/// <summary>
/// Return the closest point on the surface of the capsule
///
/// </summary>
public Vector3 GetClosestPoint(Vector3 k)
{
float dist = Vector3.Dot(k - _p1, _delta);
//k projection is outside the [_p1, _p2] interval, closest to _p1
if (dist <= 0.0f)
{
return(_topSphere.GetClosestPoint(k));
}
//k projection is outside the [_p1, p2] interval, closest to _p2
else if (dist >= _deltaSquared)
{
Vector3 closestPoint = Vector3.zero;
bool canApplyGravity = _bottomCircle.GetClosestPointOnDisc(k, ref closestPoint);
if (!canApplyGravity)
{
throw new Exception("can't be possible, see AllowBottom for more information");
}
return(closestPoint);
}
//k projection is inside the [_p1, p2] interval
else
{
dist = dist / _deltaSquared;
Vector3 pointOnLine = _p1 + dist * _delta;
Vector3 pointOnSurfaceLine = pointOnLine + ((k - pointOnLine).FastNormalized() * _realRadius);
return(pointOnSurfaceLine);
}
}
/// <summary>
/// Return the closest point on the surface of the cone
///
/// </summary>
public Vector3 GetClosestPoint(Vector3 k)
{
float dist = Vector3.Dot(k - _p1, _delta);
//k projection is outside the [_p1, _p2] interval, closest to _p1
if (dist <= 0.0f)
{
return(_p1);
}
//k projection is outside the [_p1, p2] interval, closest to _p2
else if (dist >= _deltaDistSquared)
{
Vector3 closestPoint = Vector3.zero;
bool canApplyGravity = _circleBase.GetClosestPointOnDisc(k, ref closestPoint);
if (!canApplyGravity)
{
throw new Exception("can't be possible, see AllowBottom for more information");
}
return(closestPoint);
}
//k projection is inside the [_p1, p2] interval
else
{
dist = dist / _deltaDistSquared;
Vector3 pointOnLine = _p1 + dist * _delta;
Vector3 closestPoint = ThalesCalculation(k, pointOnLine);
return(closestPoint);
}
}
public Vector3 GetClosestPoint(Vector3 k)
{
if (_circle.IsAbove(k))
{
return(Position + ((k - Position).FastNormalized() * _realRadius));
}
Vector3 closestPoint = Vector3.zero;
_circle.GetClosestPointOnDisc(k, ref closestPoint);
return(closestPoint);
}
/// <summary>
/// Return the closest point on the surface of the cylinder
/// https://diego.assencio.com/?index=ec3d5dfdfc0b6a0d147a656f0af332bd
///
/// </summary>
public bool GetClosestPoint(Vector3 k, ref Vector3 closestPoint)
{
return(_circle.GetClosestPointOnDisc(k, ref closestPoint));
}