matlab四叉树碰撞

四叉树碰撞检测是一种常用的碰撞检测算法，它通过将空间划分为四个象限来提高碰撞检测的效率。在MATLAB中，可以使用四叉树来实现碰撞检测。以下是一个MATLAB的四叉树碰撞检测的示例代码：

classdef QuadtreeNode
    properties
        x
        y
        width
        height
        objects
        children
    end
    
    methods
        function obj = QuadtreeNode(x, y, width, height)
            obj.x = x;
            obj.y = y;
            obj.width = width;
            obj.height = height;
            obj.objects = [];
            obj.children = [];
        end
        
        function insert(obj, object)
            if ~obj.isLeaf()
                for i = 1:4
                    if obj.children(i).contains(object)
                        obj.children(i).insert(object);
                        return;
                    end
                end
            end
            
            obj.objects = [obj.objects, object];
            
            if obj.isOverCapacity() && obj.isLeaf()
                obj.split();
            end
        end
        
        function split(obj)
            halfWidth = obj.width / 2;
            halfHeight = obj.height / 2;
            
            obj.children = [
                QuadtreeNode(obj.x, obj.y, halfWidth, halfHeight),
                QuadtreeNode(obj.x + halfWidth, obj.y, halfWidth, halfHeight),
                QuadtreeNode(obj.x, obj.y + halfHeight, halfWidth, halfHeight),
                QuadtreeNode(obj.x + halfWidth, obj.y + halfHeight, halfWidth, halfHeight)
            ];
            
            for i = 1:length(obj.objects)
                for j = 1:4
                    if obj.children(j).contains(obj.objects(i))
                        obj.children(j).insert(obj.objects(i));
                        break;
                    end
                end
            end
            
            obj.objects = [];
        end
        
        function result = isLeaf(obj)
            result = isempty(obj.children);
        end
        
        function result = isOverCapacity(obj)
            result = length(obj.objects) > 4;
        end
        
        function result = contains(obj, object)
            result = object.x >= obj.x && object.x <= obj.x + obj.width && object.y >= obj.y && object.y <= obj.y + obj.height;
        end
        
        function result = query(obj, range)
            result = [];
            
            if ~obj.intersects(range)
                return;
            end
            
            for i = 1:length(obj.objects)
                if obj.objects(i).intersects(range)
                    result = [result, obj.objects(i)];
                end
            end
            
            if ~obj.isLeaf()
                for i = 1:4
                    result = [result, obj.children(i).query(range)];
                end
            end
        end
        
        function result = intersects(obj, range)
            result = obj.x < range.x + range.width && obj.x + obj.width > range.x && obj.y < range.y + range.height && obj.y + obj.height > range.y;
        end
    end
end

classdef QuadtreeObject
    properties
        x
        y
        width
        height
    end
    
    methods
        function obj = QuadtreeObject(x, y, width, height)
            obj.x = x;
            obj.y = y;
            obj.width = width;
            obj.height = height;
        end
        
        function result = intersects(obj, range)
            result = obj.x < range.x + range.width && obj.x + obj.width > range.x && obj.y < range.y + range.height && obj.y + obj.height > range.y;
        end
    end
end

% 创建一个四叉树节点
root = QuadtreeNode(0, 0, 100, 100);

% 创建一些对象并插入到四叉树中
object1 = QuadtreeObject(10, 10, 20, 20);
object2 = QuadtreeObject(30, 30, 20, 20);
object3 = QuadtreeObject(60, 60, 20, 20);
root.insert(object1);
root.insert(object2);
root.insert(object3);

% 查询与指定范围相交的对象
range = QuadtreeObject(0, 0, 50, 50);
result = root.query(range);

% 输出查询结果
for i = 1:length(result)
    disp(['Object ', num2str(i), ': (', num2str(result(i).x), ', ', num2str(result(i).y), ')']);
end

这段代码创建了一个QuadtreeNode类和一个QuadtreeObject类，用于表示四叉树节点和对象。通过调用QuadtreeNode的insert方法，可以将对象插入到四叉树中。然后，可以使用QuadtreeNode的query方法查询与指定范围相交的对象。