//sphere move to collide capsule
static bool sweepSphereCapsule(SphereShape sphere, VIntTransform sphereTransform, VInt3 end,
CapsuleShape capsule, VIntTransform capsuleTransform, ref VInt3 normal, ref VFixedPoint t)
{
VInt3 move = end - sphereTransform.position;
VFixedPoint radiusSum = sphere.getRadius() + capsule.getRadius();
VInt3 capsuleP0 = capsuleTransform.TransformPoint(capsule.getUpAxis() * capsule.getHalfHeight());
VInt3 capsuleP1 = capsuleTransform.TransformPoint(capsule.getUpAxis() * -capsule.getHalfHeight());
VInt3 spherePosition = sphereTransform.position;
VFixedPoint tmp = VFixedPoint.Zero;
if (Distance.distancePointSegmentSquared(capsuleP0, capsuleP1, spherePosition, ref tmp) < radiusSum * radiusSum)
{
t = VFixedPoint.Zero;
normal = -move.Normalize();
return(true);
}
VFixedPoint u0 = VFixedPoint.Zero;
VInt3 tmpNormal = VInt3.zero;
if (capsuleP0 == capsuleP1)
{
VInt3 ToPos = spherePosition + move;
if (SphereSphereSweepAlgorithm.sphereSphereSweep(sphere.getRadius(), spherePosition, ToPos, capsule.getRadius(), capsuleTransform.position, ref u0, ref tmp, ref tmpNormal))
{
t = u0;
normal = tmpNormal;
return(true);
}
else
{
return(false);
}
}
else if (CapsuleRaytestAlgorithm.raycastCapsule(spherePosition, end, capsuleP0, capsuleP1, radiusSum, ref normal, ref u0))
{
t = u0;
VFixedPoint param = VFixedPoint.Zero;
VInt3 movedSphereCenter = spherePosition + (end - spherePosition) * u0;
Distance.distancePointSegmentSquared(capsuleP0, capsuleP1, movedSphereCenter, ref param);
normal = movedSphereCenter - (capsuleP0 * (VFixedPoint.One - param) + capsuleP1 * param);
normal = normal.Normalize();
return(true);
}
return(false);
}
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);
}
public static bool sweepCapsuleCapsule(CapsuleShape lss0, VIntTransform transform0, VInt3 toPos, CapsuleShape lss1, VIntTransform transform1, ref VFixedPoint dist, ref VInt3 hitNormal)
{
VInt3 FromPos = transform0.position;
VFixedPoint radiusSun = lss0.getRadius() + lss1.getRadius();
VFixedPoint length = (toPos - FromPos).magnitude;
VInt3 dir = (toPos - FromPos) / length;
VInt3 lss0p0 = transform0.TransformPoint(lss0.getUpAxis() * lss0.getHalfHeight()), lss0p1 = transform0.TransformPoint(lss0.getUpAxis() * -lss0.getHalfHeight());
VInt3 lss1p0 = transform1.TransformPoint(lss1.getUpAxis() * lss1.getHalfHeight()), lss1p1 = transform1.TransformPoint(lss1.getUpAxis() * -lss1.getHalfHeight());
bool initialOverlapStatus = false;
VFixedPoint tmp = VFixedPoint.Zero;
if (lss0.getHalfHeight() < Globals.EPS)
{
initialOverlapStatus = Distance.distancePointSegmentSquared(lss1p0, lss1p1, lss0p0, ref tmp) < radiusSun * radiusSun;
}
else if (lss1.getHalfHeight() < Globals.EPS)
{
initialOverlapStatus = Distance.distancePointSegmentSquared(lss0p0, lss0p1, lss1p0, ref tmp) < radiusSun * radiusSun;
}
else
{
VInt3 x, y;
initialOverlapStatus = Distance.SegmentSegmentDist2(lss0p0, lss0p1 - lss0p0, lss1p0, lss1p1 - lss1p0, out x, out y) < radiusSun * radiusSun;
}
if (initialOverlapStatus)
{
dist = VFixedPoint.Zero;
hitNormal = (FromPos - toPos).Normalize();
return(true);
}
// 1. Extrude lss0 by lss1's length
// 2. Inflate extruded shape by lss1's radius
// 3. Raycast against resulting quad
VInt3 D = (lss0p1 - lss0p0) * VFixedPoint.Half;
VInt3 p0 = lss1p0 - D, p1 = lss1p1 - D, p0b = lss1p0 + D, p1b = lss1p1 + D;
VInt3 normal = VInt3.Cross(p1b - p0b, p1 - p0b); normal = normal.Normalize();
dist = VFixedPoint.One; bool status = false;
VInt3 pa, pb, pc;
if (VInt3.Dot(normal, dir) >= VFixedPoint.Zero)
{
pc = p0 - normal * radiusSun;
pa = p1 - normal * radiusSun;
pb = p1b - normal * radiusSun;
}
else
{
pc = p0 + normal * radiusSun;
pa = p1 + normal * radiusSun;
pb = p1b + normal * radiusSun;
}
VFixedPoint t = VFixedPoint.Zero, u = VFixedPoint.Zero, v = VFixedPoint.Zero;
if (rayQuad(transform1.position, dir, pa, pb, pc, ref t, ref u, ref v, true) && t >= VFixedPoint.Zero && t < length)
{
dist = t / length;
status = true;
}
if (!status)
{
VInt3[] caps = new VInt3[]
{
p0, p1, p1, p1b, p1b, p0b, p0b, p0
};
VInt3 tmpNormal = VInt3.zero;
for (int i = 0; i < 4; i++)
{
VFixedPoint s = VFixedPoint.Zero;
if (CapsuleRaytestAlgorithm.raycastCapsule(FromPos, toPos, caps[i * 2], caps[i * 2 + 1], radiusSun, ref tmpNormal, ref s))
{
if (s > VFixedPoint.Zero && s < dist)
{
dist = s;
status = true;
}
}
}
}
if (status)
{
VInt3 x, y;
Distance.SegmentSegmentDist2(lss0p0 + dir * length * dist, lss0p1 - lss0p0, lss1p0, lss1p1 - lss1p0, out x, out y);
hitNormal = (x - y).Normalize();
}
return(status);
}
