godot/scene/3d/spring_bone_collision_plane_3d.cpp

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/*  spring_bone_collision_plane_3d.cpp                                    */
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#include "spring_bone_collision_plane_3d.h"

Vector3 SpringBoneCollisionPlane3D::_collide(const Transform3D &p_center, float p_bone_radius, float p_bone_length, const Vector3 &p_current) const {
	static const Vector3 VECTOR3_UP = Vector3(0, 1, 0);
	Transform3D tr = get_transform_from_skeleton(p_center);
	Vector3 pos = tr.origin;
	Vector3 normal = tr.basis.get_rotation_quaternion().xform(VECTOR3_UP);
	Vector3 to_vec = p_current - pos;
	float distance = to_vec.dot(normal) - p_bone_radius;
	if (distance > 0) {
		return p_current;
	}
	return p_current + normal * -distance;
}