remove collisionSmoothingRadius for Capsule

Author: AndreaNeumayr

src/Composition/supportPoints.jl

@@ -20,7 +20,7 @@ function supportPoint(obj::Composition.Object3D, e::SVector{3,Float64})
         return Modia3D.supportPoint_Cone(obj.shape, obj.r_abs, obj.R_abs, e, collisionSmoothingRadius)
     elseif shapeKind == Modia3D.CapsuleKind
         #capsule::Modia3D.Capsule = obj.shape
-        return Modia3D.supportPoint_Capsule(obj.shape, obj.r_abs, obj.R_abs, e, collisionSmoothingRadius)
+        return Modia3D.supportPoint_Capsule(obj.shape, obj.r_abs, obj.R_abs, e)
     elseif shapeKind == Modia3D.BeamKind
         #beam::Modia3D.Beam = obj.shape
         return Modia3D.supportPoint_Beam(obj.shape, obj.r_abs, obj.R_abs, e, collisionSmoothingRadius)
@@ -96,12 +96,12 @@ function boundingBox!(obj::Composition.Object3D, AABB::Basics.BoundingBox; tight
         zmax = Modia3D.supportPoint_i_Cone(cone, obj.r_abs[3], SVector(obj.R_abs[:,3]), +1, collisionSmoothingRadius)
     elseif shapeKind == Modia3D.CapsuleKind
         capsule::Modia3D.Capsule = obj.shape
-        xmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), -1, collisionSmoothingRadius)
-        xmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), +1, collisionSmoothingRadius)
-        ymin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), -1, collisionSmoothingRadius)
-        ymax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), +1, collisionSmoothingRadius)
-        zmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), -1, collisionSmoothingRadius)
-        zmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), +1, collisionSmoothingRadius)
+        xmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), -1)
+        xmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[1], SVector(obj.R_abs[:,1]), +1)
+        ymin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), -1)
+        ymax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[2], SVector(obj.R_abs[:,2]), +1)
+        zmin = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), -1)
+        zmax = Modia3D.supportPoint_i_Capsule(capsule, obj.r_abs[3], SVector(obj.R_abs[:,3]), +1)
     elseif shapeKind == Modia3D.BeamKind
         beam::Modia3D.Beam = obj.shape
         xmin = Modia3D.supportPoint_i_Beam(beam, obj.r_abs[1], SVector(obj.R_abs[:,1]), -1, collisionSmoothingRadius)

src/Shapes/boundingBoxes.jl

@@ -26,8 +26,8 @@ that is the most extreme in direction of unit vector `e`.
 @inline supportPoint_Cone(shape::Cone, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}, collisionSmoothingRadius::Float64) =
             r_abs + R_abs'*supportPoint_abs_Cone(shape, R_abs*e) + e*collisionSmoothingRadius
 
-@inline supportPoint_Capsule(shape::Capsule, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}, collisionSmoothingRadius::Float64) =
-            r_abs + R_abs'*supportPoint_abs_Capsule(shape, R_abs*e) + e*collisionSmoothingRadius
+@inline supportPoint_Capsule(shape::Capsule, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}) =
+            r_abs + R_abs'*supportPoint_abs_Capsule(shape, R_abs*e)
 
 @inline supportPoint_Beam(shape::Beam, r_abs::SVector{3,Float64}, R_abs::SMatrix{3,3,Float64,9}, e::SVector{3,Float64}, collisionSmoothingRadius::Float64) =
             r_abs + R_abs'*supportPoint_abs_Beam(shape, R_abs*e) + e*collisionSmoothingRadius
@@ -248,8 +248,8 @@ Returns the *Axis Aligned Bounding Box* of solid `shape` in argument `AABB`.
 @inline supportPoint_i_Cone(shape::Cone, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int, collisionSmoothingRadius) =
                r_absi + R_absi'*supportPoint_abs_Cone(shape, isign*R_absi) + isign*collisionSmoothingRadius
 
-@inline supportPoint_i_Capsule(shape::Capsule, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int, collisionSmoothingRadius) =
-               r_absi + R_absi'*supportPoint_abs_Capsule(shape, isign*R_absi) + isign*collisionSmoothingRadius
+@inline supportPoint_i_Capsule(shape::Capsule, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int) =
+               r_absi + R_absi'*supportPoint_abs_Capsule(shape, isign*R_absi)
 #
 @inline supportPoint_i_Beam(shape::Beam, r_absi::Float64, R_absi::SVector{3,Float64}, isign::Int, collisionSmoothingRadius) =
                r_absi + R_absi'*supportPoint_abs_Beam(shape, isign*R_absi) + isign*collisionSmoothingRadius

src/Shapes/setCollisionSmoothingRadius.jl

@@ -25,12 +25,6 @@ function setCollisionSmoothingRadius(shape::Cone, collisionSmoothingRadius)
     return collisionSmoothingRadius2
 end
 
-function setCollisionSmoothingRadius(shape::Capsule, collisionSmoothingRadius)
-    @assert(collisionSmoothingRadius >= 0.0)
-    collisionSmoothingRadius2 = min(collisionSmoothingRadius, 0.1*min(shape.diameter, shape.length)) # at most 10% of the smallest edge length
-    return collisionSmoothingRadius2
-end
-
 function setCollisionSmoothingRadius(shape::Beam, collisionSmoothingRadius)
     @assert(collisionSmoothingRadius >= 0.0)
     collisionSmoothingRadius2 = min(collisionSmoothingRadius, 0.1*min(shape.length, shape.width, shape.thickness)) # at most 10% of the smallest edge length