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Fix Capsule2d::sample_interior
(#15191)
# Objective `Capsule2d::sample_interior` uses the radius of the capsule for the width of its rectangular section. It should be using two times the radius for the full width! I noticed this as I was getting incorrect results for angular inertia approximated from a point cloud of points sampled on the capsule. This hinted that something was wrong with the sampling. ## Solution Multiply the radius by two to get the full width of the rectangular section. With this, the sampling produces the correct result in my tests.
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@ -450,7 +450,7 @@ impl ShapeSample for Capsule2d {
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if capsule_area > 0.0 {
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// Check if the random point should be inside the rectangle
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if rng.gen_bool((rectangle_area / capsule_area) as f64) {
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let rectangle = Rectangle::new(self.radius, self.half_length * 2.0);
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let rectangle = Rectangle::new(self.radius * 2.0, self.half_length * 2.0);
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rectangle.sample_interior(rng)
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} else {
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let circle = Circle::new(self.radius);
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