reactphysics3d::CapsuleShape Class Reference

This class represents a capsule collision shape that is defined around the Y axis. More...

#include <include/reactphysics3d/collision/shapes/CapsuleShape.h>

Inheritance diagram for reactphysics3d::CapsuleShape:

Public Member Functions
	CapsuleShape (const CapsuleShape &shape)=delete
	Deleted copy-constructor.
CapsuleShape &	operator= (const CapsuleShape &shape)=delete
	Deleted assignment operator.
decimal	getRadius () const
	Return the radius of the capsule.
void	setRadius (decimal radius)
	Set the radius of the capsule.
decimal	getHeight () const
	Return the height of the capsule.
void	setHeight (decimal height)
	Set the height of the capsule.
virtual AABB	getLocalBounds () const override
	Return the local bounds of the shape in x, y and z directions.
virtual decimal	getVolume () const override
	Compute and return the volume of the collision shape.
virtual bool	isPolyhedron () const override
	Return true if the collision shape is a polyhedron.
virtual Vector3	getLocalInertiaTensor (decimal mass) const override
	Return the local inertia tensor of the collision shape.
virtual std::string	to_string () const override
	Return the string representation of the shape.
Public Member Functions inherited from reactphysics3d::ConvexShape
	ConvexShape (CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator, decimal margin=decimal(0.0))
	Constructor.
virtual	~ConvexShape () override=default
	Destructor.
	ConvexShape (const ConvexShape &shape)=delete
	Deleted copy-constructor.
ConvexShape &	operator= (const ConvexShape &shape)=delete
	Deleted assignment operator.
decimal	getMargin () const
	Return the current object margin.
virtual bool	isConvex () const override
	Return true if the collision shape is convex, false if it is concave.
Public Member Functions inherited from reactphysics3d::CollisionShape
	CollisionShape (CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator)
	Constructor.
virtual	~CollisionShape ()=default
	Destructor.
	CollisionShape (const CollisionShape &shape)=delete
	Deleted copy-constructor.
CollisionShape &	operator= (const CollisionShape &shape)=delete
	Deleted assignment operator.
CollisionShapeName	getName () const
	Return the name of the collision shape.
CollisionShapeType	getType () const
	Return the type of the collision shape.
uint32	getId () const
	Return the id of the shape.
virtual AABB	computeTransformedAABB (const Transform &transform) const
	Compute the transformed AABB of the collision shape given a transform.

Detailed Description

This class represents a capsule collision shape that is defined around the Y axis.

A capsule shape can be seen as the convex hull of two spheres. The capsule shape is defined by its radius (radius of the two spheres of the capsule) and its height (distance between the centers of the two spheres). This collision shape does not have an explicit object margin distance. The margin is implicitly the radius and height of the shape. Therefore, no need to specify an object margin for a capsule shape.

Member Function Documentation

getHeight()

RP3D_FORCE_INLINE decimal reactphysics3d::CapsuleShape::getHeight

(

)

const

Return the height of the capsule.

Returns

The height of the capsule shape (in meters)

getLocalBounds()

AABB CapsuleShape::getLocalBounds ( ) const

overridevirtual

Return the local bounds of the shape in x, y and z directions.

Returns

The AABB of the shape

Implements reactphysics3d::CollisionShape.

getLocalInertiaTensor()

Vector3 CapsuleShape::getLocalInertiaTensor ( decimal  mass ) const

overridevirtual

Return the local inertia tensor of the collision shape.

Parameters

mass	Mass to use to compute the inertia tensor of the collision shape

Implements reactphysics3d::CollisionShape.

getRadius()

RP3D_FORCE_INLINE decimal reactphysics3d::CapsuleShape::getRadius

(

)

const

Return the radius of the capsule.

Returns

The radius of the capsule shape (in meters)

getVolume()

RP3D_FORCE_INLINE decimal reactphysics3d::CapsuleShape::getVolume ( ) const

overridevirtual

Compute and return the volume of the collision shape.

Implements reactphysics3d::CollisionShape.

isPolyhedron()

RP3D_FORCE_INLINE bool reactphysics3d::CapsuleShape::isPolyhedron ( ) const

overridevirtual

Return true if the collision shape is a polyhedron.

Implements reactphysics3d::CollisionShape.

setHeight()

RP3D_FORCE_INLINE void reactphysics3d::CapsuleShape::setHeight

(

decimal

height

)

Set the height of the capsule.

Note that you might want to recompute the inertia tensor and center of mass of the body after changing the height of the collision shape.

Parameters

height

The height of the capsule (in meters)

setRadius()

RP3D_FORCE_INLINE void reactphysics3d::CapsuleShape::setRadius

(

decimal

radius

)

Set the radius of the capsule.

Note that you might want to recompute the inertia tensor and center of mass of the body after changing the radius of the collision shape.

Parameters

radius

The radius of the capsule (in meters)

to_string()

RP3D_FORCE_INLINE std::string reactphysics3d::CapsuleShape::to_string ( ) const

overridevirtual

Return the string representation of the shape.

Implements reactphysics3d::CollisionShape.

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The documentation for this class was generated from the following files:

• include/reactphysics3d/collision/shapes/CapsuleShape.h
• src/collision/shapes/CapsuleShape.cpp