4\uff09<\/li>\n\n\n\n<li>\u4f7f\u7528 <code>stbi_load<\/code> \u52a0\u8f7d\u6bcf\u5f20\u6743\u91cd\u8d34\u56fe\u7684\u50cf\u7d20\u6570\u636e<\/li>\n\n\n\n<li>\u8bb0\u5f55\u6bcf\u5f20\u8d34\u56fe\u7684\u5bbd\u3001\u9ad8\u3001\u901a\u9053\u6570\uff0c\u4ee5\u53ca\u5730\u5f62\u7684\u6700\u5927\u5bbd\u9ad8<\/li>\n\n\n\n<li>\u5982\u679c\u52a0\u8f7d\u5931\u8d25\uff0c\u629b\u51fa\u5f02\u5e38<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8ba1\u7b97\u5730\u5f62\u6750\u8d28\u53c2\u6570<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u5730\u5f62\u8986\u76d6\u533a\u57df\u7684\u6bcf\u4e2a\u50cf\u7d20\u70b9\uff0c\u8ba1\u7b97\u8be5\u70b9\u6469\u64e6\u529b\u548c\u5f39\u6027\uff1a<\/li>\n\n\n\n<li>\u904d\u5386\u6240\u6709\u6743\u91cd\u8d34\u56fe\uff0c\u6839\u636e\u8d34\u56fe\u5bf9\u5e94\u4f4d\u7f6e\u7684\u7070\u5ea6\u503c\uff080<del>255\u8f6c\u4e3a0<\/del>1\u6d6e\u70b9\u6570\uff09\uff0c\u4e58\u4ee5\u5404\u81ea\u7684\u6469\u64e6\u6743\u91cd\u548c\u5f39\u6027\u6743\u91cd<\/li>\n\n\n\n<li>\u7d2f\u52a0\u6240\u6709\u8d34\u56fe\u8d21\u732e\uff0c\u5e76\u6839\u636e\u6743\u91cd\u5f52\u4e00\u5316\uff0c\u5f97\u5230\u8be5\u70b9\u6700\u7ec8\u7684\u6469\u64e6\u529b\u548c\u5f39\u6027\u503c<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6790\u6784\u51fd\u6570<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u91ca\u653e\u52a8\u6001\u5206\u914d\u7684\u6469\u64e6\u529b\u548c\u5f39\u6027\u6570\u7ec4\u5185\u5b58<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6750\u8d28\u67e5\u8be2\u63a5\u53e3<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong><code>getFriction(const Vector3 &amp;pos)<\/code><\/strong><br>\u6839\u636e\u7ed9\u5b9a\u4e16\u754c\u5750\u6807<code>pos<\/code>\uff0c\u8ba1\u7b97\u5176\u5728\u5730\u5f62\u7eb9\u7406\u4e2d\u7684UV\u5750\u6807\uff0c\u8fd4\u56de\u5bf9\u5e94\u70b9\u7684\u6469\u64e6\u529b\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong><code>getRestitution(const Vector3 &amp;pos)<\/code><\/strong><br>\u540c\u7406\uff0c\u8fd4\u56de\u5bf9\u5e94\u70b9\u7684\u5f39\u6027\u6062\u590d\u7cfb\u6570\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">Terrain \u5730\u5f62\u7c7b \u2014 \u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6210\u5458\u53d8\u91cf<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><code>mTerrainFile<\/code>\uff1a\u5730\u5f62\u6a21\u578b\u6587\u4ef6\u8def\u5f84<\/li>\n\n\n\n<li><code>mSize<\/code>\uff1a\u5730\u5f62\u5c3a\u5bf8\uff083D\u5c3a\u5bf8\uff09<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6784\u9020\u51fd\u6570<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u6807\u8bb0\u5730\u5f62\u4e3a\u8fd0\u52a8\u5b66\u521a\u4f53\uff08<code>Kinematic<\/code>\uff0c\u4e0d\u53d7\u529b\u5b66\u5f71\u54cd\uff09<\/li>\n\n\n\n<li>\u4f7f\u7528\u5730\u5f62\u6587\u4ef6\u548c\u5c3a\u5bf8\u521b\u5efa\u7f51\u683c\u78b0\u649e\u4f53\uff08<code>MeshShape<\/code>\uff09<\/li>\n\n\n\n<li>\u8bbe\u7f6e\u8d28\u91cf\uff0810000\uff0c\u8f83\u5927\u6570\u503c\u4ee5\u56fa\u5b9a\u5730\u5f62\uff09<\/li>\n\n\n\n<li>\u521b\u5efa\u5bf9\u5e94\u7684\u5730\u5f62\u6750\u8d28\u5b9e\u4f8b\uff0c\u7528\u4e8e\u6469\u64e6\u548c\u5f39\u6027\u8ba1\u7b97<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u603b\u7ed3<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6a21\u5757\u8d1f\u8d23\u52a0\u8f7d\u548c\u7ba1\u7406\u5730\u5f62\u7269\u7406\u5c5e\u