World angle.
World angle.
Center world position.
Center world position.
Local center of mass position.
Time interval = [t0,1], where t0 is in [0,1].
Advance the sweep forward, yielding a new initial state.
Creates a copy of the sweep.
Get the interpolated transform at a specific time.
Transform at specified time, this is an out parameter.
Is a factor in [0,1], where 0 indicates t0.
Sets the sweep from a sweep.
Sweep values to copy from.
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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.