Class 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 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
      private static long serialVersionUID  
    • Constructor Summary

      Constructors 
      Constructor Description
      Sweep()  
    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method 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.