physics::CapsuleShape Struct Reference

Capsule shape input for swept-collision queries. More...

#include <SweptCollision.hpp>

Public Member Functions
glm::vec3	segA (glm::vec3 center) const noexcept
	Top endpoint of the inner segment at center.
glm::vec3	segB (glm::vec3 center) const noexcept
	Bottom endpoint of the inner segment at center.
glm::vec3	enclosingHalfExtents () const noexcept
	Tight half-extents of the AABB that encloses the capsule at center.
float	minkowskiExtent (glm::vec3 n) const noexcept
	Minkowski half-extent of the capsule along a unit direction n.
float	effectiveStepHeight (float requestedStepHeight) const noexcept
	Clamp a requested step height to a value the capsule can safely support — never larger than the segment half-length, leaving a small numerical margin so the derived walkShape() always has a positive halfHeight.
CapsuleShape	walkShape (float requestedStepHeight) const noexcept
	"Walk" capsule — a shorter capsule whose foot is lifted by stepHeight (using effectiveStepHeight) and whose head is unchanged.
glm::vec3	walkCenterOffset (float requestedStepHeight) const noexcept
	Centre-position offset that takes a full-capsule centre to the matching walk-capsule centre (head aligned).

Public Attributes
float	radius {16.0f}
	Cylinder cross-section radius.
float	halfHeight {20.0f}
	Half the segment length (excludes spherical caps).
glm::vec3	up {0.0f, 1.0f, 0.0f}
	Unit-length axis direction.

Detailed Description

Capsule shape input for swept-collision queries.

A capsule is a line segment thickened by a radius. The segment endpoints are center ± up * halfHeight; the surface is every point within radius of the segment. up defaults to +Y but may be any unit vector — this supports gravity-flipped play (where the capsule axis is -Y) and any future arbitrarily-oriented characters without changing the query API.

Functions taking a CapsuleShape treat center as the capsule's centre of mass (the midpoint of the segment), matching the semantics of the AABB family that takes a centre + halfExtents.

Member Function Documentation

effectiveStepHeight()

float physics::CapsuleShape::effectiveStepHeight ( float requestedStepHeight ) const

inlinenodiscardnoexcept

Clamp a requested step height to a value the capsule can safely support — never larger than the segment half-length, leaving a small numerical margin so the derived walkShape() always has a positive halfHeight.

Crouched players (small halfHeight) get a proportionally smaller effective step.

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enclosingHalfExtents()

glm::vec3 physics::CapsuleShape::enclosingHalfExtents ( ) const

inlinenodiscardnoexcept

Tight half-extents of the AABB that encloses the capsule at center.

Used for BVH broad-phase culling. For a Y-aligned capsule of radius r and half-height h, this returns (r, h + r, r).

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minkowskiExtent()

float physics::CapsuleShape::minkowskiExtent ( glm::vec3 n ) const

inlinenodiscardnoexcept

Minkowski half-extent of the capsule along a unit direction n.

For a Y-aligned capsule this is r + h * |n.y|; for an arbitrary axis it is r + h * |dot(up, n)|. Used by every plane / slab / Minkowski-sum query as the capsule analogue of |n.x|*hx + |n.y|*hy + |n.z|*hz for an AABB.

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segA()

glm::vec3 physics::CapsuleShape::segA ( glm::vec3 center ) const

inlinenodiscardnoexcept

Top endpoint of the inner segment at center.

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segB()

glm::vec3 physics::CapsuleShape::segB ( glm::vec3 center ) const

inlinenodiscardnoexcept

Bottom endpoint of the inner segment at center.

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walkCenterOffset()

glm::vec3 physics::CapsuleShape::walkCenterOffset ( float requestedStepHeight ) const

inlinenodiscardnoexcept

Centre-position offset that takes a full-capsule centre to the matching walk-capsule centre (head aligned).

Always points along +up — for gravity-flipped play the caller should negate the result.

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walkShape()

CapsuleShape physics::CapsuleShape::walkShape ( float requestedStepHeight ) const

inlinenodiscardnoexcept

"Walk" capsule — a shorter capsule whose foot is lifted by stepHeight (using effectiveStepHeight) and whose head is unchanged.

Used by the two-capsule character controller for horizontal motion: a sweep with this shape is physically incapable of contacting anything ≤ stepHeight tall, so steps / curbs / stair risers within that height are transparently ignored. Vertical settle later snaps the foot onto whatever is below.

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Member Data Documentation

halfHeight

float physics::CapsuleShape::halfHeight {20.0f}

Half the segment length (excludes spherical caps).

radius

float physics::CapsuleShape::radius {16.0f}

Cylinder cross-section radius.

up

glm::vec3 physics::CapsuleShape::up {0.0f, 1.0f, 0.0f}

Unit-length axis direction.

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The documentation for this struct was generated from the following file:

• src/ecs/physics/SweptCollision.hpp