SOFA plugin: BulletCollisionDetection  master
Open source framework for multi-physics simuation
sofa::component::collision Namespace Reference

Namespaces

 detection
 
 geometry
 
 response
 

Classes

class  BtInterManager
 
class  BtMemberInterManager
 
class  BtInterDispatcher
 
class  BulletSoftCapsule
 
class  TBulletCapsuleModel
 
class  BulletIntersection
 
class  BulletCollisionDetection
 
class  TBulletConvexHullModel
 
class  TBulletConvexHull
 
class  TBulletCylinderModel
 
class  TBulletOBBModel
 
class  BulletRigidContactMapper
 
class  ContactMapper< BulletConvexHullModel, TVec3Types >
 
class  TBulletSphereModel
 
class  TBulletTriangleModel
 

Typedefs

typedef TBulletCapsuleModel< defaulttype::Vec3TypesBulletCapsuleModel
 
typedef TBulletCapsuleModel< defaulttype::RigidTypesBulletRigidCapsuleModel
 
typedef TBulletConvexHullModel< defaulttype::RigidTypesBulletConvexHullModel
 
typedef TBulletConvexHull< defaulttype::RigidTypesBulletConvexHull
 
typedef TBulletCylinderModel< defaulttype::RigidTypesBulletCylinderModel
 
typedef TBulletOBBModel< defaulttype::RigidTypesBulletOBBModel
 
typedef TBulletSphereModel< defaulttype::Vec3TypesBulletSphereModel
 
typedef TBulletTriangleModel< defaulttype::Vec3TypesBulletTriangleModel
 

Functions

SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule ()
 
SOFA_EXPORT_DYNAMIC_LIBRARY const char * getModuleName ()
 
SOFA_EXPORT_DYNAMIC_LIBRARY const char * getModuleVersion ()
 
SOFA_EXPORT_DYNAMIC_LIBRARY void registerObjects (sofa::core::ObjectFactory *factory)
 
void init ()
 
template<class Vec >
void display (const Vec &vec)
 
template<class CModel >
void correctContactPoint0 (SReal margin, sofa::core::collision::DetectionOutput &dec_out, typename CModel::Element &)
 
template<class CModel >
void correctContactPoint1 (SReal margin, sofa::core::collision::DetectionOutput &dec_out, typename CModel::Element &)
 
template<>
void correctContactPoint0< BulletOBBModel > (SReal, sofa::core::collision::DetectionOutput &dec_out, collisionobbcapsule::geometry::OBB &e0)
 
template<>
void correctContactPoint1< BulletOBBModel > (SReal, sofa::core::collision::DetectionOutput &dec_out, collisionobbcapsule::geometry::OBB &e1)
 
template<class TDataTypes >
void updateCapsuleHeight (btCollisionShape *capsule, typename TDataTypes::Real height)
 
template<>
void updateCapsuleHeight< defaulttype::Rigid3Types > (btCollisionShape *, typename defaulttype::Rigid3Types::Real)
 
ContactMapperCreator< ContactMapper< BulletConvexHullModel, Vec3Types > > BulletConvexHullModelContactMapperClass ("PenalityContactForceField", true)
 
template<class MyReal , class ToRead , class ToFill >
bool sameVertices (const ToRead &pos, int numverts, ToFill vertexbase, int vertexStride)
 

