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- //
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// * Redistributions in binary form must reproduce the above copyright
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// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
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// from this software without specific prior written permission.
//
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//
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
- #ifndef PX_PHYSICS_NX_CAPSULE_GEOMETRY
- #define PX_PHYSICS_NX_CAPSULE_GEOMETRY
- /** \addtogroup geomutils
- @{
- */
+ #ifndef PX_CAPSULE_GEOMETRY_H
+ #define PX_CAPSULE_GEOMETRY_H
#include "geometry/PxGeometry.h"
#include "foundation/PxFoundationConfig.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief Class representing the geometry of a capsule.
Capsules are shaped as the union of a cylinder of length 2 * halfHeight and with the
given radius centered at the origin and extending along the x axis, and two hemispherical ends.
\note The scaling of the capsule is expected to be baked into these values, there is no additional scaling parameter.
The function PxTransformFromSegment is a helper for generating an appropriate transform for the capsule from the capsule's interior line segment.
- @see PxTransformFromSegment
+ \see PxTransformFromSegment
*/
class PxCapsuleGeometry : public PxGeometry
{
public:
- /**
- \brief Default constructor, initializes to a capsule with zero height and radius.
- */
- PX_INLINE PxCapsuleGeometry() : PxGeometry(PxGeometryType::eCAPSULE), radius(0), halfHeight(0) {}
-
/**
\brief Constructor, initializes to a capsule with passed radius and half height.
*/
- PX_INLINE PxCapsuleGeometry(PxReal radius_, PxReal halfHeight_) : PxGeometry(PxGeometryType::eCAPSULE), radius(radius_), halfHeight(halfHeight_) {}
+ PX_INLINE PxCapsuleGeometry(PxReal radius_=0.0f, PxReal halfHeight_=0.0f) : PxGeometry(PxGeometryType::eCAPSULE), radius(radius_), halfHeight(halfHeight_) {}
+
+ /**
+ \brief Copy constructor.
+
+ \param[in] that Other object
+ */
+ PX_INLINE PxCapsuleGeometry(const PxCapsuleGeometry& that) : PxGeometry(that), radius(that.radius), halfHeight(that.halfHeight) {}
+
+ /**
+ \brief Assignment operator
+ */
+ PX_INLINE void operator=(const PxCapsuleGeometry& that)
+ {
+ mType = that.mType;
+ radius = that.radius;
+ halfHeight = that.halfHeight;
+ }
/**
\brief Returns true if the geometry is valid.
\return True if the current settings are valid.
- \note A valid capsule has radius > 0, halfHeight > 0.
- It is illegal to call PxRigidActor::createShape and PxPhysics::createShape with a capsule that has zero radius or height.
+ \note A valid capsule has radius > 0, halfHeight >= 0.
+ It is illegal to call PxPhysics::createShape with a capsule that has zero radius or height.
- @see PxRigidActor::createShape, PxPhysics::createShape
+ \see PxPhysics::createShape
*/
PX_INLINE bool isValid() const;
public:
/**
\brief The radius of the capsule.
*/
PxReal radius;
/**
\brief half of the capsule's height, measured between the centers of the hemispherical ends.
*/
PxReal halfHeight;
};
PX_INLINE bool PxCapsuleGeometry::isValid() const
{
- if (mType != PxGeometryType::eCAPSULE)
+ if(mType != PxGeometryType::eCAPSULE)
return false;
- if (!PxIsFinite(radius) || !PxIsFinite(halfHeight))
+ if(!PxIsFinite(radius) || !PxIsFinite(halfHeight))
return false;
- if (radius <= 0.0f || halfHeight <= 0.0f)
+ if(radius <= 0.0f || halfHeight < 0.0f)
return false;
return true;
}
#if !PX_DOXYGEN
} // namespace physx
#endif
- /** @} */
#endif