b2Sweep Struct Reference

#include <b2_math.h>

Public Member Functions
void	GetTransform (b2Transform *transform, float beta) const
void	Advance (float alpha)
void	Normalize ()
	Normalize the angles. More...

Public Attributes
b2Vec2	localCenter
	local center of mass position
b2Vec2	c0
b2Vec2	c
	center world positions
float	a0
float	a
	world angles
float	alpha0

Detailed Description

This describes the motion of a body/shape for TOI computation. Shapes are defined with respect to the body origin, which may no coincide with the center of mass. However, to support dynamics we must interpolate the center of mass position.

Member Function Documentation

Advance()

void b2Sweep::Advance ( float  alpha )

inline

Advance the sweep forward, yielding a new initial state.

Parameters

alpha

the new initial time.

GetTransform()

void b2Sweep::GetTransform ( b2Transform *  transform, float  beta  ) const

inline

Get the interpolated transform at a specific time.

Parameters

transform	the output transform
beta	is a factor in [0,1], where 0 indicates alpha0.

Normalize()

void b2Sweep::Normalize ( )

inline

Normalize the angles.

Normalize an angle in radians to be between -pi and pi.

Member Data Documentation

alpha0

float b2Sweep::alpha0

Fraction of the current time step in the range [0,1] c0 and a0 are the positions at alpha0.

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The documentation for this struct was generated from the following file:

• include/box2d/b2_math.h