Variables

int BulletCapsuleModelClass
 
int RigidBulletCapsuleModelClass
 
int BulletIntersctionClass
 
int BulletCollisionDetectionClass
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, BulletConvexHullModel > > BCHullBCHullCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, CylinderCollisionModel< sofa::defaulttype::Rigid3Types > > > BCHullCylinderCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, TriangleCollisionModel< sofa::defaulttype::Vec3Types > > > BCHullTriangleCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, CapsuleCollisionModel< sofa::defaulttype::Rigid3Types > > > BCHullRigidCapsuleCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, CapsuleCollisionModel< sofa::defaulttype::Vec3Types > > > CapsuleBCHullCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, SphereCollisionModel< sofa::defaulttype::Vec3Types > > > BCHullSphereCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, RigidSphereModel > > BCHullRigidSphereCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, CompliantContact< BulletConvexHullModel, OBBCollisionModel< sofa::defaulttype::Rigid3Types > > > BCHullOBBCompliantContactClassClass ("CompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, BulletConvexHullModel > > BCHullBCHullFrictionCompliantContactClassClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, CylinderCollisionModel< sofa::defaulttype::Rigid3Types > > > BCHullCylinderFrictionCompliantContactClassClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, TriangleCollisionModel< sofa::defaulttype::Vec3Types > > > BCHullTriangleFrictionCompliantContactClassClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, CapsuleCollisionModel< sofa::defaulttype::Rigid3Types > > > BCHullRigidCapsuleFrictionCompliantContactClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, CapsuleCollisionModel< sofa::defaulttype::Vec3Types > > > CapsuleBCHullFrictionCompliantContactClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, SphereCollisionModel< sofa::defaulttype::Vec3Types > > > BCHullSphereFrictionCompliantContactClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, RigidSphereModel > > BCHullRigidSphereFrictionCompliantContactClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, FrictionCompliantContact< BulletConvexHullModel, OBBCollisionModel< sofa::defaulttype::Rigid3Types > > > BCHullOBBCompliantFrictionCompliantContactClass ("FrictionCompliantContact", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, BulletConvexHullModel > > BulletConvexHullModelBulletConvexHullContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, SphereCollisionModel< sofa::defaulttype::Vec3Types > > > BulletConvexHullModelSphereModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, RigidSphereModel > > BulletConvexHullModelRigidSphereModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, TriangleCollisionModel< sofa::defaulttype::Vec3Types > > > BulletConvexHullModelTriangleModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, LineCollisionModel< sofa::defaulttype::Vec3Types > > > BulletConvexHullModelLineModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, PointCollisionModel< sofa::defaulttype::Vec3Types > > > BulletConvexHullModelPointModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, OBBCollisionModel< sofa::defaulttype::Rigid3Types > > > BulletConvexHullModelOBBModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, CapsuleCollisionModel< sofa::defaulttype::Vec3Types > > > BulletConvexHullModelCapsuleModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, CapsuleCollisionModel< sofa::defaulttype::Rigid3Types > > > BulletConvexHullModelRigidCapsuleModelContactClass ("PenalityContactForceField", true)
 
Creator< Contact::Factory, BarycentricPenalityContact< BulletConvexHullModel, CylinderCollisionModel< sofa::defaulttype::Rigid3Types > > > BulletConvexHullModelCylinderModelContactClass ("PenalityContactForceField", true)
 
int BulletConvexHullModelClass
 
int BulletCylinderModelClass
 
int BulletOBBModelClass
 
template class SOFA_BULLETCOLLISIONDETECTION_API ContactMapper< BulletConvexHullModel, Vec3Types >
 
int BulletSphereModelClass
 
int BulletTriangleModelClass
 

Typedef Documentation

◆ BulletCapsuleModel

◆ BulletConvexHull

◆ BulletConvexHullModel

◆ BulletCylinderModel

◆ BulletOBBModel

◆ BulletRigidCapsuleModel

◆ BulletSphereModel

◆ BulletTriangleModel

Function Documentation

◆ BulletConvexHullModelContactMapperClass()

ContactMapperCreator< ContactMapper<BulletConvexHullModel,Vec3Types> > sofa::component::collision::BulletConvexHullModelContactMapperClass ( "PenalityContactForceField"  ,
true   
)

◆ correctContactPoint0()

template<class CModel >
void sofa::component::collision::correctContactPoint0 ( SReal  margin,
sofa::core::collision::DetectionOutput dec_out,
typename CModel::Element &   
)

◆ correctContactPoint0< BulletOBBModel >()

template<>
void sofa::component::collision::correctContactPoint0< BulletOBBModel > ( SReal  ,
sofa::core::collision::DetectionOutput dec_out,
collisionobbcapsule::geometry::OBB &  e0 
)

◆ correctContactPoint1()

template<class CModel >
void sofa::component::collision::correctContactPoint1 ( SReal  margin,
sofa::core::collision::DetectionOutput dec_out,
typename CModel::Element &   
)

