b2Sweep Struct Reference

#include <b2_math.h>

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

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

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.

Definition at line 368 of file b2_math.h.

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.

Definition at line 697 of file b2_math.h.

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.

Definition at line 687 of file b2_math.h.

Normalize()

void b2Sweep::Normalize ( )

inline

Normalize the angles.

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

Definition at line 707 of file b2_math.h.

Member Data Documentation

a

float b2Sweep::a

world angles

Definition at line 384 of file b2_math.h.

a0

float b2Sweep::a0

Definition at line 384 of file b2_math.h.

alpha0

float b2Sweep::alpha0

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

Definition at line 388 of file b2_math.h.

c

b2Vec2 b2Sweep::c

center world positions

Definition at line 383 of file b2_math.h.

c0

b2Vec2 b2Sweep::c0

Definition at line 383 of file b2_math.h.

localCenter

b2Vec2 b2Sweep::localCenter

local center of mass position

Definition at line 382 of file b2_math.h.

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

• b2_math.h