6027\uff0c\u5141\u8bb8\u57fa\u4e8e\u591a\u79cd\u6743\u91cd\u8d34\u56fe\u5b9a\u4e49\u5730\u9762\u4e0d\u540c\u533a\u57df\u7684\u6469\u64e6\u548c\u5f39\u6027\u5dee\u5f02\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u771f\u5b9e\u7684\u5730\u9762\u4ea4\u4e92\u6548\u679c\u3002\u5730\u5f62\u672c\u8eab\u4f5c\u4e3a\u8fd0\u52a8\u5b66\u521a\u4f53\u5b58\u5728\uff0c\u65e2\u6709\u78b0\u649e\u68c0\u6d4b\u80fd\u529b\uff0c\u53c8\u6709\u4e30\u5bcc\u7684\u6750\u8d28\u54cd\u5e94\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e0b\u9762\u662f\u4f60\u7ed9\u51fa\u7684 <code>TrackAssembly<\/code> \u53ca\u76f8\u5173\u8f68\u8ff9\u7c7b\u4ee3\u7801\u7684\u7b80\u7565\u89e3\u6790\u7b14\u8bb0\uff1a<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">TrackAssembly \u548c\u8f68\u8ff9\u7c7b\u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u6838\u5fc3\u529f\u80fd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8be5\u6a21\u5757\u6a21\u62df\u5c65\u5e26\u8f66\u8f86\u7684\u5c65\u5e26\u7cfb\u7edf\uff0c\u6784\u5efa\u5c65\u5e26\u8f68\u8ff9\uff0c\u7ba1\u7406\u5c65\u5e26\u8282\uff08Track Shoe\uff09\u548c\u8f6e\u5b50\u4e4b\u95f4\u7684\u8fde\u63a5\u3001\u8fd0\u52a8\u4e0e\u7ea6\u675f\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u7c7b\u548c\u804c\u8d23<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">1. <code>Trajectory<\/code>\uff08\u8f68\u8ff9\u57fa\u7c7b\uff09<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8868\u793a\u4e00\u6bb5\u8def\u5f84\u533a\u95f4 <code>[minT, maxT]<\/code><\/li>\n\n\n\n<li>\u63d0\u4f9b\u63a5\u53e3\uff1a\n<ul class=\"wp-block-list\">\n<li><code>getPos(t)<\/code>\uff1a\u7ed9\u5b9a\u53c2\u6570<code>t<\/code>\uff0c\u8fd4\u56de\u8f68\u8ff9\u4e0a\u7684\u4f4d\u7f6e\uff08<code>Vector3<\/code>\uff09<\/li>\n\n\n\n<li><code>getRot(t)<\/code>\uff1a\u7ed9\u5b9a<code>t<\/code>\uff0c\u8fd4\u56de\u8f68\u8ff9\u4e0a\u5bf9\u5e94\u7684\u65cb\u8f6c\uff08<code>Quaternion<\/code>\uff09<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">2. <code>TrackLine<\/code>\uff08\u8f68\u8ff9\u76f4\u7ebf\u6bb5\uff09<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ee7\u627f\u81ea<code>Trajectory<\/code><\/li>\n\n\n\n<li>\u4ee5\u8d77\u70b9<code>start<\/code>\u548c\u89d2\u5ea6<code>angle<\/code>\u5b9a\u4e49\u76f4\u7ebf\u6bb5\u8f68\u8ff9<\/li>\n\n\n\n<li>\u8ba1\u7b97\u6cbf\u76f4\u7ebf\u7684\u70b9\u4f4d\u7f6e\u548c\u65cb\u8f6c<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. <code>TrackArc<\/code>\uff08\u8f68\u8ff9\u5f27\u7ebf\u6bb5\uff09<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ee7\u627f\u81ea<code>Trajectory<\/code><\/li>\n\n\n\n<li>\u4ee5\u5706\u5fc3<code>center<\/code>\u3001\u534a\u5f84<code>radius<\/code>\u548c\u8d77\u59cb\u89d2\u5ea6<code>startAngle<\/code>\u5b9a\u4e49\u5f27\u7ebf\u6bb5\u8f68\u8ff9<\/li>\n\n\n\n<li>\u8ba1\u7b97\u5f27\u7ebf\u4e0a\u7684\u70b9\u4f4d\u7f6e\u548c\u65cb\u8f6c<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\"><code>TrackAssembly<\/code>\uff08\u5c65\u5e26\u7ec4\u4ef6\uff09<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u6210\u5458<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mChassis<\/code>\uff1a\u8f66\u8f86\u5e95\u76d8<\/li>\n\n\n\n<li><code>mWheels<\/code>\uff1a\u5c65\u5e26\u8f6e\u5b50\u96c6\u5408<\/li>\n\n\n\n<li><code>mShoes<\/code>\uff1a\u5c65\u5e26\u8282\uff08\u5c65\u5e26\u677f\uff09\u96c6\u5408