const glm::quat& VerletCapsuleShape::getRotation() const {
// NOTE: The "rotation" of this shape must be computed on the fly,
// which makes this method MUCH more more expensive than you might expect.
glm::vec3 axis;
computeNormalizedAxis(axis);
VerletCapsuleShape* thisCapsule = const_cast<VerletCapsuleShape*>(this);
thisCapsule->_rotation = computeNewRotation(axis);
return _rotation;
}
void CapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
glm::vec3 axis = endPoint - startPoint;
_translation = 0.5f * (endPoint + startPoint);
float height = glm::length(axis);
if (height > EPSILON) {
_halfHeight = 0.5f * height;
axis /= height;
_rotation = computeNewRotation(axis);
}
updateBoundingRadius();
}
