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 (const ChVector<> &mcenter, double mrad, double mhlen)

	ChCapsule (const ChCapsule &source)

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

virtual GeometryType	GetClassType () const override
	Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism). More...

virtual void	GetBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const override
	Compute bounding box. More...

virtual ChVector	Baricenter () const override
	Compute center of mass It should be overridden by inherited classes.

virtual void	CovarianceMatrix (ChMatrix33<> &C) const override
	Compute the 3x3 covariance matrix (only the diagonal and upper part) It should be overridden by inherited classes.

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)

virtual void	InflateBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const
	Enlarge a previous existing bounding box. More...

virtual double	Size () const
	Returns the radius of the sphere which can enclose the geometry.

virtual void	Update ()
	Generic update of internal data. More...

Public Attributes
ChVector	center
	capsule center

double	rad
	capsule radius

double	hlen
	capsule halflength

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

Member Function Documentation

◆ GetBoundingBox()

void chrono::geometry::ChCapsule::GetBoundingBox	(	double &	xmin,
		double &	xmax,
		double &	ymin,
		double &	ymax,
		double &	zmin,
		double &	zmax,
		ChMatrix33<> *	Rot = `NULL`
	)		const

overridevirtual

Compute bounding box.

If a matrix Rot is not null, it should compute bounding box along the rotated directions represented by that transformation matrix Rot. It must be overridden by inherited classes.

Reimplemented from chrono::geometry::ChGeometry.

◆ GetClassType()

virtual GeometryType chrono::geometry::ChCapsule::GetClassType ( ) const

inlineoverridevirtual

Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism).

Each inherited class must return an unique ID.

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

Description

Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ GetBoundingBox()

◆ GetClassType()