hmi.physics
Class CollisionCapsule

java.lang.Object
  hmi.physics.CollisionCapsule

All Implemented Interfaces:

CollisionShape

Direct Known Subclasses:

OdeCollisionCapsule

public class CollisionCapsule
extends Object
implements CollisionShape

A capsule consists of a cylinder, aligned on the Y-axis, of height height and two half-spheres at the top and bottom of the cylinder. The radius of the cylinder and half-spheres is radius. The capsule is centered at its CoM.

Author:

Herwin

Field Summary

float	height
float	radius
float[]	rotation
float[]	translation

Constructor Summary

CollisionCapsule()

CollisionCapsule(float[] q, float[] tr, float r, float h)

CollisionCapsule(float r, float h)

Method Summary

void	getRotation(float[] q)
void	getTranslation(float[] v)
void	setRotation(float[] q)
void	setTranslation(float[] v)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

radius

public float radius

height

public float height

translation

public float[] translation

rotation

public float[] rotation

Constructor Detail

CollisionCapsule

public CollisionCapsule()

CollisionCapsule

public CollisionCapsule(float r,
                        float h)

CollisionCapsule

public CollisionCapsule(float[] q,
                        float[] tr,
                        float r,
                        float h)

Method Detail

getRotation

public void getRotation(float[] q)

Specified by:

getRotation in interface CollisionShape

getTranslation

public void getTranslation(float[] v)

Specified by:

getTranslation in interface CollisionShape

setRotation

public void setRotation(float[] q)

Specified by:

setRotation in interface CollisionShape

setTranslation

public void setTranslation(float[] v)

Specified by:

setTranslation in interface CollisionShape