Class CapsuleShape

Namespace

Jitter2.Collision.Shapes

Assembly

Jitter2.dll

Represents a capsule shape defined by a radius and the length of its cylindrical section.

public class CapsuleShape : RigidBodyShape, IDynamicTreeProxy, IPartitionedSetIndex, IUpdatableBoundingBox, ISupportFeature, ISupportMappable, IRayCastable, IAngularSweepTestable, ISweepTestable, IDistanceTestable, IDebugDrawable

Inheritance

object

Shape

RigidBodyShape

CapsuleShape

Implements

IDynamicTreeProxy

IPartitionedSetIndex

IUpdatableBoundingBox

ISupportFeature

ISupportMappable

IRayCastable

IAngularSweepTestable

ISweepTestable

IDistanceTestable

IDebugDrawable

Inherited Members

RigidBodyShape.RigidBody

RigidBodyShape.DebugDraw(IDebugDrawer, in DebugDrawSettings)

RigidBodyShape.Velocity

RigidBodyShape.UpdateWorldBoundingBox(float)

RigidBodyShape.LocalRayCast(in JVector, in JVector, out JVector, out float)

RigidBodyShape.RayCast(in JVector, in JVector, out JVector, out float)

RigidBodyShape.Sweep<T>(in T, in JQuaternion, in JVector, in JVector, out JVector, out JVector, out JVector, out float)

RigidBodyShape.Sweep<T>(in T, in JQuaternion, in JVector, in JVector, in JVector, float, float, out JVector, out JVector, out JVector, out float)

RigidBodyShape.Distance<T>(in T, in JQuaternion, in JVector, out JVector, out JVector, out JVector, out float)

Shape.ShapeId

Shape.WorldBoundingBox

Shape.DebugDraw(IDebugDrawer)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Constructors

CapsuleShape(float, float)

Creates a capsule with its symmetry axis along the local Y-axis.

public CapsuleShape(float radius = 0.5, float length = 1)

Parameters

radius float

The radius of the capsule.

length float

The length of the cylindrical part of the capsule, excluding the half-spheres at both ends.

Exceptions

ArgumentOutOfRangeException

Thrown when radius is less than or equal to zero or when length is negative.

Properties

Length

Gets or sets the length of the cylindrical part of the capsule, excluding the half-spheres on both ends.

public float Length { get; set; }

Property Value

float

Exceptions

ArgumentOutOfRangeException

Thrown when value is negative.

Radius

Gets or sets the radius of the capsule.

public float Radius { get; set; }

Property Value

float

Exceptions

ArgumentOutOfRangeException

Thrown when value is less than or equal to zero.

Methods

CalculateBoundingBox(in JQuaternion, in JVector, out JBoundingBox)

public override void CalculateBoundingBox(in JQuaternion orientation, in JVector position, out JBoundingBox box)

Parameters

orientation JQuaternion

position JVector

box JBoundingBox

CalculateMassInertia(out JSymmetricMatrix, out JVector, out float)

Calculates the shape's mass, center of mass, and inertia at unit density. The default implementation approximates the surface; overrides can provide exact mass properties.

public override void CalculateMassInertia(out JSymmetricMatrix inertia, out JVector com, out float mass)

Parameters

inertia JSymmetricMatrix

com JVector

mass float

Remarks

The inertia tensor is computed relative to the coordinate system origin (0,0,0), not the center of mass.

DebugDrawLocal<TSink>(ref TSink, in DebugDrawSettings)

Draws the shape's surface as triangles in local coordinates.

protected override void DebugDrawLocal<TSink>(ref TSink triangleSink, in DebugDrawSettings settings) where TSink : ISink<JTriangle>

Parameters

triangleSink TSink

The destination for generated triangles.

settings DebugDrawSettings

The visualization settings.

Type Parameters

TSink

Remarks

Override to provide custom debug geometry; otherwise, the surface is approximated. Use outward-facing triangles for closed surfaces. Body and shape transforms are applied automatically.

GetCenter(out JVector)

Returns a point inside the shape. It does not need to be the center of mass.

public override void GetCenter(out JVector point)

Parameters

point JVector

An interior point in local space.

SupportFeature(in JVector, float, Span<JVector>)

Writes the outermost feature of the shape in the given direction.

public override int SupportFeature(in JVector direction, float tolerance, Span<JVector> vertices)

Parameters

direction JVector

The direction in local space. Does not need to be normalized.

tolerance float

The sine of the angle within which directions share the feature.

vertices Span<JVector>

Receives the vertices in local space: one for a point, two for a segment, three or more for a convex polygon in winding order. At least MaxVertices entries long.

Returns

int

The number of vertices written, at least one.

Remarks

The default samples the support mapping with SupportFeatureSampler. Shapes that know their features analytically should override it.

SupportMap(in JVector, out JVector)

Computes the point on the shape that is furthest in the specified direction.

public override void SupportMap(in JVector direction, out JVector result)

Parameters

direction JVector

The search direction in local space. Does not need to be normalized.

result JVector

The point on the shape's surface furthest along direction.