<\/li>\n\n\n\n<li><code>mLinks<\/code>\uff1a\u8fde\u63a5\u5c65\u5e26\u8282\u4e0e\u5e95\u76d8\u3001\u5c65\u5e26\u8282\u95f4\u7684\u7ea6\u675f<\/li>\n\n\n\n<li><code>mSuspensions<\/code>\uff1a\u60ac\u6302\u7cfb\u7edf\u5217\u8868<\/li>\n\n\n\n<li><code>mShoeLength<\/code>\uff0c<code>mShoeThickness<\/code>\uff0c<code>mShoeMass<\/code>\uff1a\u5c65\u5e26\u8282\u5c3a\u5bf8\u4e0e\u8d28\u91cf\u53c2\u6570<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>injectWorld<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u6240\u6709\u8f6e\u5b50\u3001\u5c65\u5e26\u8282\u53ca\u7ea6\u675f\u94fe\u63a5\u6ce8\u5165\u4e16\u754c\u521a\u4f53\u548c\u7ea6\u675f\u5217\u8868\uff0c\u4f9b\u7269\u7406\u7cfb\u7edf\u7ba1\u7406<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>initShoes<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u636e\u8f6e\u5b50\u4f4d\u7f6e\u521d\u59cb\u5316\u5c65\u5e26\u8f68\u8ff9\u548c\u5c65\u5e26\u8282<\/li>\n\n\n\n<li>\u8ba1\u7b97\u8f6e\u5b50\u4e4b\u95f4\u7684\u89d2\u5ea6\u548c\u8f68\u8ff9\u533a\u95f4\uff08\u7528\u4e8c\u7ef4\u51e0\u4f55\u8ba1\u7b97\u8f6e\u5b50\u4f4d\u7f6e\u548c\u89d2\u5ea6\u5173\u7cfb\uff09<\/li>\n\n\n\n<li>\u6784\u5efa\u7531\u76f4\u7ebf\u6bb5(<code>TrackLine<\/code>)\u548c\u5f27\u7ebf\u6bb5(<code>TrackArc<\/code>)\u7ec4\u6210\u7684\u5c65\u5e26\u8f68\u8ff9<\/li>\n\n\n\n<li>\u6cbf\u8f68\u8ff9\u5747\u5300\u5e03\u7f6e\u5c65\u5e26\u8282\uff0c\u8c03\u7528<code>addShoe<\/code>\u521b\u5efa<\/li>\n\n\n\n<li>\u751f\u6210\u5c65\u5e26\u8282\u4e4b\u95f4\u7684\u7ea6\u675f\uff0c\u4fdd\u8bc1\u5c65\u5e26\u95ed\u73af\u548c\u8fd0\u52a8\u7a33\u5b9a<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>addWheel<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5411\u7ec4\u4ef6\u6dfb\u52a0\u8f6e\u5b50\uff0c\u5e76\u521b\u5efa\u60ac\u6302\u7cfb\u7edf\u548c\u4e0e\u5e95\u76d8\u7684\u8fde\u63a5\u7ea6\u675f<\/li>\n\n\n\n<li>\u786e\u4fdd\u60ac\u6302\u65b9\u5411\u5782\u76f4<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>setWorldTransform<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6279\u91cf\u8bbe\u7f6e\u8f6e\u5b50\u548c\u5c65\u5e26\u8282\u7684\u4e16\u754c\u5750\u6807\u7cfb\uff08\u4f4d\u7f6e\u548c\u65cb\u8f6c\uff09<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>getSpeed<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8ba1\u7b97\u6240\u6709\u8f6e\u5b50\u7684\u5e73\u5747\u89d2\u901f\u5ea6\uff0c\u8f6c\u5316\u4e3a\u901f\u5ea6\u503c<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>update<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u66f4\u65b0\u6240\u6709\u60ac\u6302\u7cfb\u7edf\u7684\u7269\u7406\u72b6\u6001\uff08\u5f39\u7c27\u3001\u963b\u5c3c\u529b\uff09<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u4eae\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8f68\u8ff9\u7531\u591a\u6bb5\u5f27\u7ebf\u4e0e\u76f4\u7ebf\u62fc\u63a5\u7ec4\u6210<\/strong>\uff0c\u7cbe\u786e\u6a21\u62df\u5c65\u5e26\u7ed5\u8f6e\u5b50\u8fd0\u52a8\u8def\u5f84<\/li>\n\n\n\n<li>\u901a\u8fc7\u4e8c\u7ef4\u51e0\u4f55\u8ba1\u7b97\u548c\u89d2\u5ea6\u5173\u7cfb\uff0c\u52a8\u6001\u6784\u5efa\u8f68\u8ff9\u6bb5<\/li>\n\n\n\n<li>\u5229\u7528\u591a\u7ea6\u675f\u7cfb\u7edf\u8fde\u63a5\u5c65\u5e26\u8282\u4e0e\u5e95\u76d8\u53ca\u5f7c\u6b64\uff0c\u4fdd\u8bc1\u7269\u7406\u7a33\u5b9a\u6027<\/li>\n\n\n\n<li>\u652f\u6301\u60ac\u6302\u7269\u7406\u53cd\u9988\uff0c\u63d0\u5347\u6a21\u62df\u771f\u5b9e\u611f<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">TrackedVehicle\uff08\u5c65\u5e26\u5f0f\u8f66\u8f86\uff09\u7c7b\u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f5c\u7528<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ba1\u7406\u6574\u4e2a\u5c65\u5e26\u8f66\u8f86\uff0c\u5305\u62ec\u5e95\u76d8\uff08chassis\uff09\u3001\u5c65\u5e26\u7ec4\u4ef6\uff08TrackAssembly\uff09\u3001\u52a8\u529b\u4f20\u8f93\uff08engine &amp; transmission\uff09\u3001\u64cd\u63a7\u8f93\u5165\uff08\u6cb9\u95e8\u3001\u8f6c\u5411\u3001\u5239\u8f66\uff09\u7b49\uff0c\u6574\u5408\u5404\u90e8\u5206\u5b8c\u6210\u7269\u7406\u6a21\u62df\u548c\u63a7\u5236\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mChassis<\/code>\uff1a\u8f66\u8f86\u5e95\u76d8\u521a\u4f53<\/li>\n\n\n\n<li><code>mTracks<\/code>\uff1a\u591a\u4e2a\u5c65\u5e26\u7ec4\u4ef6\uff08<code>TrackAssembly<\/code>\uff09<\/li>\n\n\n\n<li><code>mEngine<\/code>\uff1a\u53d1\u52a8\u673a\u6a21\u578b\uff08\u63d0\u4f9b\u626d\u77e9\u8f93\u51fa\uff09<\/li>\n\n\n\n<li><code>mTransmission<\/code>\uff1a\u53d8\u901f\u7bb1\u6a21\u578b\uff08\u63d0\u4f9b\u6863\u4f4d\u6bd4\uff09<\/li>\n\n\n\n<li><code>mThrottleValue<\/code>\uff1a\u6cb9\u95e8\u8f93\u5165\u503c<\/li>\n\n\n\n<li><code>mSteeringValue<\/code>\uff1a\u8f6c\u5411\u8f93\u5165\u503c<\/li>\n\n\n\n<li><code>mBrakeValue<\/code>\uff1a\u5239\u8f66\u8f93\u5165\u503c<\/li>\n\n\n\n<li><code>mBrake<\/code>\uff1a\u5239\u8f66\u63a7\u5236\u6a21\u5757<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">1. <code>injectWorld<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u5e95\u76d8\u548c\u6240\u6709\u5c65\u5e26\u7ec4\u4ef6\u6ce8\u5165\u7269\u7406\u4e16\u754c\u521a\u4f53\u548c\u7ea6\u675f\u96c6\u5408<\/li>\n\n\n\n<li>\u65b9\u4fbf\u7269\u7406\u5f15\u64ce\u7edf\u4e00\u7ba1\u7406<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">2. <code>setWorldTransform<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u7f6e\u8f66\u8f86\u53ca\u6240\u6709\u5c65\u5e26\u7ec4\u4ef6\u7684\u4e16\u754c\u5750\u6807\u7cfb\uff08\u4f4d\u7f6e\u4e0e\u65cb\u8f6c\uff09<\/li>\n\n\n\n<li>\u4f7f\u8f66\u8f86\u53ca\u5c65\u5e26\u4f4d\u7f6e\u4fdd\u6301\u540c\u6b65<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">3. <code>update(dt)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6cb9\u95e8\u4e0e\u8f6c\u5411\u63a7\u5236<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u6bcf\u6761\u5c65\u5e26\u8ba1\u7b97\u5f53\u524d\u8f6e\u901f<code>rpm<\/code><\/li>\n\n\n\n<li>\u6839\u636e\u53d8\u901f\u7bb1\u6863\u4f4d\u6bd4\u8ba1\u7b97\u5b9e\u9645\u626d\u77e9<\/li>\n\n\n\n<li>\u6839\u636e\u8f6c\u5411\u503c\u8c03\u6574\u5de6\u53f3\u5c65\u5e26\u626d\u77e9\u65b9\u5411\uff08\u5de6\u53f3\u5c65\u5e26\u53cd\u5411\u8f6c\u52a8\u5b9e\u73b0\u8f6c\u5411\uff09<\/li>\n\n\n\n<li>\u5c06\u626d\u77e9\u65bd\u52a0\u5230\u6bcf\u4e2a\u8f6e\u5b50\u4e0a\uff0c\u9a71\u52a8\u8f6e\u5b50\u65cb\u8f6c<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u5239\u8f66\u63a7\u5236<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u5bf9\u6240\u6709\u5c65\u5e26\u4e0a\u7684\u8f6e\u5b50\u5e94\u7528\u5239\u8f66\u529b\uff0c\u51cf\u901f<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u5c65\u5e26\u7ec4\u4ef6\u7269\u7406\u66f4\u65b0<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u8c03\u7528\u6240\u6709<code>TrackAssembly<\/code>\u7684<code>update<\/code>\uff0c\u66f4\u65b0\u60ac\u6302\u3001\u5c65\u5e26\u8282\u7b49\u7269\u7406\u72b6\u6001<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u4eae\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u901a\u8fc7\u6cb9\u95e8\u548c\u8f6c\u5411\u8f93\u5165\uff0c\u76f4\u63a5\u8ba1\u7b97\u5e76\u4f5c\u7528\u626d\u77e9\uff0c\u6a21\u62df\u9a71\u52a8\u529b\u548c\u8f6c\u5411<\/li>\n\n\n\n<li>\u5de6\u53f3\u5c65\u5e26\u626d\u77e9\u7b26\u53f7\u76f8\u53cd\u5b9e\u73b0\u5dee\u901f\u8f6c\u5411\uff08\u5c65\u5e26\u8f66\u7ecf\u5178\u8f6c\u5411\u65b9\u5f0f\uff09<\/li>\n\n\n\n<li>\u7ed3\u6784\u6e05\u6670\uff0c\u5206\u5c42\u8c03\u7528\uff0c\u65b9\u4fbf\u6269\u5c55\u548c\u7ef4\u62a4<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">VehicleEngine\uff08\u8f66\u8f86\u5f15\u64ce\uff09\u7c7b\u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f5c\u7528<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u6a21\u62df\u8f66\u8f86\u5f15\u64ce\u7684\u626d\u77e9\u8f93\u51fa\uff0c\u901a\u8fc7\u7ed9\u5b9a\u7684\u8f6c\u901f-\u626d\u77e9\u66f2\u7ebf\uff08torque curve\uff09\u8ba1\u7b97\u5bf9\u5e94\u8f6c\u901f\u4e0b\u7684\u626d\u77e9\u503c\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458\u53d8\u91cf<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mTorqueCurve<\/code>\uff1a\u4e00\u4e2a\u8f6c\u901f-\u626d\u77e9\u70b9\uff08<code>TNPoint<\/code>\uff09\u7684\u6570\u7ec4\uff0c\u8868\u793a\u5f15\u64ce\u7684\u626d\u77e9\u66f2\u7ebf\u6570\u636e\u70b9\u3002\n<ul class=\"wp-block-list\">\n<li><code>TNPoint<\/code> \u7ed3\u6784\u5305\u542b\uff1a\n<ul class=\"wp-block-list\">\n<li><code>N<\/code>\uff1a\u8f6c\u901f\uff08rpm\uff09<\/li>\n\n\n\n<li><code>T<\/code>\uff1a\u5bf9\u5e94\u8f6c\u901f\u4e0b\u7684\u626d\u77e9<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">1. \u6784\u9020\u51fd\u6570 <code>VehicleEngine(const ObjectArray&lt;TNPoint&gt; &amp;torqueCurve)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u5f15\u64ce\u626d\u77e9\u66f2\u7ebf\uff0c\u5b58\u50a8\u4e00\u7ec4\u8f6c\u901f-\u626d\u77e9\u70b9<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">2. <code>getTorque(Real rpm) const<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u636e\u8f93\u5165\u7684\u8f6c\u901f <code>rpm<\/code> \u8ba1\u7b97\u5bf9\u5e94\u7684\u626d\u77e9\u8f93\u51fa<\/li>\n\n\n\n<li>\u903b\u8f91\uff1a\n<ul class=\"wp-block-list\">\n<li>\u82e5 <code>rpm<\/code> \u4f4e\u4e8e\u66f2\u7ebf\u6700\u5c0f\u8f6c\u901f\uff0c\u8fd4\u56de\u66f2\u7ebf\u8d77\u70b9\u626d\u77e9<\/li>\n\n\n\n<li>\u82e5 <code>rpm<\/code> \u9ad8\u4e8e\u66f2\u7ebf\u6700\u5927\u8f6c\u901f\uff0c\u8fd4\u56de\u66f2\u7ebf\u7ec8\u70b9\u626d\u77e9<\/li>\n\n\n\n<li>\u5426\u5219\uff0c\u4f7f\u7528\u4e8c\u5206\u67e5\u627e\u627e\u5230\u66f2\u7ebf\u4e0a\u7d27\u90bb\u7684\u4e24\u4e2a\u70b9<\/li>\n\n\n\n<li>\u5728\u8fd9\u4e24\u4e2a\u70b9\u4e4b\u95f4\u7ebf\u6027\u63d2\u503c\u8ba1\u7b97\u626d\u77e9\u503c\uff0c\u4fdd\u8bc1\u626d\u77e9\u8f93\u51fa\u8fde\u7eed\u5e73\u6ed1<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u4eae\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u6807\u51c6\u5e93\u7684 <code>std::lower_bound<\/code> \u5feb\u901f\u5b9a\u4f4d\u63d2\u503c\u533a\u95f4\uff0c\u6548\u7387\u9ad8<\/li>\n\n\n\n<li>\u652f\u6301\u4efb\u610f\u5f62\u72b6\u7684\u626d\u77e9\u66f2\u7ebf\uff0c\u53ea\u9700\u63d0\u4f9b\u79bb\u6563\u70b9\u6570\u636e\u5373\u53ef<\/li>\n\n\n\n<li>\u7ebf\u6027\u63d2\u503c\u7b80\u5355\u6709\u6548\uff0c\u9002\u5408\u5b9e\u65f6\u8ba1\u7b97<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">VehicleTransmission\uff08\u8f66\u8f86\u53d8\u901f\u7bb1\uff09\u7c7b\u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f5c\u7528<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ba1\u7406\u8f66\u8f86\u7684\u6863\u4f4d\u548c\u9f7f\u8f6e\u6bd4\uff0c\u652f\u6301\u624b\u52a8\u548c\u81ea\u52a8\u53d8\u901f\uff0c\u901a\u8fc7\u5f53\u524d\u53d1\u52a8\u673a\u8f6c\u901f\u8c03\u6574\u6863\u4f4d\u5e76\u8fd4\u56de\u5f53\u524d\u9f7f\u8f6e\u6bd4\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458\u53d8\u91cf<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mGearRatios<\/code>\uff1a\u9f7f\u8f6e\u6bd4\u6570\u7ec4\uff0c\u5bf9\u5e94\u6bcf\u4e2a\u6863\u4f4d\u7684\u4f20\u52a8\u6bd4\u3002<\/li>\n\n\n\n<li><code>mCurrentGear<\/code>\uff1a\u5f53\u524d\u6863\u4f4d\u7d22\u5f15\uff0c\u521d\u59cb\u4e3a -1\uff08\u7a7a\u6863\uff09\u3002<\/li>\n\n\n\n<li><code>mType<\/code>\uff1a\u53d8\u901f\u7bb1\u7c7b\u578b\uff0c\u652f\u6301\u624b\u52a8\uff08MANUAL\uff09\u548c\u81ea\u52a8\uff08AUTOMATIC\uff09\u3002<\/li>\n\n\n\n<li><code>mShiftPoints<\/code>\uff1a\u6362\u6321\u70b9\u6570\u7ec4\uff0c\u5b9a\u4e49\u81ea\u52a8\u6362\u6321\u65f6\u7684\u8f6c\u901f\u9608\u503c\uff08\u4e0a\u4e0b\u6362\u6321\u4e34\u754c\u8f6c\u901f\u533a\u95f4\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">\u6784\u9020\u51fd\u6570 <code>VehicleTransmission(ObjectArray&lt;Real&gt; gearRatios, ObjectArray&lt;ShiftPoint&gt; shiftPoints)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u9f7f\u8f6e\u6bd4\u3001\u6362\u6321\u70b9\uff0c\u9ed8\u8ba4\u8bbe\u4e3a\u624b\u52a8\u6863\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\"><code>getGearRatio(Real rpm)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f20\u5165\u5f53\u524d\u53d1\u52a8\u673a\u8f6c\u901f <code>rpm<\/code>\uff0c\u8fd4\u56de\u5f53\u524d\u6863\u4f4d\u7684\u9f7f\u8f6e\u6bd4\u3002<\/li>\n\n\n\n<li>\u81ea\u52a8\u53d8\u901f\u903b\u8f91\uff08\u5982\u679c\u662f\u81ea\u52a8\u6863\u4e14\u6863\u4f4d\u6709\u6548\uff09\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5982\u679c\u8f6c\u901f\u8d85\u8fc7\u5f53\u524d\u6863\u4f4d\u4e0a\u6362\u6321\u8f6c\u901f\uff0c\u81ea\u52a8\u5347\u6863\u3002<\/li>\n\n\n\n<li>\u5982\u679c\u8f6c\u901f\u4f4e\u4e8e\u5f53\u524d\u6863\u4f4d\u4e0b\u6362\u6321\u8f6c\u901f\uff0c\u81ea\u52a8\u964d\u6863\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u8fd4\u56de\u5f53\u524d\u6863\u4f4d\u5bf9\u5e94\u7684\u9f7f\u8f6e\u6bd4\uff0c\u82e5\u6863\u4f4d\u65e0\u6548\u5219\u8fd4\u56de0\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u4eae\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u652f\u6301\u81ea\u52a8\u548c\u624b\u52a8\u4e24\u79cd\u53d8\u901f\u65b9\u5f0f\u3002<\/li>\n\n\n\n<li>\u81ea\u52a8\u6362\u6321\u6839\u636e\u8f6c\u901f\u533a\u95f4\u7075\u6d3b\u8c03\u6574\u6863\u4f4d\u3002<\/li>\n\n\n\n<li>\u7b80\u6d01\u6613\u6269\u5c55\u7684\u63a5\u53e3\uff0c\u65b9\u4fbf\u4e0e\u5f15\u64ce\u548c\u52a8\u529b\u7cfb\u7edf\u8854\u63a5\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">Wheel\uff08\u8f66\u8f6e\uff09\u7c7b\u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f5c\u7528<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