com.bulletphysics.collision.shapes
Class CapsuleShape

java.lang.Object
  com.bulletphysics.collision.shapes.CollisionShape
      com.bulletphysics.collision.shapes.ConvexShape
          com.bulletphysics.collision.shapes.ConvexInternalShape
              com.bulletphysics.collision.shapes.CapsuleShape

Direct Known Subclasses:

CapsuleShapeX, CapsuleShapeZ

public class CapsuleShape
extends ConvexInternalShape

CapsuleShape represents a capsule around the Y axis, there is also the CapsuleShapeX aligned around the X axis and CapsuleShapeZ around the Z axis.

The total height is height+2*radius, so the height is just the height between the center of each "sphere" of the capsule caps.

CapsuleShape is a convex hull of two spheres. The MultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.

Field Summary

Fields inherited from class com.bulletphysics.collision.shapes.ConvexShape

MAX_PREFERRED_PENETRATION_DIRECTIONS

Constructor Summary

CapsuleShape(float radius, float height)

Method Summary

void	batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors)
void	calculateLocalInertia(float mass, Vector3f inertia)
void	getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
float	getHalfHeight()
String	getName()
float	getRadius()
BroadphaseNativeType	getShapeType()
int	getUpAxis()
Vector3f	localGetSupportingVertexWithoutMargin(Vector3f vec0, Vector3f out)

Methods inherited from class com.bulletphysics.collision.shapes.ConvexInternalShape

getAabbSlow, getLocalScaling, getMargin, getNumPreferredPenetrationDirections, getPreferredPenetrationDirection, localGetSupportingVertex, setLocalScaling, setMargin

Methods inherited from class com.bulletphysics.collision.shapes.CollisionShape

calculateTemporalAabb, getAngularMotionDisc, getBoundingSphere, getUserPointer, isCompound, isConcave, isConvex, isInfinite, isPolyhedral, setUserPointer

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CapsuleShape

public CapsuleShape(float radius,
                    float height)

Method Detail

localGetSupportingVertexWithoutMargin

public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec0,
                                                      Vector3f out)

Specified by:

localGetSupportingVertexWithoutMargin in class ConvexShape

batchedUnitVectorGetSupportingVertexWithoutMargin

public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors,
                                                              Vector3f[] supportVerticesOut,
                                                              int numVectors)

Specified by:

batchedUnitVectorGetSupportingVertexWithoutMargin in class ConvexShape

calculateLocalInertia

public void calculateLocalInertia(float mass,
                                  Vector3f inertia)

Specified by:

calculateLocalInertia in class CollisionShape

getShapeType

public BroadphaseNativeType getShapeType()

Specified by:

getShapeType in class CollisionShape

getAabb

public void getAabb(Transform t,
                    Vector3f aabbMin,
                    Vector3f aabbMax)

Description copied from class: ConvexInternalShape

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.

Overrides:

getAabb in class ConvexInternalShape

getName

public String getName()

Specified by:

getName in class CollisionShape

getUpAxis

public int getUpAxis()

getRadius

public float getRadius()

getHalfHeight

public float getHalfHeight()