Sweep

java.lang.Object
- org.jbox2d.common.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
  - serialVersionUID
```
private static final long serialVersionUID
```
    See Also:
    
    Constant Field Values
  - 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.