8868\u793a\u8f66\u8f86\u7684\u8f66\u8f6e\uff0c\u5b9a\u4e49\u8f66\u8f6e\u7684\u51e0\u4f55\u5f62\u72b6\u3001\u8d28\u91cf\u3001\u5c40\u90e8\u548c\u4e16\u754c\u5750\u6807\u53d8\u6362\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458\u53d8\u91cf<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mRadius<\/code>\uff1a\u8f66\u8f6e\u534a\u5f84\u3002<\/li>\n\n\n\n<li><code>mWidth<\/code>\uff1a\u8f66\u8f6e\u5bbd\u5ea6\u3002<\/li>\n\n\n\n<li><code>mLocalTransform<\/code>\uff1a\u8f66\u8f6e\u76f8\u5bf9\u4e8e\u8f66\u8f86\u7684\u5c40\u90e8\u5750\u6807\u53d8\u6362\uff08\u4f4d\u7f6e+\u65cb\u8f6c\uff09\u3002<\/li>\n\n\n\n<li><code>mWorldTransform<\/code>\uff1a\u8f66\u8f6e\u7684\u4e16\u754c\u5750\u6807\u53d8\u6362\uff08\u4f4d\u7f6e+\u65cb\u8f6c\uff09\u3002<\/li>\n\n\n\n<li><code>mShapeBase<\/code>\uff1a\u8f66\u8f6e\u7684\u78b0\u649e\u5f62\u72b6\uff0c\u8fd9\u91cc\u7528\u7684\u662f\u5706\u67f1\u4f53\uff08CylinderShape\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h5 class=\"wp-block-heading\">\u6784\u9020\u51fd\u6570 <code>Wheel(const Coordsys &amp;localCoordsys, Real wheelRadius, Real wheelWidth, Real wheelMass)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u521d\u59cb\u5316\u8f66\u8f6e\u7684\u5c40\u90e8\u53d8\u6362\u3001\u534a\u5f84\u3001\u5bbd\u5ea6\u3002<\/li>\n\n\n\n<li>\u521b\u5efa\u5bf9\u5e94\u7684\u5706\u67f1\u5f62\u72b6\u4f5c\u4e3a\u8f66\u8f6e\u7684\u78b0\u649e\u5f62\u72b6\u3002<\/li>\n\n\n\n<li>\u8bbe\u7f6e\u8f66\u8f6e\u8d28\u91cf\u3002<\/li>\n\n\n\n<li>\u521d\u59cb\u5316\u4e16\u754c\u53d8\u6362\u4e3a\u5c40\u90e8\u53d8\u6362\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\"><code>setWorldTransform(const Coordsys &amp;coordsys)<\/code><\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6839\u636e\u4f20\u5165\u7684\u4e16\u754c\u5750\u6807\u53d8\u6362\uff0c\u7ed3\u5408\u5c40\u90e8\u53d8\u6362\u8ba1\u7b97\u8f66\u8f6e\u7684\u6700\u7ec8\u4e16\u754c\u53d8\u6362\u3002<\/li>\n\n\n\n<li>\u4f5c\u7528\u662f\u8ba9\u8f66\u8f6e\u968f\u8f66\u8f86\u6574\u4f53\u53d8\u6362\u540c\u6b65\u79fb\u52a8\u65cb\u8f6c\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u4eae\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528 <code>CylinderShape<\/code> \u6765\u8868\u793a\u8f66\u8f6e\u7684\u7269\u7406\u5f62\u72b6\uff0c\u65b9\u4fbf\u4e0e\u7269\u7406\u5f15\u64ce\u4ea4\u4e92\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u5c40\u90e8\u4e0e\u4e16\u754c\u5750\u6807\u53d8\u6362\u7684\u7ec4\u5408\uff0c\u4fbf\u4e8e\u7ba1\u7406\u8f66\u8f6e\u76f8\u5bf9\u4e8e\u8f66\u8f86\u7684\u5b9a\u4f4d\u548c\u8f66\u8f86\u6574\u4f53\u79fb\u52a8\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h3 class=\"wp-block-heading\">WheeledVehicle\uff08\u8f6e\u5f0f\u8f66\u8f86\uff09\u7c7b\u7b80\u8981\u89e3\u6790<\/h3>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4f5c\u7528<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8868\u793a\u5e26\u8f6e\u8f74\uff08Axle\uff09\u548c\u8f6e\u5b50\u7684\u8f66\u8f86\uff0c\u8d1f\u8d23\u8f66\u8f86\u52a8\u529b\u5b66\u548c\u63a7\u5236\uff08\u6cb9\u95e8\u3001\u8f6c\u5411\u3001\u5239\u8f66\uff09\u66f4\u65b0\uff0c\u7ba1\u7406\u5e95\u76d8\u548c\u8f6e\u8f74\u7269\u7406\u521a\u4f53\u53ca\u8fde\u63a5\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e3b\u8981\u6210\u5458<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>mChassis<\/code>\uff1a\u8f