Class Capsule

Inheritance Relationships

Base Type

Class Documentation

class Capsule : public coal::ShapeBase

Capsule It is x  R3,d(x,AB)radius where d(x,AB) is the distance between the point x and the capsule segment AB, with A=(0,0,halfLength),B=(0,0,halfLength).

Public Functions

inline Capsule()

Default constructor.

inline Capsule(CoalScalar radius_, CoalScalar lz_)
inline Capsule(const Capsule &other)
inline virtual Capsule *clone() const

Clone *this into a new Capsule.

virtual void computeLocalAABB()

Compute AABB.

inline virtual NODE_TYPE getNodeType() const

Get node type: a capsule.

inline virtual CoalScalar computeVolume() const

compute the volume

inline virtual Matrix3s computeMomentofInertia() const

compute the inertia matrix, related to the origin

inline CoalScalar minInflationValue() const
inline std::pair<Capsule, Transform3s> inflated(const CoalScalar value) const

Inflate the capsule by an amount given by value. This value can be positive or negative but must always >= minInflationValue().

Parameters:

value[in] of the shape inflation.

Returns:

a new inflated capsule and the related transform to account for the change of shape frame

Public Members

CoalScalar radius

Radius of capsule.

CoalScalar halfLength

Half Length along z axis.