Class: Sweep

This describes the motion of a body/shape for TOI computation. Shapes are defined with respect to the body origin, which may not coincide with the center of mass. However, to support dynamics we must interpolate the center of mass position.

Constructors

Constructor

new Sweep(): Sweep

Returns

Sweep

Properties

a

a: number = 0

World angle

---

a0

a0: number = 0

---

alpha0

alpha0: number = 0

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

---

c

c: Vec2

World center position

---

c0

c0: Vec2

---

localCenter

localCenter: Vec2

Local center of mass position

Methods

advance()

advance(alpha): void

Advance the sweep forward, yielding a new initial state.

Parameters

alpha

number

The new initial time

Returns

void

---

forward()

forward(): void

Returns

void

---

getTransform()

getTransform(xf, beta?): void

Get the interpolated transform at a specific time.

Parameters

xf

TransformValue

beta?

number = 0

A factor in [0,1], where 0 indicates alpha0

Returns

void

---

normalize()

normalize(): void

normalize the angles in radians to be between -pi and pi.

Returns

void

---

set()

set(that): void

Parameters

that

Sweep

Returns

void

---

setLocalCenter()

setLocalCenter(localCenter, xf): void

Parameters

localCenter

Vec2Value

xf

TransformValue

Returns

void

---

setTransform()

setTransform(xf): void

Parameters

xf

TransformValue

Returns

void