Package jsim.collision

Class SphereCollider

java.lang.Object

jsim.collision.ColliderShape

jsim.collision.SphereCollider

public final class SphereCollider
extends ColliderShape

Sphere shape centred at the body's local origin.

Nested Class Summary

Nested classes/interfaces inherited from class jsim.collision.ColliderShape

ColliderShape.Type

Field Summary

Fields

Modifier and Type	Field	Description
final double	radius	Radius of the sphere in metres.

Constructor Summary

Constructors

Constructor	Description
SphereCollider(double radius)	Creates a sphere collider with the given radius.

Method Summary

Modifier and Type	Method	Description
void	computeAABB(edu.wpi.first.math.geometry.Pose3d pose, double[] out)	Compute the world-space AABB of this shape given the body's pose.
ColliderShape.Type	getType()	The shape type of this collider.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

radius

public final double radius

Radius of the sphere in metres.

Constructor Details

SphereCollider

public SphereCollider(double radius)

Creates a sphere collider with the given radius.

Parameters:

radius - the sphere radius in metres; must be positive

Method Details

getType

public ColliderShape.Type getType()

Description copied from class: ColliderShape

The shape type of this collider.

Specified by:

getType in class ColliderShape

Returns:

this shape's type tag

computeAABB

public void computeAABB(edu.wpi.first.math.geometry.Pose3d pose,
 double[] out)

Description copied from class: ColliderShape

Compute the world-space AABB of this shape given the body's pose.

Specified by:

computeAABB in class ColliderShape

Parameters:

pose - world-space pose of the body (position in metres, orientation as quaternion)

out - receives [minX, minY, minZ, maxX, maxY, maxZ] in metres