matlab随机生成等边三角形并干涉检查 干涉检查通过分离轴定理算法实现

function st= check(a1,b1,alpha1,r1,a2,b2,alpha2,r2)%干涉检测 ax1=a1-sin(alpha1)*r1;%计算六个端点 ay1=b1+cos(alpha1)*r1; bx1=a1-sin(alpha1+2*pi/3)*r1; by1=b1+cos(alpha1+2*pi/3)*r1; cx1=a1-sin(alpha1+4*pi/3)*r1; cy1=b1+cos(alpha1+4*pi/3)*r1; ax2=a2-sin(alpha2)*r2; ay2=b2+cos(alpha2)*r2; bx2=a2-sin(alpha2+2*pi/3)*r2; by2=b2+cos(alpha2+2*pi/3)*r2; cx2=a2-sin(alpha2+4*pi/3)*r2; cy2=b2+cos(alpha2+4*pi/3)*r2; %六个向量的斜率 k=[cos(pi/3-alpha1)/sin(pi/3-alpha1),cos(pi-alpha1)/sin(pi-alpha1),cos(5*pi/3-alpha1)/sin(5*pi/3-alpha1),cos(pi/3-alpha2)/sin(pi/3-alpha2),cos(pi-alpha2)/sin(pi-alpha2),cos(5*pi/3-alpha2)/sin(5*pi/3-alpha2),]; st=1;%相交计数器 1代表干涉 for i = 1:6 x1=k(i)*ay1+ax1;%计算第一个三角三个投影点 y1=k(i)*x1; x2=k(i)*by1+bx1; y2=k(i)*x2; x3=k(i)*cy1+cx1; y3=k(i)*x3; x4=k(i)*ay2+ax2;%计算第二个三角三个投影点 y4=k(i)*x4; x5=k(i)*by2+bx2; y5=k(i)*x5; x6=k(i)*cy2+cx2; y6=k(i)*x6; if x1==x2 && x2==x3 %表明法线是垂直,此时边界按照y判断 yl1=min([y1,y2,y3]);%获得第一个三角形的y界限 yr1=max([y1,y2,y3]); yl2=min([y4,y5,y6]);%获得第二个三角形的y界限 yr2=max([y4,y5,y6]); if( yl2>yr1 || yl1>yr2) %干涉判断 st=0; break; else end else xl1=min([x1,x2,x3]);%获得第一个三角形的x界限 xr1=max([x1,x2,x3]); xl2=min([x4,x5,x6]);%获得第二个三角形的x界限 xr2=max([x4,x5,x6]); if (xl2>xr1 || xl1>xr2) %干涉判断 st=0; break; else end end end end