From 3d6db71f921c47d6bb29e3dd4e9475682462d7ef Mon Sep 17 00:00:00 2001
From: James Lambert <lambertjamesd@gmail.com>
Date: Mon, 27 Nov 2023 22:30:04 -0700
Subject: [PATCH] Have capsule minkowski sum work with non normalized vector
 #501

---
 src/physics/collision_capsule.c | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/physics/collision_capsule.c b/src/physics/collision_capsule.c
index a185089..ee529d3 100644
--- a/src/physics/collision_capsule.c
+++ b/src/physics/collision_capsule.c
@@ -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;