distance3d.colliders.Capsule

class distance3d.colliders.Capsule(capsule2origin, radius, height, artist=None)

Capsule collider.

Parameters:

capsule2originarray, shape (4, 4)

Pose of the capsule.

radiusfloat

Radius of the capsule.

heightfloat

Height of the capsule.

artistpytransform3d.visualizer.Artist, optional (default: None)

Corresponding artist for visualizer.

Methods

aabb()	Get axis-aligned bounding box.
center()	Returns the (approximate) center of the collider.
collider2origin()	Get the transformation matrix of the collider
first_vertex()	Get vertex with index 0 from collider to initialize GJK algorithm.
make_artist([c])	Make artist that represents this collider.
support_function(search_direction)	Support function for collider.
update_pose(pose)	Update pose of collider.

__init__(capsule2origin, radius, height, artist=None)

Methods

__init__(capsule2origin, radius, height[, ...])
aabb()	Get axis-aligned bounding box.
center()	Returns the (approximate) center of the collider.
collider2origin()	Get the transformation matrix of the collider
first_vertex()	Get vertex with index 0 from collider to initialize GJK algorithm.
make_artist([c])	Make artist that represents this collider.
support_function(search_direction)	Support function for collider.
update_pose(pose)	Update pose of collider.