Expand description
D-dimensional capsule (cylinder with hemispherical caps).
A capsule is the Minkowski sum of a line segment and a sphere. This makes it ideal for character controllers, robot limbs, and elongated bodies. The support function is O(1) — no iteration over vertices.
Structs§
- Capsule
- D-dimensional capsule: a line segment of length
2 * half_heightalongaxis, swept by a sphere ofradius.