Struct Sweep

Namespace

Alis.Core.Physic.Common

Assembly

Alis.dll

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.

public struct Sweep

Inherited Members

object.Equals(object?)

object.Equals(object?, object?)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object?, object?)

object.ToString()

Fields

A

World angles

public float A

Field Value

float

A0

The

public float A0

Field Value

float

Alpha0

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

public float Alpha0

Field Value

float

C

Center world positions

public Vector2 C

Field Value

Vector2

C0

The

public Vector2 C0

Field Value

Vector2

LocalCenter

Local center of mass position

public Vector2 LocalCenter

Field Value

Vector2

Methods

Advance(float)

Advance the sweep forward, yielding a new initial state.

public void Advance(float alpha)

Parameters

alpha float

new initial time..

GetTransform(out Transform, float)

Get the interpolated transform at a specific time.

public void GetTransform(out Transform xfb, float beta)

Parameters

xfb Transform

The transform.

beta float

beta is a factor in [0,1], where 0 indicates alpha0.

Normalize()

Normalize the angles.

public void Normalize()