org.jbox2d.common
Class Sweep

java.lang.Object
  extended by org.jbox2d.common.Sweep

public class Sweep
extends java.lang.Object

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
 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
Sweep()
           
 
Method Summary
 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()
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

localCenter

public Vec2 localCenter
Local center of mass position


c0

public Vec2 c0
Center world positions


c

public Vec2 c
Center world positions


a0

public float a0
World angles


a

public float a
World angles


t0

public float t0
Time interval = [t0,1], where t0 is in [0,1]

Constructor Detail

Sweep

public Sweep()
Method Detail

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

getXForm

public void getXForm(XForm xf,
                     float t)
Get the interpolated transform at a specific time.

Parameters:
xf - the result is placed here - must not be null
t - the normalized time in [0,1].

advance

public void advance(float t)
Advance the sweep forward, yielding a new initial state.

Parameters:
t - the new initial time.