66\u8f86\u5e95\u76d8\u521a\u4f53\u3002<\/li>\n\n\n\n<li><code>mAxles<\/code>\uff1a\u8f66\u8f86\u6240\u6709\u8f6e\u8f74\u96c6\u5408\uff0c\u6bcf\u4e2a\u8f6e\u8f74\u5305\u542b\u8f6e\u5b50\u548c\u60ac\u6302\u7b49\u3002<\/li>\n\n\n\n<li><code>mEngine<\/code>\uff1a\u8f66\u8f86\u53d1\u52a8\u673a\uff0c\u8d1f\u8d23\u8f93\u51fa\u8f6c\u77e9\u3002<\/li>\n\n\n\n<li><code>mTransmission<\/code>\uff1a\u53d8\u901f\u7bb1\uff0c\u63d0\u4f9b\u6863\u4f4d\u548c\u4f20\u52a8\u6bd4\u3002<\/li>\n\n\n\n<li><code>mDriveline<\/code>\uff1a\u4f20\u52a8\u7cfb\u7edf\uff0c\u8d1f\u8d23\u5c06\u53d1\u52a8\u673a\u626d\u77e9\u4f20\u9012\u5230\u8f6e\u8f74\u3002<\/li>\n\n\n\n<li><code>mBrake<\/code>\uff1a\u5239\u8f66\u7cfb\u7edf\u3002<\/li>\n\n\n\n<li><code>mThrottleValue<\/code>\u3001<code>mSteeringValue<\/code>\u3001<code>mBrakeValue<\/code>\uff1a\u8f93\u5165\u63a7\u5236\u503c\uff08\u6cb9\u95e8\u3001\u65b9\u5411\u76d8\u3001\u5239\u8f66\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u5173\u952e\u65b9\u6cd5<\/h4>\n\n\n\n<h4 class=\"wp-block-heading\"><code>injectWorld<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u8f66\u8f86\u5e95\u76d8\u548c\u6240\u6709\u8f6e\u8f74\u7684\u521a\u4f53\u53ca\u7ea6\u675f\u52a0\u5165\u7269\u7406\u4e16\u754c\uff0c\u65b9\u4fbf\u7269\u7406\u4eff\u771f\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>setWorldTransform<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bbe\u7f6e\u8f66\u8f86\u7684\u6574\u4f53\u4e16\u754c\u53d8\u6362\uff0c\u66f4\u65b0\u5e95\u76d8\u548c\u6240\u6709\u8f6e\u8f74\u7684\u4e16\u754c\u5750\u6807\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>update<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6cb9\u95e8\u63a7\u5236<\/strong>\uff1a\u5bf9\u6bcf\u4e2a\u53d7\u6cb9\u95e8\u63a7\u5236\u7684\u8f6e\u8f74\uff0c\u6839\u636e\u53d1\u52a8\u673a\u626d\u77e9\u548c\u53d8\u901f\u7bb1\u4f20\u52a8\u6bd4\u8ba1\u7b97\u626d\u77e9\uff0c\u4f20\u9012\u7ed9\u9a71\u52a8\u8f6e\u8f74\u3002<\/li>\n\n\n\n<li><strong>\u8f6c\u5411\u63a7\u5236<\/strong>\uff1a\u5bf9\u53d7\u8f6c\u5411\u63a7\u5236\u7684\u8f6e\u8f74\uff0c\u8ba1\u7b97\u5404\u8f6e\u5b50\u7684\u65cb\u8f6c\u548c\u8f6c\u5411\u89d2\u5ea6\uff0c\u8c03\u6574\u8f6e\u5b50\u5173\u8282\u7684\u7ea6\u675f\u4ee5\u5b9e\u73b0\u8f6c\u5411\u6548\u679c\u3002<\/li>\n\n\n\n<li><strong>\u5239\u8f66\u63a7\u5236<\/strong>\uff1a\u5bf9\u6240\u6709\u8f6e\u5b50\u5e94\u7528\u5239\u8f66\u626d\u77e9\u3002<\/li>\n\n\n\n<li><strong>\u66f4\u65b0\u8f6e\u8f74<\/strong>\uff1a\u8c03\u7528\u6240\u6709\u8f6e\u8f74\u7684\u66f4\u65b0\u51fd\u6570\uff0c\u63a8\u52a8\u7269\u7406\u6a21\u62df\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h4 class=\"wp-block-heading\">\u8bbe\u8ba1\u8981\u70b9<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7ed3\u5408\u53d1\u52a8\u673a\u3001\u53d8\u901f\u7bb1\u3001\u4f20\u52a8\u7cfb\u7edf\u5b9e\u73b0\u771f\u5b9e\u52a8\u529b\u4f20\u9012\u3002<\/li>\n\n\n\n<li>\u8f6c\u5411\u90e8\u5206\u7528\u5173\u8282\u7ea6\u675f\u52a8\u6001\u8c03\u6574\uff0c\u5b9e\u73b0\u7075\u6d3b\u8f6c\u5411\u3002<\/li>\n\n\n\n<li>\u7ed3\u6784\u6e05\u6670\uff0c\u804c\u8d23\u5206\u660e\uff0c\u4fbf\u4e8e\u6269\u5c55\u8f6e\u8f74\u548c\u8f66\u8f86\u63a7\u5236\u903b\u8f91\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u7269\u7406\u5f15\u64ce\u6e90\u7801\u8be6\u89e3 MathUtils 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