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// Ripped from Magic Software
#include "Include\dRay.h"
#include "dxRay.h"
int Find(const dVector3 Origin, dVector3 Direction, dReal Length, const dVector3 CCPos, const dMatrix3 CCRot, dReal CCRadius, dReal CCLength, dReal T[2]){
dVector3 U, V, W;
Decompose(CCRot, U, V, W);
dVector3 CCOrigin;
CCOrigin[0] = CCPos[0] - (W[0] * CCLength / 2);
CCOrigin[1] = CCPos[1] - (W[1] * CCLength / 2);
CCOrigin[2] = CCPos[2] - (W[2] * CCLength / 2);
CCOrigin[3] = CCPos[3] - (W[3] * CCLength / 2);
dVector3 D;
D[0] = dDOT(U, Direction);
D[1] = dDOT(V, Direction);
D[2] = dDOT(W, Direction);
dReal DMag = Length;
dReal InvDMag = REAL(1.0) / DMag;
dVector3 Diff;
Diff[0] = Origin[0] - CCOrigin[0];
Diff[1] = Origin[1] - CCOrigin[1];
Diff[2] = Origin[2] - CCOrigin[2];
Diff[3] = Origin[3] - CCOrigin[3];
dVector3 P;
P[0] = dDOT(U, Diff);
P[1] = dDOT(V, Diff);
P[2] = dDOT(W, Diff);
dReal CCRadiusSq = CCRadius * CCRadius;
dReal Epsilon = 1e-12f;
if (dFabs(D[2]) >= REAL(1.0) - Epsilon){ // line is parallel to capsule axis
dReal Discr = CCRadiusSq - P[0] * P[0] - P[1] * P[1];
if (Discr >= REAL(0.0)){
dReal Root = dSqrt(Discr);
T[0] = (-P[2] + Root) * InvDMag;
T[1] = (CCLength - P[2] + Root) * InvDMag;
return 2;
}
else return 0;
}
// test intersection with infinite cylinder
dReal A = D[0] * D[0] + D[1] * D[1];
dReal B = P[0] * D[0] + P[1] * D[1];
dReal C = P[0] * P[0] + P[1] * P[1] - CCRadiusSq;
dReal Discr = B * B - A * C;
if (Discr < REAL(0.0)){ // line does not intersect infinite cylinder
return 0;
}
int Count = 0;
if (Discr > REAL(0.0)){ // line intersects infinite cylinder in two places
dReal Root = dSqrt(Discr);
dReal Inv = REAL(1.0) / A;
dReal TTemp = (-B - Root) * Inv;
dReal Tmp = P[2] + TTemp * D[2];
if (REAL(0.0) <= Tmp && Tmp <= CCLength){
T[Count++] = TTemp * InvDMag;
}
TTemp = (-B + Root) * Inv;
Tmp = P[2] + TTemp * D[2];
if (REAL(0.0) <= Tmp && Tmp <= CCLength){
T[Count++] = TTemp * InvDMag;
}
if (Count == 2){ // line intersects capsule wall in two places
return 2;
}
}
else{ // line is tangent to infinite cylinder
dReal TTemp = -B / A;
dReal Tmp = P[2] + TTemp * D[2];
if (REAL(0.0) <= Tmp && Tmp <= CCLength){
T[0] = TTemp * InvDMag;
return 1;
}
}
// test intersection with bottom hemisphere
// fA = 1
B += P[2] * D[2];
C += P[2] * P[2];
Discr = B * B - C;
if (Discr > REAL(0.0)){
dReal Root = dSqrt(Discr);
dReal TTemp = -B - Root;
dReal Tmp = P[2] + TTemp * D[2];
if (Tmp <= REAL(0.0)){
T[Count++] = TTemp * InvDMag;
if (Count == 2){
return 2;
}
}
TTemp = -B + Root;
Tmp = P[2] + TTemp * D[2];
if (Tmp <= REAL(0.0)){
T[Count++] = TTemp * InvDMag;
if (Count == 2){
return 2;
}
}
}
else if (Discr == REAL(0.0)){
dReal TTemp = -B;
dReal Tmp = P[2] + TTemp * D[2];
if (Tmp <= REAL(0.0)){
T[Count++] = TTemp * InvDMag;
if (Count == 2){
return 2;
}
}
}
// test intersection with top hemisphere
// fA = 1
B -= D[2] * CCLength;
C += CCLength * (CCLength - REAL(2.0) * P[2]);
Discr = B * B - C;
if (Discr > REAL(0.0)){
dReal Root = dSqrt(Discr);
dReal TTemp = -B - Root;
dReal Tmp = P[2] + TTemp * D[2];
if (Tmp >= CCLength){
T[Count++] = TTemp * InvDMag;
if (Count == 2){
return 2;
}
}
TTemp = -B + Root;
Tmp = P[2] + TTemp * D[2];
if (Tmp >= CCLength){
T[Count++] = TTemp * InvDMag;
if (Count == 2){
return 2;
}
}
}
else if (Discr == REAL(0.0)){
dReal TTemp = -B;
dReal Tmp = P[2] + TTemp * D[2];
if (Tmp >= CCLength){
T[Count++] = TTemp * InvDMag;
if (Count == 2){
return 2;
}
}
}
return Count;
}
int dCollideCCR(dxGeom* RayGeom, dxGeom* CCGeom, int Flags, dContactGeom* Contacts, int Stride){
const dVector3& CCPos = *(const dVector3*)dGeomGetPosition(CCGeom);
const dMatrix3& CCRot = *(const dMatrix3*)dGeomGetRotation(CCGeom);
dReal CCRadius, CCLength;
dGeomCCylinderGetParams(CCGeom, &CCRadius, &CCLength);
dVector3 Origin, Direction;
dGeomRayGet(RayGeom, Origin, Direction);
dReal Length = dGeomRayGetLength(RayGeom);
dReal T[2];
int Count = Find(Origin, Direction, Length, CCPos, CCRot, CCRadius, CCLength, T);
int ContactCount = 0;
for (int i = 0; i < Count; i++){
if (T[i] >= 0.0){
dContactGeom* Contact = CONTACT(Flags, Contacts, ContactCount, Stride);
Contact->pos[0] = Origin[0] + T[i] * Direction[0] * Length;
Contact->pos[1] = Origin[1] + T[i] * Direction[1] * Length;
Contact->pos[2] = Origin[2] + T[i] * Direction[2] * Length;
Contact->pos[3] = Origin[3] + T[i] * Direction[3] * Length;
//Contact->normal = 0;
Contact->depth = 0.0f;
Contact->g1 = RayGeom;
Contact->g2 = CCGeom;
ContactCount++;
}
}
return ContactCount;
}
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