Function doRaycastCCD

physx/source/physxextensions/src/ExtRaycastCCD.cpp:212–258

}

static bool doRaycastCCD(PxScene* scene, const RaycastCCDManagerInternal::CCDObject& object, PxTransform& newPose, PxVec3& newShapeCenter, bool dyna_dyna)
{
	PxRigidDynamic* dyna = canDoCCD(*object.mActor, object.mShape);
	if(!dyna)
		return true;

	bool updateCCDWitness = true;

	const PxVec3 offset = newPose.p - newShapeCenter;
	const PxVec3& origin = object.mWitness;
	const PxVec3& dest = newShapeCenter;

	PxVec3 dir = dest - origin;
	const PxReal length = dir.magnitude();
	if(length!=0.0f)
	{
		dir /= length;

		const PxReal internalRadius = computeInternalRadius(object.mActor, object.mShape, dir);

		PxRaycastHit hit;
		if(internalRadius!=0.0f && CCDRaycast(scene, object.mActor, object.mShape, origin, dir, length, hit, dyna_dyna))
		{
			updateCCDWitness = false;

			const PxReal radiusLimit = internalRadius * 0.75f;
			if(hit.distance>radiusLimit)
			{
				newShapeCenter = origin + dir * (hit.distance - radiusLimit);
			}
			else
			{
				if(hit.actor->getConcreteType()==PxConcreteType::eRIGID_DYNAMIC)
					return true;

				newShapeCenter = origin;
			}

			newPose.p = offset + newShapeCenter;
			const PxTransform shapeLocalPose = object.mShape->getLocalPose();
			const PxTransform inverseShapeLocalPose = shapeLocalPose.getInverse();
			const PxTransform newGlobalPose = newPose * inverseShapeLocalPose;
			dyna->setGlobalPose(newGlobalPose);
		}
	}
	return updateCCDWitness;
}

bool RaycastCCDManagerInternal::registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape)
{