Struct B2Sweep 

pub struct B2Sweep {
    pub local_center: B2vec2,
    pub c0: B2vec2,
    pub c: B2vec2,
    pub a0: f32,
    pub a: f32,
    pub alpha0: f32,
}

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

local_center: B2vec2

c0: B2vec2

c: B2vec2

a0: f32

a: f32

alpha0: f32

Implementations

impl B2Sweep

pub fn get_transform(self, transform: &mut B2Transform, beta: f32)

Get the interpolated transform at a specific time.

• transform - the output transform
• beta - is a factor in [0,1], where 0 indicates alpha0.

pub fn advance(&mut self, alpha: f32)

advance the sweep forward, yielding a new initial state.

• alpha - the new initial time.

pub fn normalize(&mut self)

normalize the angles.

Trait Implementations

impl Clone for B2Sweep

fn clone(&self) -> B2Sweep

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for B2Sweep

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for B2Sweep

fn default() -> B2Sweep

Returns the “default value” for a type.

impl Copy for B2Sweep