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++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef GU_INTERSECTION_RAY_CAPSULE_H
++ #define GU_INTERSECTION_RAY_CAPSULE_H
++
++ #include "GuCapsule.h"
++ #include "GuDistancePointSegment.h"
++ #include "GuIntersectionRay.h"
++
++ namespace physx
++ {
++ namespace Gu
++ {
++ PxU32 intersectRayCapsuleInternal(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal s[2]);
++
++ PX_FORCE_INLINE bool intersectRayCapsule(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal& t)
++ {
++ // PT: move ray origin close to capsule, to solve accuracy issues.
++ // We compute the distance D between the ray origin and the capsule's segment.
++ // Then E = D - radius = distance between the ray origin and the capsule.
++ // We can move the origin freely along 'dir' up to E units before touching the capsule.
++ PxReal l = distancePointSegmentSquaredInternal(p0, p1 - p0, origin);
++ l = PxSqrt(l) - radius;
++
++ // PT: if this becomes negative or null, the ray starts inside the capsule and we can early exit
++ if(l<=0.0f)
++ {
++ t = 0.0f;
++ return true;
++ }
++
++ // PT: we remove an arbitrary GU_RAY_SURFACE_OFFSET units to E, to make sure we don't go close to the surface.
++ // If we're moving in the direction of the capsule, the origin is now about GU_RAY_SURFACE_OFFSET units from it.
++ // If we're moving away from the capsule, the ray won't hit the capsule anyway.
++ // If l is smaller than GU_RAY_SURFACE_OFFSET we're close enough, accuracy is good, there is nothing to do.
++ if(l>GU_RAY_SURFACE_OFFSET)
++ l -= GU_RAY_SURFACE_OFFSET;
++ else
++ l = 0.0f;
++
++ // PT: move origin closer to capsule and do the raycast
++ PxReal s[2];
++ const PxU32 nbHits = Gu::intersectRayCapsuleInternal(origin + l*dir, dir, p0, p1, radius, s);
++ if(!nbHits)
++ return false;
++
++ // PT: keep closest hit only
++ if(nbHits == 1)
++ t = s[0];
++ else
++ t = (s[0] < s[1]) ? s[0] : s[1];
++
++ // PT: fix distance (smaller than expected after moving ray close to capsule)
++ t += l;
++ return true;
++ }
++
++ PX_FORCE_INLINE bool intersectRayCapsule(const PxVec3& origin, const PxVec3& dir, const Gu::Capsule& capsule, PxReal& t)
++ {
++ return Gu::intersectRayCapsule(origin, dir, capsule.p0, capsule.p1, capsule.radius, t);
++ }
++ }
++ }
++
++ #endif