raisim::Capsule

class · #include <raisim/object/singleBodies/Capsule.hpp>

Inherits: raisim::SingleBodyObject

A rigid capsule (a cylinder capped by two hemispheres) whose axis is the body z axis. The body frame origin is at the capsule center (= COM). Create it with World::addCapsule().

Constructors & destructor

Capsule

Capsule(double radius, double height, double mass)

Parameters

Parameter	Description
radius (in)	radius of the cylinder and the caps (m), finite and positive
height (in)	length of the cylindrical section, i.e., the distance between the two cap centers (m), finite and nonnegative. The total length is height + 2 * radius
mass (in)	mass (kg)

Public member functions

getRadius

double getRadius() const

returns the radius of the capsule

Returns the radius of the capsule (m)

getHeight

double getHeight() const

returns the height of the capsule

Returns the length of the cylindrical section (distance between the cap centers, m)

updateContactAabbs

void updateContactAabbs() override

Internal: recomputes the world-frame AABBs used by the broadphase.

Inherited members

From raisim::SingleBodyObject: clearExternalForcesAndTorques, getAngularVelocity, getAppearance, getBodyToComPosition_rs, getCollisionBody, getCollisionGroup, getCollisionMask, getCom, getComPosition, getComPosition_rs, getContactPointVel, getDOF, getEnergy, getGeneralizedCoordinateDim, getGyroscopicMode, getInertiaMatrix_B, getInertiaMatrix_B_rs, getInertiaMatrix_W, getInertiaMatrix_W_rs, getKineticEnergy, getLinearMomentum, getLinearVelocity, getMass, getObjectType, getOrientation, getPosition, getPotentialEnergy, getQuaternion, getRotationMatrix, getVelocity, integrate, preContactSolverUpdate1, preContactSolverUpdate2, setAngularDamping, setAngularVelocity, setAppearance, setBodyType, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setOrientation, setPose, setPosition, setVelocity, updateCollision

From raisim::Object: addContactToPerObjectContact, clearPerObjectContact, getBodyType, getContactAabb, getContactAabbCount, getContacts, getExternalForce, getExternalForcePosition, getExternalTorque, getExternalTorquePosition, getId, getIndexInWorld, getName, getRenderRevision, Id, lock, lockMutex, setIndexInWorld, setName, try_lock, unlock, unlockMutex