◆ correctContactPoint1< BulletOBBModel >()

template<>
void sofa::component::collision::correctContactPoint1< BulletOBBModel > ( SReal  ,
sofa::core::collision::DetectionOutput dec_out,
collisionobbcapsule::geometry::OBB &  e1 
)

◆ display()

template<class Vec >
void sofa::component::collision::display ( const Vec &  vec)

◆ sameVertices()

template<class MyReal , class ToRead , class ToFill >
bool sofa::component::collision::sameVertices ( const ToRead &  pos,
int  numverts,
ToFill  vertexbase,
int  vertexStride 
)

◆ updateCapsuleHeight()

template<class TDataTypes >
void sofa::component::collision::updateCapsuleHeight ( btCollisionShape *  capsule,
typename TDataTypes::Real  height 
)

◆ updateCapsuleHeight< defaulttype::Rigid3Types >()

template<>
void sofa::component::collision::updateCapsuleHeight< defaulttype::Rigid3Types > ( btCollisionShape *  ,
typename defaulttype::Rigid3Types::Real   
)

Variable Documentation

◆ BCHullBCHullCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, BulletConvexHullModel> > sofa::component::collision::BCHullBCHullCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullBCHullFrictionCompliantContactClassClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, BulletConvexHullModel> > sofa::component::collision::BCHullBCHullFrictionCompliantContactClassClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BCHullCylinderCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, CylinderCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BCHullCylinderCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullCylinderFrictionCompliantContactClassClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, CylinderCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BCHullCylinderFrictionCompliantContactClassClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BCHullOBBCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, OBBCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BCHullOBBCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullOBBCompliantFrictionCompliantContactClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, OBBCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BCHullOBBCompliantFrictionCompliantContactClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BCHullRigidCapsuleCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, CapsuleCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BCHullRigidCapsuleCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullRigidCapsuleFrictionCompliantContactClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, CapsuleCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BCHullRigidCapsuleFrictionCompliantContactClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BCHullRigidSphereCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, RigidSphereModel> > sofa::component::collision::BCHullRigidSphereCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullRigidSphereFrictionCompliantContactClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, RigidSphereModel> > sofa::component::collision::BCHullRigidSphereFrictionCompliantContactClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BCHullSphereCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, SphereCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BCHullSphereCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullSphereFrictionCompliantContactClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, SphereCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BCHullSphereFrictionCompliantContactClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BCHullTriangleCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, TriangleCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BCHullTriangleCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ BCHullTriangleFrictionCompliantContactClassClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, TriangleCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BCHullTriangleFrictionCompliantContactClassClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ BulletCapsuleModelClass

int sofa::component::collision::BulletCapsuleModelClass
Initial value:
= core::RegisterObject("collision model using a set of Capsules, it can be used in the bullet collision pipeline")
.add< TBulletCapsuleModel< defaulttype::Vec3Types> >()
.addAlias("BulletCapsuleModel")
.addAlias("BtCapsuleModel")
.addAlias("BulletCapsule")
.addAlias("BtCapsule")

◆ BulletCollisionDetectionClass

int sofa::component::collision::BulletCollisionDetectionClass
Initial value:
= core::RegisterObject("Collision detection using bullet physics pipeline")
.add< BulletCollisionDetection >()

◆ BulletConvexHullModelBulletConvexHullContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, BulletConvexHullModel> > sofa::component::collision::BulletConvexHullModelBulletConvexHullContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelCapsuleModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, CapsuleCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BulletConvexHullModelCapsuleModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelClass

int sofa::component::collision::BulletConvexHullModelClass
Initial value:
= core::RegisterObject("collision model using a set of convex hulls")
.add< TBulletConvexHullModel< defaulttype::Rigid3Types> >()
.addAlias("BulletConvexHullModel")
.addAlias("BtConvexHullModel")
.addAlias("BulletConvexHull")
.addAlias("BtConvexHull")

◆ BulletConvexHullModelCylinderModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, CylinderCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BulletConvexHullModelCylinderModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelLineModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, LineCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BulletConvexHullModelLineModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelOBBModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, OBBCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BulletConvexHullModelOBBModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelPointModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, PointCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BulletConvexHullModelPointModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelRigidCapsuleModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, CapsuleCollisionModel<sofa::defaulttype::Rigid3Types> > > sofa::component::collision::BulletConvexHullModelRigidCapsuleModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelRigidSphereModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, RigidSphereModel> > sofa::component::collision::BulletConvexHullModelRigidSphereModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelSphereModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, SphereCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BulletConvexHullModelSphereModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletConvexHullModelTriangleModelContactClass

Creator<Contact::Factory, BarycentricPenalityContact<BulletConvexHullModel, TriangleCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::BulletConvexHullModelTriangleModelContactClass("PenalityContactForceField", true) ( "PenalityContactForceField"  ,
true   
)

◆ BulletCylinderModelClass

int sofa::component::collision::BulletCylinderModelClass
Initial value:
= core::RegisterObject("collision model using a set of Capsules, it can be used in the bullet collision pipeline")
.add< TBulletCylinderModel< defaulttype::Rigid3Types> >()
.addAlias("BulletCylinderModel")
.addAlias("BtCylinderModel")
.addAlias("BulletCylinder")
.addAlias("BtCylinder")

◆ BulletIntersctionClass

int sofa::component::collision::BulletIntersctionClass
Initial value:
= core::RegisterObject("Intersection to use with BulletCollisionDetection")
.add< BulletIntersection >()

◆ BulletOBBModelClass

int sofa::component::collision::BulletOBBModelClass
Initial value:
= core::RegisterObject("collision model using a set of OBBs, it can be used in the bullet collision pipeline")
.add< TBulletOBBModel<defaulttype::Rigid3Types> >()
.addAlias("BulletOBBModel")
.addAlias("BtOBBModel")
.addAlias("BulletOBB")
.addAlias("BtOBB")

◆ BulletSphereModelClass

int sofa::component::collision::BulletSphereModelClass
Initial value:
= core::RegisterObject("collision model using a set of spheres, it can be used in the bullet collision pipeline")
.add< TBulletSphereModel<defaulttype::Vec3Types> >()
.addAlias("BulletSphereModel")
.addAlias("BtSphereModel")
.addAlias("BulletSphere")
.addAlias("BtSphere")

◆ BulletTriangleModelClass

int sofa::component::collision::BulletTriangleModelClass
Initial value:
= core::RegisterObject("collision model using a triangular mesh, as described in BaseMeshTopology, it can be used in the bullet collision pipeline")
.add< TBulletTriangleModel<defaulttype::Vec3Types> >()
.addAlias("BulletTriangleModel")
.addAlias("BulletTriangleMeshModel")
.addAlias("BulletTriangleSetModel")
.addAlias("BulletTriangleMesh")
.addAlias("BulletTriangleSet")
.addAlias("BulletTriangle")

◆ CapsuleBCHullCompliantContactClassClass

Creator<Contact::Factory, CompliantContact<BulletConvexHullModel, CapsuleCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::CapsuleBCHullCompliantContactClassClass("CompliantContact", true) ( "CompliantContact"  ,
true   
)

◆ CapsuleBCHullFrictionCompliantContactClass

Creator<Contact::Factory, FrictionCompliantContact<BulletConvexHullModel, CapsuleCollisionModel<sofa::defaulttype::Vec3Types> > > sofa::component::collision::CapsuleBCHullFrictionCompliantContactClass("FrictionCompliantContact", true) ( "FrictionCompliantContact"  ,
true   
)

◆ ContactMapper< BulletConvexHullModel, Vec3Types >

template class SOFA_BULLETCOLLISIONDETECTION_API sofa::component::collision::ContactMapper< BulletConvexHullModel, Vec3Types >

◆ RigidBulletCapsuleModelClass

int sofa::component::collision::RigidBulletCapsuleModelClass
Initial value:
= core::RegisterObject("collision model using a set of Capsules, it can be used in the bullet collision pipeline")
.add< TBulletCapsuleModel< defaulttype::Rigid3Types> >()
.addAlias("RigidBulletCapsuleModel")
.addAlias("RigidBtCapsuleModel")
.addAlias("RigidBulletCapsule")
.addAlias("RigidBtCapsule")