Description of a "sweep" of motion in 2-D space. More...

#include <playrho/d2/Sweep.hpp>

Collaboration diagram for playrho::d2::Sweep:

Public Member Functions
constexpr	Sweep ()=default
	Default constructor. More...

constexpr	Sweep (const Position &p, const Length2 &lc=Length2{0_m, 0_m})
	Initializing constructor. More...

constexpr	Sweep (const Position &p0, const Position &p1, const Length2 &lc=Length2{0_m, 0_m}, ZeroToUnderOneFF< Real > a0={}) noexcept
	Initializing constructor. More...

Public Attributes
ZeroToUnderOneFF< Real >	alpha0
	Alpha 0 of this sweep. More...

Length2	localCenter = Length2{0_m, 0_m}
	Local center of mass position.

Position	pos0 {}
	Center world position and world angle at time "0".

Position	pos1 {}
	Center world position and world angle at time "1".

Related Functions
(Note that these are not member functions.)
Sweep	GetNormalized (Sweep sweep) noexcept
	Gets a sweep with the given sweep's angles normalized. More...

constexpr auto	IsValid (const d2::Sweep &value) noexcept -> bool
	Determines if the given value is valid.

constexpr bool	operator!= (const Sweep &lhs, const Sweep &rhs)
	Not-equals operator.

constexpr bool	operator== (const Sweep &lhs, const Sweep &rhs)
	Equals operator.

void	SetLocalCenter (Sweep &sweep, const Length2 &value) noexcept
	Convenience function for setting the sweep's local center.

Detailed Description

Description of a "sweep" of motion in 2-D space.

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.

Constructor & Destructor Documentation

◆ Sweep() [1/3]

constexpr playrho::d2::Sweep::Sweep ( )

constexprdefault

Default constructor.

Postcondition: pos0 is the value of Position{}.; pos1 is the value of Position{}.; localCenter is the value of Length2{}.; alpha0 is zero.

◆ Sweep() [2/3]

constexpr playrho::d2::Sweep::Sweep	(	const Position &	p0,
		const Position &	p1,
		const Length2 &	lc = `Length2{0_m, 0_m}`,
		ZeroToUnderOneFF< Real >	a0 = `{}`
	)

inlineconstexprnoexcept

Initializing constructor.

Parameters

p0	Value for position 0.
p1	Value for position 1.
lc	Local center.
a0	Alpha 0 for the sweep.

Postcondition: pos0 is the value of p0 .; pos1 is the value of p1 .; localCenter is the value of lc .; alpha0 is the value of a0 .

◆ Sweep() [3/3]

constexpr playrho::d2::Sweep::Sweep	(	const Position &	p,
		const Length2 &	lc = `Length2{0_m, 0_m}`
	)

inlineexplicitconstexpr

Initializing constructor.

Postcondition: pos0 is the value of p .; pos1 is the value of p .; localCenter is the value of lc .; alpha0 is zero.

Friends And Related Function Documentation

◆ GetNormalized()

Sweep GetNormalized ( Sweep sweep )

Parameters

sweep Sweep to return with its angles normalized.

Returns: Sweep with its position 0 angle to be between -2 pi and 2 pi and its position 1 angle reduced by the amount the position 0 angle was reduced by.

Member Data Documentation

◆ alpha0

ZeroToUnderOneFF<Real> playrho::d2::Sweep::alpha0

Alpha 0 of this sweep.

Fraction of the current time step in the range [0,1)

Note: pos0.linear and pos0.angular are the positions at alpha0.

Referenced by operator==(), and playrho::d2::Body::ResetAlpha0().

The documentation for this struct was generated from the following files:

Library/include/playrho/d2/Sweep.hpp
Library/include/playrho/d2/Math.hpp

Public Member Functions

Public Attributes

Related Functions