92 lines
3.8 KiB
C
92 lines
3.8 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef GU_INTERSECTION_RAY_CAPSULE_H
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#define GU_INTERSECTION_RAY_CAPSULE_H
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#include "GuCapsule.h"
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#include "GuDistancePointSegment.h"
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#include "GuIntersectionRay.h"
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namespace physx
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{
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namespace Gu
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{
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PxU32 intersectRayCapsuleInternal(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal s[2]);
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PX_FORCE_INLINE bool intersectRayCapsule(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal& t)
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{
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// PT: move ray origin close to capsule, to solve accuracy issues.
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// We compute the distance D between the ray origin and the capsule's segment.
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// Then E = D - radius = distance between the ray origin and the capsule.
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// We can move the origin freely along 'dir' up to E units before touching the capsule.
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PxReal l = distancePointSegmentSquaredInternal(p0, p1 - p0, origin);
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l = PxSqrt(l) - radius;
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// PT: if this becomes negative or null, the ray starts inside the capsule and we can early exit
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if(l<=0.0f)
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{
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t = 0.0f;
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return true;
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}
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// PT: we remove an arbitrary GU_RAY_SURFACE_OFFSET units to E, to make sure we don't go close to the surface.
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// If we're moving in the direction of the capsule, the origin is now about GU_RAY_SURFACE_OFFSET units from it.
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// If we're moving away from the capsule, the ray won't hit the capsule anyway.
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// If l is smaller than GU_RAY_SURFACE_OFFSET we're close enough, accuracy is good, there is nothing to do.
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if(l>GU_RAY_SURFACE_OFFSET)
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l -= GU_RAY_SURFACE_OFFSET;
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else
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l = 0.0f;
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// PT: move origin closer to capsule and do the raycast
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PxReal s[2];
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const PxU32 nbHits = Gu::intersectRayCapsuleInternal(origin + l*dir, dir, p0, p1, radius, s);
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if(!nbHits)
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return false;
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// PT: keep closest hit only
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if(nbHits == 1)
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t = s[0];
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else
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t = (s[0] < s[1]) ? s[0] : s[1];
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// PT: fix distance (smaller than expected after moving ray close to capsule)
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t += l;
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return true;
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}
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PX_FORCE_INLINE bool intersectRayCapsule(const PxVec3& origin, const PxVec3& dir, const Gu::Capsule& capsule, PxReal& t)
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{
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return Gu::intersectRayCapsule(origin, dir, capsule.p0, capsule.p1, capsule.radius, t);
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}
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}
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}
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#endif
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