BansheeEngine/BansheeUtility/Source/BsCapsule.cpp

//********************************** Banshee Engine (www.banshee3d.com) **************************************************//
//**************** Copyright (c) 2016 Marko Pintera ([email protected]). All rights reserved. **********************//
#include "BsCapsule.h"
#include "BsRay.h"

namespace BansheeEngine
{
	Capsule::Capsule()
		:mRadius(0.0f)
	{ }

	Capsule::Capsule(const LineSegment3& segment, float radius)
		:mSegment(segment), mRadius(radius)
	{ }

	std::pair<bool, float> Capsule::intersects(const Ray& ray) const
	{
		const Vector3& org = ray.getOrigin();
		const Vector3& dir = ray.getDirection();

		Vector3 segDir = mSegment.getEnd() - mSegment.getStart();
		float segExtent = segDir.normalize() * 0.5f;
		Vector3 segCenter = mSegment.getStart() + segDir * segExtent;

		Vector3 basis[3];
		basis[0] = segDir;
		basis[0].orthogonalComplement(basis[1], basis[2]);

		float rSqr = mRadius * mRadius;

		Vector3 diff = org - segCenter;
		Vector3 P(basis[1].dot(diff), basis[2].dot(diff), basis[0].dot(diff));

		// Get the z-value, in capsule coordinates, of the incoming line's
		// unit-length direction.
		float dz = basis[0].dot(dir);
		if (std::abs(dz) == 1.0f)
		{
			// The line is parallel to the capsule axis.  Determine whether the
			// line intersects the capsule hemispheres.
			float radialSqrDist = rSqr - P[0] * P[0] - P[1] * P[1];
			if (radialSqrDist < 0.0f)
			{
				// The line is outside the cylinder of the capsule, so there is no
				// intersection.
				return std::make_pair(false, 0.0f);
			}

			// The line intersects the hemispherical caps.
			float zOffset = std::sqrt(radialSqrDist) + segExtent;
			if (dz > 0.0f)
				return std::make_pair(true, -P[2] - zOffset);
			else
				return std::make_pair(true, P[2] - zOffset);
		}

		// Convert the incoming line unit-length direction to capsule coordinates.
		Vector3 D(basis[1].dot(dir), basis[2].dot(dir), dz);

		// Test intersection of line with infinite cylinder 
		float a0 = P[0] * P[0] + P[1] * P[1] - rSqr;
		float a1 = P[0] * D[0] + P[1] * D[1];
		float a2 = D[0] * D[0] + D[1] * D[1];
		float discr = a1*a1 - a0*a2;

		if (discr < 0.0f)
		{
			// The line does not intersect the infinite cylinder.
			return std::make_pair(false, 0.0f);
		}

		float root, inv, tValue, zValue;
		float nearestT = std::numeric_limits<float>::max();
		bool foundOneIntersection = false;

		if (discr > 0.0f)
		{
			// The line intersects the infinite cylinder in two places.
			root = std::sqrt(discr);
			inv = 1.0f / a2;

			tValue = (-a1 - root)*inv;
			zValue = P[2] + tValue*D[2];
			if (std::abs(zValue) <= segExtent)
			{
				nearestT = tValue;
				foundOneIntersection = true;
			}

			tValue = (-a1 + root)*inv;
			zValue = P[2] + tValue*D[2];
			if (std::abs(zValue) <= segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}
		}
		else
		{
			// The line is tangent to the infinite cylinder but intersects the
			// cylinder in a single point.
			tValue = -a1 / a2;
			zValue = P[2] + tValue*D[2];
			if (std::abs(zValue) <= segExtent)
				return std::make_pair(true, tValue);
		}

		// Test intersection with bottom hemisphere.
		float PZpE = P[2] + segExtent;
		a1 += PZpE*D[2];
		a0 += PZpE*PZpE;
		discr = a1*a1 - a0;
		if (discr > 0)
		{
			root = sqrt(discr);
			tValue = -a1 - root;
			zValue = P[2] + tValue*D[2];
			if (zValue <= -segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT < tValue ? nearestT : tValue);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}

			tValue = -a1 + root;
			zValue = P[2] + tValue*D[2];
			if (zValue <= -segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT < tValue ? nearestT : tValue);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}
		}
		else if (discr == 0.0f)
		{
			tValue = -a1;
			zValue = P[2] + tValue*D[2];
			if (zValue <= -segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT < tValue ? nearestT : tValue);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}
		}

		// Test intersection with top hemisphere
		a1 -= 2.0f*segExtent*D[2];
		a0 -= 4.0f*segExtent*P[2];
		discr = a1*a1 - a0;
		if (discr > 0.0f)
		{
			root = sqrt(discr);
			tValue = -a1 - root;
			zValue = P[2] + tValue*D[2];
			if (zValue >= segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT < tValue ? nearestT : tValue);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}

			tValue = -a1 + root;
			zValue = P[2] + tValue*D[2];
			if (zValue >= segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT < tValue ? nearestT : tValue);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}
		}
		else if (discr == 0.0f)
		{
			tValue = -a1;
			zValue = P[2] + tValue*D[2];
			if (zValue >= segExtent)
			{
				if (foundOneIntersection)
					return std::make_pair(true, nearestT < tValue ? nearestT : tValue);
				else
				{
					nearestT = tValue;
					foundOneIntersection = true;
				}
			}
		}

		if (foundOneIntersection)
			return std::make_pair(true, nearestT);

		return std::make_pair(false, 0.0f);
	}
}