initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Geometry/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
+
+/// Tests a ray starting at inRayOrigin and extending infinitely in inRayDirection
+/// against a capsule centered around the origin with its axis along the Y axis and half height specified.
+/// @return FLT_MAX if there is no intersection, otherwise the fraction along the ray.
+/// @param inRayDirection Ray direction. Does not need to be normalized.
+/// @param inRayOrigin Origin of the ray. If the ray starts inside the capsule, the returned fraction will be 0.
+/// @param inCapsuleHalfHeight Distance from the origin to the center of the top sphere (or that of the bottom)
+/// @param inCapsuleRadius Radius of the top/bottom sphere
+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