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java.lang.Objectorg.jbox2d.common.Sweep
public class Sweep
Primarily for internal use.
Describes the motion of a body/shape for TOI computation.
Shapes are defined with respect to the body origin, which may
not coincide with the center of mass. However, to support dynamics
we must interpolate the center of mass position.
Field Summary | |
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float |
a
World angles |
float |
a0
World angles |
Vec2 |
c
Center world positions |
Vec2 |
c0
Center world positions |
Vec2 |
localCenter
Local center of mass position |
float |
t0
Time interval = [t0,1], where t0 is in [0,1] |
Constructor Summary | |
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Sweep()
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Method Summary | |
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void |
advance(float t)
Advance the sweep forward, yielding a new initial state. |
void |
getXForm(XForm xf,
float t)
Get the interpolated transform at a specific time. |
java.lang.String |
toString()
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Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
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public Vec2 localCenter
public Vec2 c0
public Vec2 c
public float a0
public float a
public float t0
Constructor Detail |
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public Sweep()
Method Detail |
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public java.lang.String toString()
toString
in class java.lang.Object
public void getXForm(XForm xf, float t)
xf
- the result is placed here - must not be nullt
- the normalized time in [0,1].public void advance(float t)
t
- the new initial time.
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