Method GetTransform

CommonB2Math.go:745–757

(xf *B2Transform, beta float64)

}

func (sweep B2Sweep) GetTransform(xf *B2Transform, beta float64) {

	xf.P = B2Vec2Add(
		B2Vec2MulScalar(1.0-beta, sweep.C0),
		B2Vec2MulScalar(beta, sweep.C),
	)

	angle := (1.0-beta)*sweep.A0 + beta*sweep.A
	xf.Q.Set(angle)

	// Shift to origin
	xf.P.OperatorMinusInplace(B2RotVec2Mul(xf.Q, sweep.LocalCenter))
}

func (sweep *B2Sweep) Advance(alpha float64) {
	B2Assert(sweep.Alpha0 < 1.0)