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Have capsule minkowski sum work with non normalized vector #501

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This commit is contained in:
James Lambert 2023-11-27 22:30:04 -07:00
parent c4a6ef375c
commit 3d6db71f92
1 changed files with 8 additions and 6 deletions
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14
src/physics/collision_capsule.c
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@ -41,12 +41,14 @@ int collisionCapsuleMinkowsiSum(void* data, struct Basis* basis, struct Vector3*
float directionY = vector3Dot(&basis->y, direction);
if (directionY > SQRT_2) {
vector3Scale(&basis->y, output, capsule->radius);
return 0xFF;
} else if (directionY < -SQRT_2) {
vector3Scale(&basis->y, output, -capsule->radius - capsule->extendDownward);
return 0xFF00;
if (directionY * directionY > 0.5f * vector3MagSqrd(direction)) {
if (directionY > 0.0f) {
vector3Scale(&basis->y, output, capsule->radius);
return 0xFF;
} else {
vector3Scale(&basis->y, output, -capsule->radius - capsule->extendDownward);
return 0xFF00;
}
} else {
struct Vector2 horizontalBasis;