Function computeInternalRadius

physx/samples/samplebase/RaycastCCD.cpp:73–163

}

static PxReal computeInternalRadius(PxRigidActor* actor, PxShape* shape, const PxVec3& dir, /*PxVec3& offset,*/ const PxVec3& centerOffset)
{
	const PxBounds3 bounds = PxShapeExt::getWorldBounds(*shape, *actor);
	const PxReal diagonal = (bounds.maximum - bounds.minimum).magnitude();
	const PxReal offsetFromOrigin = diagonal * 2.0f;

	PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);

	PxReal internalRadius = 0.0f;
	const PxReal length = offsetFromOrigin*2.0f;

	// PT: we do a switch here anyway since the code is not *exactly* the same all the time
	{
		switch(shape->getGeometryType())
		{
			case PxGeometryType::eBOX:
			case PxGeometryType::eCAPSULE:
			{
				pose.p = PxVec3(0);
				const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;

				PxRaycastHit hit;

				const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL;
				PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
				PX_UNUSED(nbHits);
				PX_ASSERT(nbHits);

				internalRadius = offsetFromOrigin - hit.distance;
	//			offset = PxVec3(0.0f);
			}
			break;

			case PxGeometryType::eSPHERE:
			{
				PxSphereGeometry geometry;
				bool status = shape->getSphereGeometry(geometry);
				PX_UNUSED(status);
				PX_ASSERT(status);

				internalRadius = geometry.radius;
	//			offset = PxVec3(0.0f);
			}
			break;

			case PxGeometryType::eCONVEXMESH:
			{
	/*PxVec3 saved = pose.p;
				pose.p = PxVec3(0);

	//			pose.p = geometry.convexMesh->getCenterOfMass();
	//			const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;

	//			const PxVec3 localCenter = computeCenter(geometry.convexMesh);
	//			const PxVec3 localCenter = geometry.convexMesh->getCenterOfMass();
	//			const PxVec3 virtualOrigin = pose.rotate(localCenter) + dir * offsetFromOrigin;
				const PxVec3 localCenter = pose.rotate(geometry.convexMesh->getCenterOfMass());
				const PxVec3 virtualOrigin = localCenter + dir * offsetFromOrigin;