b2Sweep Struct Reference

#include <b2Math.h>

Collaboration diagram for b2Sweep:

List of all members.

Public Member Functions
void	GetTransform (b2Transform *xfb, float32 beta) const
void	Advance (float32 alpha)
void	Normalize ()
	Normalize the angles.
Public Attributes
b2Vec2	localCenter
	local center of mass position
b2Vec2	c0
b2Vec2	c
	center world positions
float32	a0
float32	a
	world angles
float32	alpha0

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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.

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Member Function Documentation

void b2Sweep::Advance

(

float32

alpha

)

[inline]

Advance the sweep forward, yielding a new initial state.

Parameters:

alpha

the new initial time.

void b2Sweep::GetTransform	(	b2Transform *	xfb,
		float32	beta
	)		const [inline]

Get the interpolated transform at a specific time.

Parameters:

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

void b2Sweep::Normalize

(

)

[inline]

Normalize the angles.

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

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Member Data Documentation

float32 b2Sweep::a

world angles

float32 b2Sweep::alpha0

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

b2Vec2 b2Sweep::c

center world positions

b2Vec2 b2Sweep::localCenter

local center of mass position

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

• b2Math.h