Method Capsule

testbed/common/Capsule.cpp:37–71

Constructor

// Constructor
Capsule::Capsule(reactphysics3d::BodyType type, bool isSimulationCollider, float radius, float height, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld,
                 const std::string& meshFolderPath)
        : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height), mPhysicsWorld(physicsWorld) {

    // Compute the scaling matrix
    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
                                              0, (mHeight + 2.0f * mRadius) / 3.0f, 0,0,
                                              0, 0, mRadius, 0,
                                              0, 0, 0, 1.0f);

    mPreviousTransform = rp3d::Transform::identity();

    // Create the collision shape for the rigid body (sphere shape)
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight);

    // Create the body
    rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
    body->setType(type);
    body->setIsDebugEnabled(true);
    mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity());
    mCollider->setIsSimulationCollider(isSimulationCollider);
    body->updateMassPropertiesFromColliders();
    mBody = body;

    mTransformMatrix = mTransformMatrix * mScalingMatrix;

    // Create the VBOs and VAO
    if (totalNbCapsules == 0) {
        createVBOAndVAO();
    }

    totalNbCapsules++;
}

// Destructor
Capsule::~Capsule() {