The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. More...

#include <btCapsuleShape.h>

Inheritance diagram for btCapsuleShape:

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Collaboration diagram for btCapsuleShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btCapsuleShape (btScalar radius, btScalar height)

virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface. More...

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
	btConvexShape Interface More...

virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const

virtual void	setMargin (btScalar collisionMargin)

virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version More...

virtual const char *	getName () const

int	getUpAxis () const

btScalar	getRadius () const

btScalar	getHalfHeight () const

virtual void	setLocalScaling (const btVector3 &scaling)

virtual btVector3	getAnisotropicRollingFrictionDirection () const
	the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example More...

virtual int	calculateSerializeBufferSize () const

virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure) More...

Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual	~btConvexInternalShape ()

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

const btVector3 &	getImplicitShapeDimensions () const

void	setImplicitShapeDimensions (const btVector3 &dimensions)
	warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the world is not recommended, it is best to remove the body from the world, then make the change, and re-add it alternatively flush the contact points, see documentation for 'cleanProxyFromPairs' More...

void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)

void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)

void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version More...

virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const

virtual const btVector3 &	getLocalScaling () const

const btVector3 &	getLocalScalingNV () const

virtual btScalar	getMargin () const

btScalar	getMarginNV () const

virtual int	getNumPreferredPenetrationDirections () const

virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const

Public Member Functions inherited from btConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3 More...

virtual	~btConvexShape ()

btVector3	localGetSupportVertexWithoutMarginNonVirtual (const btVector3 &vec) const

btVector3	localGetSupportVertexNonVirtual (const btVector3 &vec) const

btScalar	getMarginNonVirtual () const

void	getAabbNonVirtual (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const

virtual void	project (const btTransform &trans, const btVector3 &dir, btScalar &min, btScalar &max) const

Public Member Functions inherited from btCollisionShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btCollisionShape ()

virtual	~btCollisionShape ()

virtual void	getBoundingSphere (btVector3 &center, btScalar &radius) const

virtual btScalar	getAngularMotionDisc () const
	getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. More...

virtual btScalar	getContactBreakingThreshold (btScalar defaultContactThresholdFactor) const

void	calculateTemporalAabb (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
	calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) result is conservative More...

bool	isPolyhedral () const

bool	isConvex2d () const

bool	isConvex () const

bool	isNonMoving () const

bool	isConcave () const

bool	isCompound () const

bool	isSoftBody () const

bool	isInfinite () const
	isInfinite is used to catch simulation error (aabb check) More...

int	getShapeType () const

void	setUserPointer (void *userPtr)
	optional user data pointer More...

void *	getUserPointer () const

virtual void	serializeSingleShape (btSerializer *serializer) const

Protected Member Functions
	btCapsuleShape ()
	only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. More...

Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()

Protected Attributes
int	m_upAxis

Protected Attributes inherited from btConvexInternalShape
btVector3	m_localScaling

btVector3	m_implicitShapeDimensions

btScalar	m_collisionMargin

btScalar	m_padding

Protected Attributes inherited from btCollisionShape
int	m_shapeType

void *	m_userPointer

Detailed Description

The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.

The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.

Definition at line 26 of file btCapsuleShape.h.

Constructor & Destructor Documentation

btCapsuleShape::btCapsuleShape ( )

inlineprotected

only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Definition at line 33 of file btCapsuleShape.h.

btCapsuleShape::btCapsuleShape	(	btScalar	radius,
		btScalar	height
	)

Definition at line 22 of file btCapsuleShape.cpp.

Member Function Documentation

void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	vectors,
		btVector3 *	supportVerticesOut,
		int	numVectors
	)		const