Capsule

java.lang.Object
- org.dyn4j.geometry.AbstractShape
- - org.dyn4j.geometry.Capsule

All Implemented Interfaces:

DataContainer, Convex, Rotatable, Shape, Transformable, Translatable
```
public class Capsule
extends AbstractShape
implements Convex, Shape, Transformable, DataContainer
```
Implementation of a Capsule Convex Shape.
A capsule can be described as a rectangle with two half circle caps on both ends. A capsule is created by specifying the bounding rectangle of the entire Shape.
If the height is larger than the width the caps will be on the top and bottom of the shape. Otherwise the caps are on the left and right ends of the shape.
A capsule's width and height must be larger than zero and cannot be equal. A Circle should be used instead of an equal width/height capsule for both performance and stability.

Since:

3.1.5

Version:

3.2.3

Author:

William Bittle

Constructor Summary

Constructors
Constructor Description

Capsule(double width, double height)
Minimal constructor.

Constructors
Constructor	Description
`Capsule(double width, double height)`	Minimal constructor.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`boolean`	`contains(Vector2 point, Transform transform)`	Returns true if the given point is inside this `Shape`.
`AABB`	`createAABB(Transform transform)`	Creates an `AABB` from this `Shape` after applying the given transformation to the shape.
`Mass`	`createMass(double density)`	Creates a `Mass` object using the geometric properties of this `Shape` and the given density.
`Vector2[]`	`getAxes(Vector2[] foci, Transform transform)`	Returns an array of separating axes to test for this `Shape`.
`double`	`getCapRadius()`	Returns the end cap radius.
`Feature`	`getFarthestFeature(Vector2 vector, Transform transform)`	Returns the `Feature` farthest in the direction of the given vector.
`Vector2`	`getFarthestPoint(Vector2 vector, Transform transform)`	Returns the point farthest in the direction of the given vector.
`Vector2[]`	`getFoci(Transform transform)`	Returns an array of world space foci points for circular curved edges.
`double`	`getLength()`	Returns the length of the capsule.
`double`	`getRadius(Vector2 center)`	Returns the radius of the shape if the given point was the center for this shape.
`double`	`getRotation()`	Returns the rotation about the local center in radians in the range [-π, π].
`Interval`	`project(Vector2 vector, Transform transform)`	Returns the `Interval` of this `Shape` projected onto the given `Vector2` given the `Transform`.
`void`	`rotate(double theta, double x, double y)`	Rotates the object about the given coordinates.
`java.lang.String`	`toString()`
`void`	`translate(double x, double y)`	Translates the object the given amounts in the respective directions.

Methods inherited from class org.dyn4j.geometry.AbstractShape
contains, createAABB, getCenter, getId, getRadius, getUserData, hashCode, project, rotate, rotate, rotateAboutCenter, setUserData, translate

Methods inherited from interface org.dyn4j.DataContainer
getUserData, setUserData

Methods inherited from class java.lang.Object
equals, getClass, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.dyn4j.geometry.Rotatable
rotate, rotate

Methods inherited from interface org.dyn4j.geometry.Shape
contains, createAABB, getCenter, getId, getRadius, project, rotateAboutCenter

Methods inherited from interface org.dyn4j.geometry.Translatable
translate

- Constructor Detail
  - Capsule
```
public Capsule(double width,
               double height)
```
    Minimal constructor.
    Creates an axis-aligned capsule centered on the origin with the caps on ends of the larger dimension.
    
    Parameters:
    
    width - the bounding rectangle width
    
    height - the bounding rectangle height
    
    Throws:
    
    java.lang.IllegalArgumentException - thrown if width or height are less than or equal to zero or if the width and height are near equal
- Method Detail
  - toString
```
public java.lang.String toString()
```
    Overrides:
    
    toString in class AbstractShape
  - getAxes
```
public Vector2[] getAxes(Vector2[] foci,
                         Transform transform)
```
    Description copied from interface: Convex
    
    Returns an array of separating axes to test for this Shape.
    The foci parameter is an array of circular focal points of the other Shape.
    If foci points are given, this method will return the separating axes for this Shape's voronoi regions also. The points in the foci array are assumed to be in world space.
    The returned axes are normalized and in world space.
    
    Specified by:
    
    getAxes in interface Convex
    
    Parameters:
    
    foci - the world space points representing foci of curved Shapes; can be null
    
    transform - the local to world space Transform of this Convex Shape
    
    Returns:
    
    Vector2[]
  - getFoci
```
public Vector2[] getFoci(Transform transform)
```
    Description copied from interface: Convex
    
    Returns an array of world space foci points for circular curved edges.
    This method returns null if the Shape has zero curved edges.
    The returned points are in world space.
    
