A capsule geometric object for collision and visualization.

#include <ChCapsule.h>

Inheritance diagram for chrono::ChCapsule:
Collaboration diagram for chrono::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 GetType () const override
 Get the class type as an enum.
virtual double GetVolume () const override
 Return the volume of this solid.
virtual ChMatrix33 GetGyration () const override
 Return the gyration matrix for this solid.
virtual ChAABB GetBoundingBox () const override
 Compute bounding box along the directions of the shape definition frame.
virtual double GetBoundingSphereRadius () const override
 Returns the radius of a bounding sphere for this geometry.
virtual ChVector3d Baricenter () const override
 Compute the baricenter of the capsule.
virtual ChVector3d Evaluate (double parU, double parV, double parW) const override
 Evaluate position in box volume.
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 void ArchiveOut (ChArchiveOut &archive_out) override
 Method to allow serialization of transient data to archives.
virtual void ArchiveIn (ChArchiveIn &archive_in) override
 Method to allow de-serialization of transient data from archives.
- Public Member Functions inherited from chrono::ChVolume
 ChVolume (const ChVolume &other)
virtual bool IsClosedU () const
 Return true if the volume is closed (periodic) in the 1st parametric coordinate.
virtual bool IslosedV () const
 Return true if the volume is closed (periodic) in the 2nd parametric coordinate.
virtual bool IsClosedW () const
 Return true if the volume is closed (periodic) in the 3rd parametric coordinate.
virtual int GetManifoldDimension () const override final
 Return dimensionality of this object. More...
- Public Member Functions inherited from chrono::ChGeometry
 ChGeometry (const ChGeometry &other)
void InflateBoundingBox (ChAABB &bbox) const
 Enlarge the given existing bounding box with the bounding box of this object.
virtual void Update ()
 Generic update of internal data.

Static Public Member Functions

static double GetVolume (double radius, double height)
 Return the volume of this type of solid with given dimensions.
static ChMatrix33 GetGyration (double radius, double height)
 Return the gyration matrix of this type of solid with given dimensions.
static ChAABB GetBoundingBox (double radius, double height)
 Return the bounding box of this type of solid with given dimensions.
static double GetBoundingSphereRadius (double radius, double height)
 Return the radius of a bounding sphere.

Public Attributes

double r
 capsule radius
double h
 height of cylindrical portion

Additional Inherited Members

- Public Types inherited from chrono::ChGeometry
enum  Type {
 Enumeration of geometric object types.

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