text: //
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  // Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  #include "geomutils/GuContactBuffer.h"
  
  #include "GuDistancePointSegment.h"
  #include "GuContactMethodImpl.h"
  #include "GuInternal.h"
  #include "GuGeometryUnion.h"
  
  namespace physx
  {
  namespace Gu
  {
  bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS)
  {
  	PX_UNUSED(renderOutput);
  	PX_UNUSED(cache);
  
  	const PxSphereGeometry& sphereGeom = shape0.get<const PxSphereGeometry>();
  	const PxCapsuleGeometry& capsuleGeom = shape1.get<const PxCapsuleGeometry>();
  
  	// PT: get capsule in local space
  	const PxVec3 capsuleLocalSegment = getCapsuleHalfHeightVector(transform1, capsuleGeom);
  	const Segment localSegment(capsuleLocalSegment, -capsuleLocalSegment);
  
  	// PT: get sphere in capsule space
  	const PxVec3 sphereCenterInCapsuleSpace = transform0.p - transform1.p;
  
  	const PxReal radiusSum = sphereGeom.radius + capsuleGeom.radius;
  	const PxReal inflatedSum = radiusSum + params.mContactDistance;
  
  	// PT: compute distance between sphere center & capsule's segment
  	PxReal u;
  	const PxReal squareDist = distancePointSegmentSquared(localSegment, sphereCenterInCapsuleSpace, &u);
  	if(squareDist >= inflatedSum*inflatedSum)
  		return false;
  
  	// PT: compute contact normal
  	PxVec3 normal = sphereCenterInCapsuleSpace - localSegment.getPointAt(u);
  		
  	// We do a *manual* normalization to check for singularity condition
  	const PxReal lenSq = normal.magnitudeSquared();
  	if(lenSq==0.0f) 
  		normal = PxVec3(1.0f, 0.0f, 0.0f);	// PT: zero normal => pick up random one
  	else
  		normal *= PxRecipSqrt(lenSq);
  
  	// PT: compute contact point
  	const PxVec3 point = sphereCenterInCapsuleSpace + transform1.p - normal * sphereGeom.radius;
  
  	// PT: output unique contact
  	contactBuffer.contact(point, normal, PxSqrt(squareDist) - radiusSum);
  	return true;
  }
  }//Gu
  }//physx
  