org.jbox2d.common

Class Sweep

java.lang.Object

org.jbox2d.common.Sweep

All Implemented Interfaces:

java.io.Serializable

public class Sweep
extends java.lang.Object
implements java.io.Serializable

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.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
float	a World angles
float	a0 World angles
float	alpha0 Fraction of the current time step in the range [0,1] c0 and a0 are the positions at alpha0.
Vec2	c Center world positions
Vec2	c0 Center world positions
Vec2	localCenter Local center of mass position

Constructor Summary

Constructors

Constructor and Description
Sweep()

Method Summary

Modifier and Type	Method and Description
void	advance(float alpha) Advance the sweep forward, yielding a new initial state.
void	getTransform(Transform xf, float beta) Get the interpolated transform at a specific time.
void	normalize()
Sweep	set(Sweep argCloneFrom)
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 final Vec2 localCenter

Local center of mass position

c0

public final Vec2 c0

Center world positions

c

public final Vec2 c

Center world positions

a0

public float a0

World angles

a

public float a

World angles

alpha0

public float alpha0

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

Constructor Detail

Sweep

public Sweep()

Method Detail

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

normalize

public final void normalize()

set

public final Sweep set(Sweep argCloneFrom)

getTransform

public final void getTransform(Transform xf,
                               float beta)

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 final void advance(float alpha)

Advance the sweep forward, yielding a new initial state.

Parameters:

alpha - the new initial time.