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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#include "GuSweepSphereCapsule.h"
#include "GuSphere.h"
#include "GuCapsule.h"
#include "GuDistancePointSegment.h"
#include "GuSweepSphereSphere.h"
#include "GuIntersectionRayCapsule.h"
using namespace physx;
using namespace Gu;
bool Gu::sweepSphereCapsule(const Sphere& sphere, const Capsule& lss, const PxVec3& dir, PxReal length, PxReal& d, PxVec3& ip, PxVec3& nrm, PxHitFlags hitFlags)
{
const PxReal radiusSum = lss.radius + sphere.radius;
if(!(hitFlags & PxHitFlag::eASSUME_NO_INITIAL_OVERLAP))
{
// PT: test if shapes initially overlap
if(distancePointSegmentSquared(lss.p0, lss.p1, sphere.center)<radiusSum*radiusSum)
{
d = 0.0f;
nrm = -dir;
return true;
}
}
if(lss.p0 == lss.p1)
{
// Sphere vs. sphere
if(sweepSphereSphere(sphere.center, sphere.radius, lss.p0, lss.radius, -dir*length, d, nrm))
{
d*=length;
// if(hitFlags & PxHitFlag::ePOSITION) // PT: TODO
ip = sphere.center + nrm * sphere.radius;
return true;
}
return false;
}
// Create inflated capsule
Capsule Inflated(lss.p0, lss.p1, radiusSum);
// Raycast against it
PxReal t = 0.0f;
if(intersectRayCapsule(sphere.center, dir, Inflated, t))
{
if(t>=0.0f && t<=length)
{
d = t;
// PT: TODO:
// const Ps::IntBool needsImpactPoint = hitFlags & PxHitFlag::ePOSITION;
// if(needsImpactPoint || hitFlags & PxHitFlag::eNORMAL)
{
// Move capsule against sphere
const PxVec3 tdir = t*dir;
Inflated.p0 -= tdir;
Inflated.p1 -= tdir;
// Compute closest point between moved capsule & sphere
distancePointSegmentSquared(Inflated, sphere.center, &t);
Inflated.computePoint(ip, t);
// Normal
nrm = (ip - sphere.center);
nrm.normalize();
// if(needsImpactPoint) // PT: TODO
ip -= nrm * lss.radius;
}
return true;
}
}
return false;
}
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