Public Member Functions | |
| void | GetXForm (b2XForm *xf, float32 t) const |
| Get the interpolated transform at a specific time. | |
| void | Advance (float32 t) |
| Advance the sweep forward, yielding a new initial state. | |
Public Attributes | |
| b2Vec2 | localCenter |
| local center of mass position | |
| b2Vec2 | c |
| center world positions | |
| float32 | a |
| world angles | |
| float32 | t0 |
| time interval = [t0,1], where t0 is in [0,1] | |
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.
| void b2Sweep::GetXForm | ( | b2XForm * | xf, | |
| float32 | t | |||
| ) | const |
Get the interpolated transform at a specific time.
| t | the normalized time in [0,1]. |
| void b2Sweep::Advance | ( | float32 | t | ) |
Advance the sweep forward, yielding a new initial state.
| t | the new initial time. |
1.5.4