public static bool raycastCapsule(VInt3 from, VInt3 to, VInt3 p0, VInt3 p1, VFixedPoint radius, ref VInt3 hitNormal, ref VFixedPoint t)
{
t = VFixedPoint.One;
VInt3 capPos = (p0 + p1) * VFixedPoint.Half;
VInt3 capsDir = p0 - p1;
VFixedPoint kW = capsDir.sqrMagnitude;
if (kW < Globals.EPS2)
{
t = VFixedPoint.Zero;
hitNormal = VInt3.zero;
if (SphereRaytestAlgorithm.rayTestSphere(from, to, capPos, radius, ref hitNormal, ref t))
{
return(true);
}
else
{
return(false);
}
}
VFixedPoint tmp = VFixedPoint.Zero;
if (Distance.distancePointSegmentSquared(p0, p1, from, ref tmp) < radius * radius)
{
return(false);
}
VFixedPoint tmpT = VFixedPoint.One;
VInt3 tmpNormal = VInt3.zero;
bool hitCyclinder = IntersectSegmentCylinder(from, to, p0, p1, radius, ref tmpNormal, ref tmpT);
if (hitCyclinder)
{
hitNormal = tmpNormal;
t = tmpT;
}
bool hitSphere1 = SphereRaytestAlgorithm.rayTestSphere(from, to, p0, radius, ref tmpNormal, ref tmpT);
if (hitSphere1 && tmpT < t)
{
t = tmpT;
hitNormal = tmpNormal;
}
bool hitSphere2 = SphereRaytestAlgorithm.rayTestSphere(from, to, p1, radius, ref tmpNormal, ref tmpT);
if (hitSphere2 && tmpT < t)
{
t = tmpT;
hitNormal = tmpNormal;
}
return(hitCyclinder || hitSphere1 || hitSphere2);
}
static bool testRayVsSphereOrCapsule(ref VFixedPoint impactDistance, bool testSphere, VInt3 center, VFixedPoint radius, VInt3 dir, VFixedPoint length, VInt3[] verts, int e0, int e1)
{
if (testSphere)
{
VFixedPoint t = VFixedPoint.Zero; VInt3 tmp = VInt3.zero;
if (SphereRaytestAlgorithm.rayTestSphere(center, dir * length + center, verts[e0], radius, ref tmp, ref t))
{
impactDistance = t;
return(true);
}
}
else
{
VFixedPoint t = VFixedPoint.Zero; VInt3 tmp = VInt3.zero;
if (CapsuleRaytestAlgorithm.raycastCapsule(center, dir * length + center, verts[e0], verts[e1], radius, ref tmp, ref t))
{
impactDistance = t;
return(true);
}
}
return(false);
}