Sweep
Declaration
public struct tainicom.Aether.Physics2D.Common.Sweep
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.
Fields
A
World angles
float A
A0
float A0
Alpha0
Fraction of the current time step in the range [0,1] c0 and a0 are the positions at alpha0.
float Alpha0
C
Center world positions
Vector2 C
C0
Vector2 C0
LocalCenter
Local center of mass position
Vector2 LocalCenter
Methods
GetTransform
Get the interpolated transform at a specific time.
void GetTransform(out Transform xfb, float beta)
Parameters:
| Name | Type | Description |
|---|---|---|
xfb |
out tainicom.Aether.Physics2D.Common.Transform |
The transform. |
beta |
System.Single |
beta is a factor in [0,1], where 0 indicates alpha0. |
Advance
Advance the sweep forward, yielding a new initial state.
void Advance(float alpha)
Parameters:
| Name | Type | Description |
|---|---|---|
alpha |
System.Single |
new initial time.. |
Normalize
Normalize the angles.
void Normalize()