internal void SynchronizeFixtures()
{
b2Transform xf1 = new b2Transform();
xf1.q.Set(m_sweep.a0);
xf1.p = m_sweep.c0 - Utils.b2Mul(xf1.q, m_sweep.localCenter);
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture 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.
/// Manipulating a body's transform may cause non-physical behavior.
/// Note: contacts are updated on the next call to b2World::Step.
/// @param position the world position of the body's local origin.
/// @param angle the world rotation in radians.
public void SetTransform(b2Vec2 position, float angle)
{
Debug.Assert(m_world.IsLocked() == false);
if (m_world.IsLocked() == true)
{
return;
}
m_xf.q.Set(angle);
m_xf.p = position;
m_sweep.c = Utils.b2Mul(m_xf, m_sweep.localCenter);
m_sweep.a = angle;
m_sweep.c0 = m_sweep.c;
m_sweep.a0 = angle;
b2BroadPhase broadPhase = m_world.m_contactManager.m_broadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.m_next)
{
f.Synchronize(broadPhase, m_xf, m_xf);
}
}
