Description

Collision capsule shape.

When added to a collision model, the capsule is defined with its axis along the Z direction of the shape frame.

#include <ChCollisionShapeCapsule.h>

Inheritance diagram for chrono::ChCollisionShapeCapsule:

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Collaboration diagram for chrono::ChCollisionShapeCapsule:

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Public Member Functions
	ChCollisionShapeCapsule (std::shared_ptr< ChContactMaterial > material, double radius, double height)

	ChCollisionShapeCapsule (std::shared_ptr< ChContactMaterial > material, const ChCapsule &cap)

ChCapsule &	GetGeometry ()
	Access the capsule geometry.

double	GetRadius () const
	Get the capsule radius.

double	GetHeight () const
	Get the capsule height (length of cylindrical portion).

double	GetLength () const
	Get the capsule total length.

virtual ChAABB	GetBoundingBox () const override
	Get the shape bounding box.

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow de-serialization of transient data from archives. More...

Public Member Functions inherited from chrono::ChCollisionShape
	ChCollisionShape (Type type=Type::UNKNOWN_SHAPE)

	ChCollisionShape (Type type, std::shared_ptr< ChContactMaterial > material)

Type	GetType () const

std::shared_ptr< ChContactMaterial >	GetMaterial () const

ChContactMethod	GetContactMethod () const

Additional Inherited Members
Public Types inherited from chrono::ChCollisionShape
enum	Type { SPHERE, ELLIPSOID, BOX, CYLINDER, CYLSHELL, CONVEXHULL, TRIANGLEMESH, BARREL, POINT, SEGMENT, TRIANGLE, MESHTRIANGLE, CAPSULE, CONE, ROUNDEDBOX, ROUNDEDCYL, TETRAHEDRON, PATH2D, SEGMENT2D, ARC2D, UNKNOWN_SHAPE }
	Supported collision shape types.

Protected Attributes inherited from chrono::ChCollisionShape
Type	m_type
	type of collision shape

std::shared_ptr< ChContactMaterial >	m_material
	surface contact material

Member Function Documentation

void chrono::ChCollisionShapeCapsule::ArchiveIn ( ChArchiveIn & archive_in )

overridevirtual

Method to allow de-serialization of transient data from archives.

Method to allow de serialization of transient data from archives.

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