btCapsuleShape Class Reference

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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List of all members.

Public Member Functions
	btCapsuleShape (btScalar radius, btScalar height)
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface.
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
	btConvexShape Interface
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const
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
virtual const char *	getName () const
int	getUpAxis () const
btScalar	getRadius () const
btScalar	getHalfHeight () const
virtual void	setLocalScaling (const btVector3 &scaling)
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)
Protected Member Functions
	btCapsuleShape ()
	only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
Protected Attributes
int	m_upAxis

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 ( ) [inline, protected]

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 `[virtual]`