Description

A capsule geometric object for collision and visualization.

#include <ChCapsule.h>

Inheritance diagram for chrono::geometry::ChCapsule:

Collaboration diagram for chrono::geometry::ChCapsule:

Public Member Functions
	ChCapsule (double radius, double height)

	ChCapsule (const ChCapsule &source)

virtual ChCapsule *	Clone () const override
	"Virtual" copy constructor (covariant return type).

virtual Type	GetClassType () const override
	Get the class type as an enum.

virtual AABB	GetBoundingBox (const ChMatrix33<> &rot) const override
	Compute bounding box along the directions defined by the given rotation matrix. More...

virtual double	GetBoundingSphereRadius () const override
	Returns the radius of a bounding sphere for this geometry.

virtual ChVector	Baricenter () const override
	Compute the baricenter of the capsule.

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 int	GetManifoldDimension () const override
	This is a solid.

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

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

Public Member Functions inherited from chrono::geometry::ChGeometry
	ChGeometry (const ChGeometry &source)

void	InflateBoundingBox (AABB &bbox, const ChMatrix33<> &rot) const
	Enlarge the given existing bounding box with the bounding box of this object.

virtual void	Update ()
	Generic update of internal data.

Public Attributes
double	r
	capsule radius

double	h
	height of cylindrical portion

Additional Inherited Members
Public Types inherited from chrono::geometry::ChGeometry
enum	Type { NONE, SPHERE, ELLIPSOID, BOX, CYLINDER, TRIANGLE, CAPSULE, CONE, LINE, LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH, LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP }
	Enumeration of geometric object types.

Member Function Documentation

ChGeometry::AABB chrono::geometry::ChCapsule::GetBoundingBox ( const ChMatrix33<> & rot ) const

overridevirtual

Compute bounding box along the directions defined by the given rotation matrix.

Note: 'rot' currently ignored.

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