Torque2D Reference
Public Member Functions | Public Attributes | List of all members
b2Sweep Struct Reference

#include <b2Math.h>

Public Member Functions

void GetTransform (b2Transform *xfb, float32 beta) const
 
void Advance (float32 alpha)
 
void Normalize ()
 Normalize the angles. More...
 

Public Attributes

b2Vec2 localCenter
 local center of mass position More...
 
b2Vec2 c0
 
b2Vec2 c
 center world positions More...
 
float32 a0
 
float32 a
 world angles More...
 
float32 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

void Advance ( float32  alpha)
inline

Advance the sweep forward, yielding a new initial state.

Parameters
alphathe new initial time.
void GetTransform ( b2Transform xfb,
float32  beta 
) const
inline

Get the interpolated transform at a specific time.

Parameters
betais a factor in [0,1], where 0 indicates alpha0.
void Normalize ( )
inline

Normalize the angles.

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

Member Data Documentation

float32 a

world angles

float32 a0
float32 alpha0

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

b2Vec2 c

center world positions

b2Vec2 c0
b2Vec2 localCenter

local center of mass position


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