C# Class BEPUphysics.CollisionShapes.ConvexShapes.CapsuleShape

Sphere-expanded line segment. Another way of looking at it is a cylinder with half-spheres on each end.

Inheritance: ConvexShape

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Public Methods

Method	Description
CapsuleShape ( float length, float radius ) : System	Constructs a new capsule shape.
ComputeCenter ( ) : Vector3	Computes the center of the shape. This can be considered its center of mass.
ComputeCenter ( float &volume ) : Vector3	Computes the center of the shape. This can be considered its center of mass. This calculation is often associated with the volume calculation, which is given by this method as well.
ComputeMaximumRadius ( ) : float	Computes the maximum radius of the shape. This is often larger than the actual maximum radius; it is simply an approximation that avoids underestimating.
ComputeMinimumRadius ( ) : float	Computes the minimum radius of the shape. This is often smaller than the actual minimum radius; it is simply an approximation that avoids overestimating.
ComputeVolume ( ) : float	Computes the volume of the shape.
ComputeVolumeDistribution ( float &volume ) : Matrix3x3	Computes the volume distribution of the shape as well as its volume. The volume distribution can be used to compute inertia tensors when paired with mass and other tuning factors.
GetBoundingBox ( RigidTransform &shapeTransform, BoundingBox &boundingBox ) : void
GetCollidableInstance ( ) : EntityCollidable	Retrieves an instance of an EntityCollidable that uses this EntityShape. Mainly used by compound bodies.
GetLocalExtremePointWithoutMargin ( Vector3 &direction, Vector3 &extremePoint ) : void	Gets the extreme point of the shape in local space in a given direction.
RayTest ( Ray &ray, RigidTransform &transform, float maximumLength, RayHit &hit ) : bool	Gets the intersection between the convex shape and the ray.

Method Details

CapsuleShape() public method

Constructs a new capsule shape.

public CapsuleShape ( float length, float radius ) : System
length	float	Length of the capsule's inner line segment.
radius	float	Radius to expand the line segment width.
return	System

ComputeCenter() public method

Computes the center of the shape. This can be considered its center of mass.

public ComputeCenter ( ) : Vector3
return	Vector3

ComputeCenter() public method

Computes the center of the shape. This can be considered its center of mass. This calculation is often associated with the volume calculation, which is given by this method as well.

public ComputeCenter ( float &volume ) : Vector3
volume	float	Volume of the shape.
return	Vector3

ComputeMaximumRadius() public method

Computes the maximum radius of the shape. This is often larger than the actual maximum radius; it is simply an approximation that avoids underestimating.

public ComputeMaximumRadius ( ) : float
return	float

ComputeMinimumRadius() public method

Computes the minimum radius of the shape. This is often smaller than the actual minimum radius; it is simply an approximation that avoids overestimating.

public ComputeMinimumRadius ( ) : float
return	float

ComputeVolume() public method

Computes the volume of the shape.

public ComputeVolume ( ) : float
return	float

ComputeVolumeDistribution() public method

Computes the volume distribution of the shape as well as its volume. The volume distribution can be used to compute inertia tensors when paired with mass and other tuning factors.

public ComputeVolumeDistribution ( float &volume ) : Matrix3x3
volume	float	Volume of the shape.
return	BEPUutilities.Matrix3x3

GetBoundingBox() public method

public GetBoundingBox ( RigidTransform &shapeTransform, BoundingBox &boundingBox ) : void
shapeTransform	BEPUutilities.RigidTransform
boundingBox	BoundingBox
return	void

GetCollidableInstance() public method

Retrieves an instance of an EntityCollidable that uses this EntityShape. Mainly used by compound bodies.

public GetCollidableInstance ( ) : EntityCollidable
return	BEPUphysics.BroadPhaseEntries.MobileCollidables.EntityCollidable

GetLocalExtremePointWithoutMargin() public method

Gets the extreme point of the shape in local space in a given direction.

public GetLocalExtremePointWithoutMargin ( Vector3 &direction, Vector3 &extremePoint ) : void
direction	Vector3	Direction to find the extreme point in.
extremePoint	Vector3	Extreme point on the shape.
return	void

RayTest() public method

Gets the intersection between the convex shape and the ray.

public RayTest ( Ray &ray, RigidTransform &transform, float maximumLength, RayHit &hit ) : bool
ray	Ray	Ray to test.
transform	BEPUutilities.RigidTransform	Transform of the convex shape.
maximumLength	float	Maximum distance to travel in units of the ray direction's length.
hit	BEPUutilities.RayHit	Ray hit data, if any.
return	bool