C++ (Cpp) Capsule::getPointAt示例

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;
}

示例#2

显示文件

文件： GuSweepMTD.cpp 项目： RandomDeveloperM/UE4_Hairworks

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;
}