38 lines
1.6 KiB
C++
38 lines
1.6 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#pragma once
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#include <Jolt/Geometry/RayCylinder.h>
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#include <Jolt/Geometry/RaySphere.h>
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JPH_NAMESPACE_BEGIN
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/// Tests a ray starting at inRayOrigin and extending infinitely in inRayDirection
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/// against a capsule centered around the origin with its axis along the Y axis and half height specified.
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/// @return FLT_MAX if there is no intersection, otherwise the fraction along the ray.
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/// @param inRayDirection Ray direction. Does not need to be normalized.
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/// @param inRayOrigin Origin of the ray. If the ray starts inside the capsule, the returned fraction will be 0.
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/// @param inCapsuleHalfHeight Distance from the origin to the center of the top sphere (or that of the bottom)
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/// @param inCapsuleRadius Radius of the top/bottom sphere
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JPH_INLINE float RayCapsule(Vec3Arg inRayOrigin, Vec3Arg inRayDirection, float inCapsuleHalfHeight, float inCapsuleRadius)
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{
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// Test infinite cylinder
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float cylinder = RayCylinder(inRayOrigin, inRayDirection, inCapsuleRadius);
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if (cylinder == FLT_MAX)
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return FLT_MAX;
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// If this hit is in the finite cylinder we have our fraction
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if (abs(inRayOrigin.GetY() + cylinder * inRayDirection.GetY()) <= inCapsuleHalfHeight)
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return cylinder;
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// Test upper and lower sphere
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Vec3 sphere_center(0, inCapsuleHalfHeight, 0);
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float upper = RaySphere(inRayOrigin, inRayDirection, sphere_center, inCapsuleRadius);
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float lower = RaySphere(inRayOrigin, inRayDirection, -sphere_center, inCapsuleRadius);
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return min(upper, lower);
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}
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JPH_NAMESPACE_END
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