分离轴定理算法不起作用

Question

使用 Haxe 编写基于 following guide 的分离轴实现。似乎无法弄清楚为什么它不起作用，测试了各个部分，但它总是在碰撞时返回 true，即使无论如何都没有。

任何帮助表示赞赏！ :D

public static function polygon_polygon(poly1Pos:Vec2, poly1Verts:Array<Vec2>, poly2Pos:Vec2, poly2Verts:Array<Vec2>):Bool
{
    var axes1:Array<Vec2> = MathTools.getAxes(poly1Verts);
    var axes2:Array<Vec2> = MathTools.getAxes(poly2Verts);

    for (i in 0...axes1.length)
    {
        var p1:Projection = MathTools.project(axes1[i], poly1Verts);
        var p2:Projection = MathTools.project(axes1[i], poly2Verts);

        if (!p1.overlap(p2))
        {
            return false;
        }
    }
    for (i in 0...axes2.length)
    {
        var p1:Projection = MathTools.project(axes2[i], poly1Verts);
        var p2:Projection = MathTools.project(axes2[i], poly2Verts);

        if (!p1.overlap(p2))
        {
            return false;
        }
    }
    return true;
}

/**
 * Gets a list of normalized axis from a list of vertices
 */
public static function getAxes(verts:Array<Vec2>):Array<Vec2>
{
    var axes:Array<Vec2> = new Array<Vec2>();
    for (i in 0...verts.length)
    {
        var p1:Vec2 = verts[i];
        var p2:Vec2 = verts[i + 1 == verts.length ? 0 : i + 1];
        var normal:Vec2 = p1.getSubtract(p2).getPerpendicular().getNormal();
        axes[i] = normal;
    }
    return axes;
}

/**
 * Projects a set of vertices onto an axis
 */
public static function project(axis:Vec2, verts:Array<Vec2>):Projection
{
    var min:Float = axis.dot(verts[0]);
    var max:Float = min;
    for (i in 1...verts.length)
    {
        var p:Float = axis.dot(verts[i]);
        if (p < min) min = p;
        else if (p > max) max = p;
    }
    return new Projection(min, max);
}

class Projection
{

    public var min:Float;
    public var max:Float;

    public function new(min:Float, max:Float) 
    {
        this.min = min;
        this.max = max;
    }

    public function overlap(p:Projection):Bool
    {
        if (max < p.min || p.max < min) return false;
        else return true;

    }

}

Answer 1

您确定顶点正在被转换吗？ 然后检查垂线是右还是左，必须根据顶点的顺序来选择，顺时针还是逆时针。