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Recast: take cylinder caps into account during intersection test

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Cylinder caps were not accounted for and thus tmin/tmax were never set causing incorrect ray tracing results when intersecting with a cylinder cap.
This commit is contained in:
Kawe Mazidjatari 2024-09-20 21:54:24 +02:00
parent c952f59920
commit 3a51c4f8c9
1 changed files with 19 additions and 2 deletions
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21
src/thirdparty/recast/Shared/Source/SharedCommon.cpp vendored
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@ -256,8 +256,25 @@ bool rdIntersectSegmentCylinder(const float* sp, const float* sq, const float* p
return false; // No intersection in the [tmin, tmax] range
// Vertical (z-axis) intersection test
const float z0 = sp[2] + tmin * (sq[2]-sp[2]);
const float z1 = sp[2] + tmax * (sq[2]-sp[2]);
const float dz = sq[2]-sp[2];
if (dz != 0.0f)
{
float tCapMin = (cz-sp[2]) / dz;
float tCapMax = (topZ-sp[2]) / dz;
if (tCapMin > tCapMax) rdSwap(tCapMin, tCapMax);
// Update tmin and tmax for cap intersections
tmin = rdMax(tmin, tCapMin);
tmax = rdMin(tmax, tCapMax);
if (tmin > tmax)
return false;
}
const float z0 = sp[2] + tmin*dz;
const float z1 = sp[2] + tmax*dz;
if ((z0 < cz && z1 < cz) || (z0 > topZ && z1 > topZ))
return false; // No intersection with the vertical height of the cylinder