扫过两个移动球体之间的碰撞？

Question

我正在试图找出一个函数来检测两个移动球体之间的碰撞，如THIS ARTICLE中所述，但我不知道文章中的示例是什么语言，所以我不知道如何我应该把它翻译成C＃（我正在编程的语言）

有人可以：

• 告诉我示例代码的语言是什么？
• 将示例代码翻译成C＃
• 或向我解释一下，对于这种编程的新手，Sphere-Sphere Sweep Collision如何工作，以便我自己尝试实现它

我很感激任何答案，因为我已经坚持了一段时间了。

---

以下是迄今为止未识别的语言中的示例代码：

#include "vector.h"

template< class T >

inline void SWAP( T& a, T& b )
//swap the values of a and b

{



const T temp = a;
a = b;
b = temp;
}

// Return true if r1 and r2 are real
inline bool QuadraticFormula
(
const SCALAR a,
const SCALAR b,
const SCALAR c,
SCALAR& r1,  //first
SCALAR& r2   //and second roots
)

{




const SCALAR q = b*b - 4*a*c; 
if( q >= 0 )

{




const SCALAR sq = sqrt(q);
const SCALAR d = 1 / (2*a);
r1 = ( -b + sq ) * d;
r2 = ( -b - sq ) * d;
return true;//real roots

}

else

{




return false;//complex roots

}

}

const bool SphereSphereSweep
(
const SCALAR    ra, //radius of sphere A
const VECTOR&   A0, //previous position of sphere A
const VECTOR&   A1, //current position of sphere A
const SCALAR    rb, //radius of sphere B
const VECTOR&   B0, //previous position of sphere B
const VECTOR&   B1, //current position of sphere B
SCALAR&  u0,    //normalized time of first collision
SCALAR&  u1 //normalized time of second collision

)

{



const VECTOR va = A1 - A0;
//vector from A0 to A1

const VECTOR vb = B1 - B0;
//vector from B0 to B1

const VECTOR AB = B0 - A0;
//vector from A0 to B0

const VECTOR vab = vb - va;
//relative velocity (in normalized time)

const SCALAR rab = ra + rb;

const SCALAR a = vab.dot(vab);
//u*u coefficient

const SCALAR b = 2*vab.dot(AB);
//u coefficient

const SCALAR c = AB.dot(AB) - rab*rab;
//constant term
//check if they're currently overlapping
if( AB.dot(AB) <= rab*rab )

{




u0 = 0;
u1 = 0;
return true;

}

//check if they hit each other 
// during the frame
if( QuadraticFormula( a, b, c, u0, u1 ) )
{




if( u0 > u1 )
SWAP( u0, u1 );
return true;

}

return false;

}