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JoltPhysics
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  <div class="headertitle"><div class="title">RaySphere.h</div></div>
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<a href="_ray_sphere_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_find_root_8h.html">Jolt/Math/FindRoot.h</a>&gt;</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
<div class="foldopen" id="foldopen00017" data-start="{" data-end="}">
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="_ray_sphere_8h.html#ae0d53ac665a580da61a2fe0a08f5197c">   17</a></span>JPH_INLINE <span class="keywordtype">float</span> <a class="code hl_function" href="_ray_sphere_8h.html#ae0d53ac665a580da61a2fe0a08f5197c">RaySphere</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inRayOrigin, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inRayDirection, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inSphereCenter, <span class="keywordtype">float</span> inSphereRadius)</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="comment">// Solve: |RayOrigin + fraction * RayDirection - SphereCenter|^2 = SphereRadius^2 for fraction</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> center_origin = inRayOrigin - inSphereCenter;</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keywordtype">float</span> a = inRayDirection.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keywordtype">float</span> b = 2.0f * inRayDirection.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(center_origin);</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keywordtype">float</span> c = center_origin.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>() - inSphereRadius * inSphereRadius;</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keywordtype">float</span> fraction1, fraction2;</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="_find_root_8h.html#a3bec219d038a3c84a22b1c07b49b9eca">FindRoot</a>(a, b, c, fraction1, fraction2) == 0)</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        <span class="keywordflow">return</span> c &lt;= 0.0f? 0.0f : FLT_MAX; <span class="comment">// Return if origin is inside the sphere</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="comment">// Sort so that the smallest is first</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordflow">if</span> (fraction1 &gt; fraction2)</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        std::swap(fraction1, fraction2);</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// Test solution with lowest fraction, this will be the ray entering the sphere</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordflow">if</span> (fraction1 &gt;= 0.0f)</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordflow">return</span> fraction1; <span class="comment">// Sphere is before the ray start</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="comment">// Test solution with highest fraction, this will be the ray leaving the sphere</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="keywordflow">if</span> (fraction2 &gt;= 0.0f)</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        <span class="keywordflow">return</span> 0.0f; <span class="comment">// We start inside the sphere</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="comment">// No solution</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordflow">return</span> FLT_MAX;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>}</div>
</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
<div class="foldopen" id="foldopen00054" data-start="{" data-end="}">
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="_ray_sphere_8h.html#a7d756cc06fb7721b3e657d9f31916b74">   54</a></span>JPH_INLINE <span class="keywordtype">int</span> <a class="code hl_function" href="_ray_sphere_8h.html#ae0d53ac665a580da61a2fe0a08f5197c">RaySphere</a>(<a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inRayOrigin, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inRayDirection, <a class="code hl_class" href="class_vec3.html">Vec3Arg</a> inSphereCenter, <span class="keywordtype">float</span> inSphereRadius, <span class="keywordtype">float</span> &amp;outMinFraction, <span class="keywordtype">float</span> &amp;outMaxFraction)</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>{</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// Solve: |RayOrigin + fraction * RayDirection - SphereCenter|^2 = SphereRadius^2 for fraction</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_class" href="class_vec3.html">Vec3</a> center_origin = inRayOrigin - inSphereCenter;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">float</span> a = inRayDirection.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>();</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordtype">float</span> b = 2.0f * inRayDirection.<a class="code hl_function" href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Dot</a>(center_origin);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keywordtype">float</span> c = center_origin.<a class="code hl_function" href="class_vec3.html#aba501a6a474028084799f871c9083dc1">LengthSq</a>() - inSphereRadius * inSphereRadius;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">float</span> fraction1, fraction2;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">switch</span> (<a class="code hl_function" href="_find_root_8h.html#a3bec219d038a3c84a22b1c07b49b9eca">FindRoot</a>(a, b, c, fraction1, fraction2))</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordflow">case</span> 0:</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <span class="keywordflow">if</span> (c &lt;= 0.0f)</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        {</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>            <span class="comment">// Origin inside sphere</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            outMinFraction = outMaxFraction = 0.0f;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>            <span class="keywordflow">return</span> 1;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        }</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordflow">else</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        {</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            <span class="comment">// Origin outside of the sphere</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            <span class="keywordflow">return</span> 0;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        }</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="comment">// Ray is touching the sphere</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        outMinFraction = outMaxFraction = fraction1;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">return</span> 1;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <span class="comment">// Ray enters and exits the sphere</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        <span class="comment">// Sort so that the smallest is first</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">if</span> (fraction1 &gt; fraction2)</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            std::swap(fraction1, fraction2);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        outMinFraction = fraction1;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        outMaxFraction = fraction2;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">return</span> 2;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>}</div>
</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
<div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
<div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
<div class="ttc" id="a_find_root_8h_html"><div class="ttname"><a href="_find_root_8h.html">FindRoot.h</a></div></div>
<div class="ttc" id="a_find_root_8h_html_a3bec219d038a3c84a22b1c07b49b9eca"><div class="ttname"><a href="_find_root_8h.html#a3bec219d038a3c84a22b1c07b49b9eca">FindRoot</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN int FindRoot(const T inA, const T inB, const T inC, T &amp;outX1, T &amp;outX2)</div><div class="ttdef"><b>Definition</b> FindRoot.h:13</div></div>
<div class="ttc" id="a_ray_sphere_8h_html_ae0d53ac665a580da61a2fe0a08f5197c"><div class="ttname"><a href="_ray_sphere_8h.html#ae0d53ac665a580da61a2fe0a08f5197c">RaySphere</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN JPH_INLINE float RaySphere(Vec3Arg inRayOrigin, Vec3Arg inRayDirection, Vec3Arg inSphereCenter, float inSphereRadius)</div><div class="ttdef"><b>Definition</b> RaySphere.h:17</div></div>
<div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
<div class="ttc" id="aclass_vec3_html_a0e078ff09f69e669db71a2b0e37939ff"><div class="ttname"><a href="class_vec3.html#a0e078ff09f69e669db71a2b0e37939ff">Vec3::Dot</a></div><div class="ttdeci">JPH_INLINE float Dot(Vec3Arg inV2) const</div><div class="ttdoc">Dot product.</div><div class="ttdef"><b>Definition</b> Vec3.inl:650</div></div>
<div class="ttc" id="aclass_vec3_html_aba501a6a474028084799f871c9083dc1"><div class="ttname"><a href="class_vec3.html#aba501a6a474028084799f871c9083dc1">Vec3::LengthSq</a></div><div class="ttdeci">JPH_INLINE float LengthSq() const</div><div class="ttdoc">Squared length of vector.</div><div class="ttdef"><b>Definition</b> Vec3.inl:666</div></div>
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