PxU32 raycast_capsule(GU_RAY_FUNC_PARAMS)
{
PX_UNUSED(maxHits);
PX_ASSERT(geom.getType() == PxGeometryType::eCAPSULE);
PX_ASSERT(maxHits && hits);
const PxCapsuleGeometry& capsuleGeom = static_cast<const PxCapsuleGeometry&>(geom);
// TODO: PT: could we simplify this ?
Capsule capsule;
getCapsuleSegment(pose, capsuleGeom, capsule);
capsule.radius = capsuleGeom.radius;
PxReal t;
if(!intersectRayCapsule(rayOrigin, rayDir, capsule, t))
return 0;
if(t>maxDist)
return 0;
// PT: we can't avoid computing the position here since it's needed to compute the normal anyway
hits->position = rayOrigin + rayDir*t; // PT: will be rayOrigin for t=0.0f (i.e. what the spec wants)
hits->distance = t;
hits->faceIndex = 0xffffffff;
hits->u = 0.0f;
hits->v = 0.0f;
// Compute additional information if needed
PxHitFlags outFlags = PxHitFlag::eDISTANCE|PxHitFlag::ePOSITION;
if(hitFlags & PxHitFlag::eNORMAL)
{
outFlags |= PxHitFlag::eNORMAL;
if(t==0.0f)
{
hits->normal = -rayDir;
}
else
{
PxReal capsuleT;
distancePointSegmentSquared(capsule, hits->position, &capsuleT);
capsule.computePoint(hits->normal, capsuleT);
hits->normal = hits->position - hits->normal; //this should never be zero. It should have a magnitude of the capsule radius.
hits->normal.normalize();
}
}
else
{
hits->normal = PxVec3(0.0f);
}
hits->flags = outFlags;
return 1;
}
