bool physx::Gu::computeCapsule_CapsuleMTD(const Capsule& capsule0, const Capsule& capsule1, PxSweepHit& hit)
{
using namespace Ps::aos;
PxReal s,t;
distanceSegmentSegmentSquared2(capsule0, capsule1, &s, &t);
const PxReal radiusSum = capsule0.radius + capsule1.radius;
const PxVec3 pointAtCapsule0 = capsule0.getPointAt(s);
const PxVec3 pointAtCapsule1 = capsule1.getPointAt(t);
const PxVec3 normal = pointAtCapsule0 - pointAtCapsule1;
const PxReal lenSq = normal.magnitudeSquared();
const PxF32 len = PxSqrt(lenSq);
hit.normal = normal / len;
hit.distance = len - radiusSum;
hit.position = pointAtCapsule1 + hit.normal * capsule1.radius;
return true;
}
bool physx::Gu::computeSphere_CapsuleMTD( const Sphere& sphere, const Capsule& capsule, PxSweepHit& hit)
{
const PxReal radiusSum = sphere.radius + capsule.radius;
PxReal u;
distancePointSegmentSquared(capsule, sphere.center, &u);
const PxVec3 normal = capsule.getPointAt(u) - sphere.center;
const PxReal lenSq = normal.magnitudeSquared();
const PxF32 d = PxSqrt(lenSq);
hit.normal = normal / d;
hit.distance = d - radiusSum;
hit.position = sphere.center + hit.normal * sphere.radius;
return true;
}
