distance3d.geometry.support_function_capsule

distance3d.geometry.support_function_capsule(search_direction, capsule2origin, radius, height)

Compute extreme point of cylinder along a direction.

You can find similar implementations here:

• https://github.com/kevinmoran/GJK/blob/b38d923d268629f30b44c3cf6d4f9974bbcdb0d3/Collider.h#L57 (Copyright (c) 2017 Kevin Moran, MIT License or Unlicense)

• https://github.com/bulletphysics/bullet3/blob/e306b274f1885f32b7e9d65062aa942b398805c2/src/BulletCollision/CollisionShapes/btConvexShape.cpp#L228 (Copyright (c) 2003-2009 Erwin Coumans, zlib license)

Parameters:

search_directionarray, shape (3,)

Search direction.

capsule2originarray, shape (4, 4)

Pose of the capsule.

radiusfloat

Radius of the cylinder.

heightfloat

Height of the cylinder.

Returns:

extreme_pointarray, shape (3,)

Extreme point along search direction.