Method testPointInside

src/collision/shapes/CapsuleShape.cpp:70–83

Return true if a point is inside the collision shape

// Return true if a point is inside the collision shape
bool CapsuleShape::testPointInside(const Vector3& localPoint, Collider* /*collider*/) const {

    const decimal diffYCenterSphere1 = localPoint.y - mHalfHeight;
    const decimal diffYCenterSphere2 = localPoint.y + mHalfHeight;
    const decimal xSquare = localPoint.x * localPoint.x;
    const decimal zSquare = localPoint.z * localPoint.z;
    const decimal squareRadius = mMargin * mMargin;

    // Return true if the point is inside the cylinder or one of the two spheres of the capsule
    return ((xSquare + zSquare) < squareRadius &&
            localPoint.y < mHalfHeight && localPoint.y > -mHalfHeight) ||
            (xSquare + zSquare + diffYCenterSphere1 * diffYCenterSphere1) < squareRadius ||
            (xSquare + zSquare + diffYCenterSphere2 * diffYCenterSphere2) < squareRadius;
}

// Return the local bounds of the shape in x, y and z directions
// This method is used to compute the AABB of the box