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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

  alpha | the new initial time.

void 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 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:

- Box2D/Common/b2Math.h