RayCapsule.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <Jolt/Geometry/RayCylinder.h>
#include <Jolt/Geometry/RaySphere.h>
 
JPH_NAMESPACE_BEGIN
 
JPH_INLINE float RayCapsule(Vec3Arg inRayOrigin, Vec3Arg inRayDirection, float inCapsuleHalfHeight, float inCapsuleRadius)
{
    // Test infinite cylinder
    float cylinder = RayCylinder(inRayOrigin, inRayDirection, inCapsuleRadius);
    if (cylinder == FLT_MAX)
        return FLT_MAX;
 
    // If this hit is in the finite cylinder we have our fraction
    if (abs(inRayOrigin.GetY() + cylinder * inRayDirection.GetY()) <= inCapsuleHalfHeight)
        return cylinder;
 
    // Test upper and lower sphere
    Vec3 sphere_center(0, inCapsuleHalfHeight, 0);
    float upper = RaySphere(inRayOrigin, inRayDirection, sphere_center, inCapsuleRadius);
    float lower = RaySphere(inRayOrigin, inRayDirection, -sphere_center, inCapsuleRadius);
    return min(upper, lower);
}
 
JPH_NAMESPACE_END