Ejemplo n.º 1
0
  protected final void synchronizeFixtures() {
    final Transform xf1 = pxf;
    xf1.R.set(m_sweep.a0);
    // xf1.position = m_sweep.c0 - Mul(xf1.R, m_sweep.localCenter);
    Mat22.mulToOut(xf1.R, m_sweep.localCenter, xf1.position);
    xf1.position.mulLocal(-1).addLocal(m_sweep.c0);

    BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
    for (Fixture f = m_fixtureList; f != null; f = f.m_next) {
      f.synchronize(broadPhase, xf1, m_xf);
    }
  }
Ejemplo n.º 2
0
  /**
   * Set the position of the body's origin and rotation. This breaks any contacts and wakes the
   * other bodies. Manipulating a body's transform may cause non-physical behavior.
   *
   * @param position the world position of the body's local origin.
   * @param angle the world rotation in radians.
   */
  public final void setTransform(Vec2 position, float angle) {
    assert (m_world.isLocked() == false);
    if (m_world.isLocked() == true) {
      return;
    }

    m_xf.R.set(angle);
    m_xf.position.set(position);

    // m_sweep.c0 = m_sweep.c = Mul(m_xf, m_sweep.localCenter);
    Transform.mulToOut(m_xf, m_sweep.localCenter, m_sweep.c0);
    m_sweep.c.set(m_sweep.c0);

    m_sweep.a0 = m_sweep.a = angle;

    BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
    for (Fixture f = m_fixtureList; f != null; f = f.m_next) {
      f.synchronize(broadPhase, m_xf, m_xf);
    }

    m_world.m_contactManager.findNewContacts();
  }