    Specified by:
    
    getFoci in interface Convex
    
    Parameters:
    
    transform - the local to world space Transform of this Convex Shape
    
    Returns:
    
    Vector2[]
  - getFarthestPoint
```
public Vector2 getFarthestPoint(Vector2 vector,
                                Transform transform)
```
    Description copied from interface: Convex
    
    Returns the point farthest in the direction of the given vector. If two points are equally distant along the given Vector2 the first one is used.
    The returned point is in world space.
    
    Specified by:
    
    getFarthestPoint in interface Convex
    
    Parameters:
    
    vector - the direction
    
    transform - the local to world space Transform of this Convex Shape
    
    Returns:
    
    Vector2
  - getFarthestFeature
```
public Feature getFarthestFeature(Vector2 vector,
                                  Transform transform)
```
    Description copied from interface: Convex
    
    Returns the Feature farthest in the direction of the given vector.
    The returned feature is in world space.
    
    Specified by:
    
    getFarthestFeature in interface Convex
    
    Parameters:
    
    vector - the direction
    
    transform - the local to world space Transform of this Convex Shape
    
    Returns:
    
    Feature
  - project
```
public Interval project(Vector2 vector,
                        Transform transform)
```
    Description copied from interface: Shape
    
    Returns the Interval of this Shape projected onto the given Vector2 given the Transform.
    
    Specified by:
    
    project in interface Shape
    
    Parameters:
    
    vector - Vector2 to project onto
    
    transform - Transform for this Shape
    
    Returns:
    
    Interval
  - createAABB
```
public AABB createAABB(Transform transform)
```
    Description copied from interface: Shape
    
    Creates an AABB from this Shape after applying the given transformation to the shape.
    
    Specified by:
    
    createAABB in interface Shape
    
    Parameters:
    
    transform - the Transform for this Shape
    
    Returns:
    
    AABB the AABB enclosing this Shape
  - createMass
```
public Mass createMass(double density)
```
    Description copied from interface: Shape
    
    Creates a Mass object using the geometric properties of this Shape and the given density.
    
    Specified by:
    
    createMass in interface Shape
    
    Parameters:
    
    density - the density in kg/m²
    
    Returns:
    
    Mass the Mass of this Shape
  - getRadius
```
public double getRadius(Vector2 center)
```
    Description copied from interface: Shape
    
    Returns the radius of the shape if the given point was the center for this shape.
    
    Specified by:
    
    getRadius in interface Shape
    
    Parameters:
    
    center - the center point
    
    Returns:
    
    double
  - contains
```
public boolean contains(Vector2 point,
                        Transform transform)
```
    Description copied from interface: Shape
    
    Returns true if the given point is inside this Shape.
    If the given point lies on an edge the point is considered to be inside the Shape.
    The given point is assumed to be in world space.
    
    Specified by:
    
    contains in interface Shape
    
    Parameters:
    
    point - world space point
    
    transform - Transform for this Shape
    
    Returns:
    
    boolean
  - rotate
```
public void rotate(double theta,
                   double x,
                   double y)
```
    Description copied from interface: Rotatable
    
    Rotates the object about the given coordinates.
    
    Specified by:
    
    rotate in interface Rotatable
    
    Overrides:
    
    rotate in class AbstractShape
    
    Parameters:
    
    theta - the angle of rotation in radians
    
    x - the x coordinate to rotate about
    
    y - the y coordinate to rotate about
  - translate
```
public void translate(double x,
                      double y)
```
    Description copied from interface: Translatable
    
    Translates the object the given amounts in the respective directions.
    
    Specified by:
    
    translate in interface Translatable
    
    Overrides:
    
    translate in class AbstractShape
    
    Parameters:
    
    x - the translation in the x direction
    
    y - the translation in the y direction
  - getRotation
```
public double getRotation()
```
    Returns the rotation about the local center in radians in the range [-π, π].
    
    Returns:
    
    double the rotation in radians
  - getLength
```
public double getLength()
```
    Returns the length of the capsule.
    The length is the largest dimension of the capsule's bounding rectangle.
    
    Returns:
    
    double
  - getCapRadius
```
public double getCapRadius()
```
    Returns the end cap radius.
    
    Returns:
    
    double

Class Capsule

Constructor Summary

Method Summary

Methods inherited from class org.dyn4j.geometry.AbstractShape

Methods inherited from interface org.dyn4j.DataContainer

Methods inherited from class java.lang.Object

Methods inherited from interface org.dyn4j.geometry.Rotatable

Methods inherited from interface org.dyn4j.geometry.Shape

Methods inherited from interface org.dyn4j.geometry.Translatable

Constructor Detail

Capsule

Method Detail

toString

getAxes

getFoci

getFarthestPoint

getFarthestFeature

project

createAABB

createMass

getRadius

contains

rotate

translate

getRotation

getLength

getCapRadius