Defined in File geometric_shapes.h
public hpp::fcl::ShapeBase (Class ShapeBase)
public hpp::fcl::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).