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. |