Builds the Rapier shape for a §24 collision shape, for the query entry points
that take a bare Shape (§30 overlap and shapeCast).
Only the convex 3D tier is reachable — sphere, box, capsule, cylinder,
cone, convex hull — because the query entry points run
validateQueryShape(shape, "3d") first, which refuses the 2D tags and the
three composite 3D shapes (triangle-mesh, height-field, and — being 2D —
the two segment runs; PH-22a). The 2D tags are rejected here rather than
silently promoted: a "circle" is not a sphere, and guessing which the
caller meant is how a 2D descriptor ends up quietly simulating in three
dimensions.
Capsule axis. Rapier's Capsule(halfHeight, radius) puts the cylindrical
section along +Y in 3D as in 2D, which is §24's convention — verified
against the 3D 0.19.3 build by dropping a capsule onto a floor and measuring
its resting height as halfHeight + radius above the surface (1.2489 for
1 + 0.25, the residue being the solver's allowed penetration). No axis swap is
needed.
Builds the Rapier shape for a §24 collision shape, for the query entry points that take a bare
Shape(§30overlapandshapeCast).Only the convex 3D tier is reachable — sphere, box, capsule, cylinder, cone, convex hull — because the query entry points run
validateQueryShape(shape, "3d")first, which refuses the 2D tags and the three composite 3D shapes (triangle-mesh,height-field, and — being 2D — the two segment runs; PH-22a). The 2D tags are rejected here rather than silently promoted: a"circle"is not a sphere, and guessing which the caller meant is how a 2D descriptor ends up quietly simulating in three dimensions.Capsule axis. Rapier's
Capsule(halfHeight, radius)puts the cylindrical section along +Y in 3D as in 2D, which is §24's convention — verified against the 3D 0.19.3 build by dropping a capsule onto a floor and measuring its resting height ashalfHeight + radiusabove the surface (1.2489 for 1 + 0.25, the residue being the solver's allowed penetration). No axis swap is needed.