Struct Capsule 

pub struct Capsule<const D: usize> {
    pub half_height: f64,
    pub radius: f64,
    pub axis: usize,
}

D-dimensional capsule: a line segment of length 2 * half_height along axis, swept by a sphere of radius.

In local space, the two hemisphere centers are at:

• +half_height * e_axis
• -half_height * e_axis

where e_axis is the unit vector along the chosen axis.

Fields

half_height: f64

Half the distance between hemisphere centers.

radius: f64

Radius of the hemispherical caps (and the cylinder).

axis: usize

Which coordinate axis the capsule is aligned to (0=X, 1=Y, 2=Z, …).

Implementations

impl<const D: usize> Capsule<D>

pub fn new(half_height: f64, radius: f64, axis: usize) -> Self

Create a capsule along the given axis.

half_height is half the distance between hemisphere centers. Total length = 2 * half_height + 2 * radius.

pub fn y_aligned(half_height: f64, radius: f64) -> Self

Create a Y-aligned capsule (the most common orientation).

pub fn total_length(&self) -> f64

Total length along the axis (including caps).

Trait Implementations

impl<const D: usize> Clone for Capsule<D>

fn clone(&self) -> Capsule<D>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<const D: usize> Debug for Capsule<D>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<const D: usize> Shape<D> for Capsule<D>

fn support(&self, direction: &SVector<f64, D>) -> SVector<f64, D>

Support function: pick the hemisphere center that dots highest with the direction, then offset by radius * normalize(direction).

support(d) = sign(d[axis]) * half_height * e_axis + radius * normalize(d)

fn bounding_sphere(&self) -> (Point<D>, f64)

Bounding sphere: (center, radius).

fn as_any(&self) -> &dyn Any

Downcast to concrete type for specialized collision dispatch.

impl<const D: usize> Copy for Capsule<D>