Ejemplo n.º 1
0
        public static Vector3 Normal(this BoundingCapsule c, ref Vector3 position)
        {
            Vector3 ba = c.PointB - c.PointA;
            Vector3 pa = position - c.PointA;
            float   h  = Math.Min(Math.Max(Vector3.Dot(pa, ba) / Vector3.Dot(ba, ba), 0.0f), 1.0f);

            return(Vector3.Normalize((pa - h * ba) / c.Radius));
        }
Ejemplo n.º 2
0
        public static bool Intersects(this BoundingSphere sph, ref BoundingCapsule capsule, out Vector3 norm)
        {
            var dist = LineMath.PointSegmentDistance(ref sph.Center, ref capsule.PointA, ref capsule.PointB);
            var rads = sph.Radius + capsule.Radius;

            if (dist <= rads)
            {
                norm = LineMath.PointSegmentNormal(ref sph.Center, ref capsule.PointA, ref capsule.PointB);
                return(true);
            }
            else
            {
                norm = Vector3.Up;
                return(false);
            }
        }
Ejemplo n.º 3
0
        public static bool Intersects(this Ray r, ref BoundingCapsule capsule, out float dist)
        {
            // intersect capsule : http://www.iquilezles.org/www/articles/intersectors/intersectors.htm
            Vector3 ba   = capsule.PointB - capsule.PointA;
            Vector3 oa   = r.Position - capsule.PointA;
            float   baba = Vector3.Dot(ba, ba);
            float   bard = Vector3.Dot(ba, r.Direction);
            float   baoa = Vector3.Dot(ba, oa);
            float   rdoa = Vector3.Dot(r.Direction, oa);
            float   oaoa = Vector3.Dot(oa, oa);

            float r2 = capsule.Radius * capsule.Radius;
            float a  = baba - bard * bard;
            float b  = baba * rdoa - baoa * bard;
            float c  = baba * oaoa - baoa * baoa - r2 * baba;
            float h  = b * b - a * c;

            if (h >= 0.0f)
            {
                float t = (-b - (float)Math.Sqrt(h)) / a;

                float y = baoa + t * bard;

                // body
                if (y > 0.0f && y < baba)
                {
                    dist = t;
                    return(true);
                }

                // caps
                Vector3 oc = (y <= 0.0f) ? oa : r.Position - capsule.PointB;
                b = Vector3.Dot(r.Direction, oc);
                c = Vector3.Dot(oc, oc) - r2;
                h = b * b - c;
                if (h > 0.0f)
                {
                    dist = -b - (float)Math.Sqrt(h);
                    return(true);
                }
            }
            dist = -1.0f;
            return(false);
        }