chrono::geometry::ChCapsule Class Reference

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 ChCapsuleClone () 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

◆ GetBoundingBox()

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.

Reimplemented from chrono::geometry::ChGeometry.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/geometry/ChCapsule.h
  • /builds/uwsbel/chrono/src/chrono/geometry/ChCapsule.cpp