private static bool Overlaps(Capsule3D capsule, Line3D line)
{
var center = capsule.Position;
var halfHeight = capsule.Height / 2;
var halfVector = new vec3(0, halfHeight, 0);
var p1 = line.P1 - center;
var p2 = line.P2 - center;
var r = capsule.Radius;
if (capsule.IsOrientable)
{
var inverse = capsule.InverseOrientation;
p1 = inverse * p1;
p2 = inverse * p2;
}
// One (or both) of the line endpoints are contained within the spherical caps.
if (Sphere.Contains(p1, halfVector, r) || Sphere.Contains(p2, halfVector, r) ||
Sphere.Contains(p1, -halfVector, r) || Sphere.Contains(p2, -halfVector, r))
{
return(true);
}
var d1 = Utilities.LengthSquared(p1.swizzle.xz);
var d2 = Utilities.LengthSquared(p2.swizzle.xz);
var rSquared = r * r;
// One (or both) of the line endpoints are contained within the cylinder.
if ((d1 <= rSquared && Math.Abs(p1.y) <= halfHeight) ||
(d2 <= rSquared && Math.Abs(p2.y) <= halfHeight))
{
return(true);
}
d1 = Utilities.DistanceSquaredToLine(vec2.Zero, p1.swizzle.xz, p2.swizzle.xz, out var t);
// The flat line is outside the flat circle.
if (d1 > rSquared)
{
return(false);
}
var result = p1 + (p2 - p1) * t;
if (Math.Abs(result.y) <= halfHeight)
{
return(true);
}
d1 = Utilities.DistanceSquaredToLine(halfVector, p1, p2, out _);
d2 = Utilities.DistanceSquaredToLine(-halfVector, p1, p2, out _);
// The line passes through one of the spherical caps.
return(d1 <= rSquared || d2 <= rSquared);
}
private static bool Overlaps(Capsule3D capsule, Shape3D other)
{
switch (other.Type)
{
case ShapeTypes3D.Capsule: return(Overlaps(capsule, (Capsule3D)other));
case ShapeTypes3D.Cylinder: return(Overlaps(capsule, (Cylinder)other));
case ShapeTypes3D.Line: return(Overlaps(capsule, (Line3D)other));
case ShapeTypes3D.Sphere: return(Overlaps(capsule, (Sphere)other));
}
return(false);
}
private static bool Overlaps(Box box, Capsule3D capsule)
{
// TODO: Finish this implementation.
return(false);
}
private static bool Overlaps(Capsule3D capsule, Sphere sphere)
{
// TODO: Finish this implementation.
return(false);
}
private static bool Overlaps(Capsule3D capsule, Cylinder cylinder)
{
// TODO: Finish this implementation.
return(false);
}