球体到多边形碰撞

Question

我目前正在研究一个小物理引擎，但我遇到了“Sphere To Polygon”碰撞处理的一个小问题。

如您所见，球体只是漂浮在多边形的边缘。 它只是靠近边缘！如果我将球体再移动一点，它就会按原样下降，我真的不明白为什么会这样。这是我的代码，希望你能帮忙（我使用的是分离轴定理）：

public static bool SphereToPolygon(Vector3 centerA, float radiusA, Vector3[] verts, short[] inds, Vector3 centerB, out Vector3 normal, out float depth, out Vector3 contactPoint, out int contacts) {
            normal = Vector3.Zero;
            contactPoint = Vector3.Zero;
            depth = float.MaxValue;
            contacts = 0;

            float minA, maxA, minB, maxB;

            for (int i = 0; i < inds.Length; i += 3) {
                Vector3 vA = verts[inds[i]];
                Vector3 vB = verts[inds[i + 1]];
                Vector3 vC = verts[inds[i + 2]];

                Vector3 axis = Vector3.Cross(vA - vB, vC - vB);
                axis.Normalize();

                Solver.ProjectVertices(verts, axis, out minB, out maxB);
                Solver.ProjectSphere(centerA, radiusA, axis, out minA, out maxA);

                if (maxB < minA|| maxA < minB) {
                    return false;
                }

                float overLap = MathF.Min(maxB, maxA) - MathF.Max(minB, minA);
                if (overLap < depth) {
                    depth = overLap;
                    normal = axis;
                    contactPoint = centerA - radiusA * axis;
                    contacts = 1;
                }
            }

            Vector3 direction = centerB - centerA;

            if (Vector3.Dot(normal, direction) < 0) {
                normal = -normal;
            }

            return true;
        }

这里是我投影顶点和球体的方式：

        private static void ProjectVertices(Vector3[] verts, Vector3 axis, out float min, out float max) {
            min = float.MaxValue;
            max = float.MinValue;

            for(int i = 0; i < verts.Length; i++) {
                float projectedPoint = Vector3.Dot(verts[i], axis);
                if(projectedPoint < min) { min = projectedPoint; }
                if(projectedPoint > max) { max = projectedPoint; }
            }
        }
        private static void ProjectSphere(Vector3 center, float radius, Vector3 axis, out float min, out float max) {
            min = Vector3.Dot(center, axis) - radius;
            max = Vector3.Dot(center, axis) + radius;

            if (min > max) {
                float t = min;
                min = max;
                max = t;
            }
        }

我为多边形提供的顶点只是可以在任何方向缩放的立方体的顶点。