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);
}
}
/**
* 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();
}