internal void Advance(float t)
{
// Advance to the new safe time.
_sweep.Advance(t);
_sweep.C = _sweep.C0;
_sweep.A = _sweep.A0;
SynchronizeTransform();
}
internal void Advance(float alpha)
{
// Advance to the new safe time.
Sweep.Advance(alpha);
Sweep.C = Sweep.C0;
Sweep.A = Sweep.A0;
SynchronizeTransform();
}
internal void Advance(float t)
{
// Advance to the new safe time.
Sweep.Advance(t);
Sweep.c = Sweep.c0;
Sweep.a = Sweep.a0;
SynchronizeTransform();
}
/// <summary>Advance to the new safe time. This doesn't sync the broad-phase.</summary>
/// <param name="alpha">The time to advance.</param>
internal void Advance(float alpha)
{
Sweep.Advance(alpha);
Sweep.CenterOfMass = Sweep.CenterOfMass0;
Sweep.Angle = Sweep.Angle0;
Transform.Rotation.Set(Sweep.Angle);
Transform.Translation = Sweep.CenterOfMass - Transform.Rotation * Sweep.LocalCenter;
}
internal void Advance(float alpha)
{
// Advance to the new safe time. This doesn't sync the broad-phase.
_sweep.Advance(alpha);
_sweep.C = _sweep.C0;
_sweep.A = _sweep.A0;
_xf.q.Set(_sweep.A);
_xf.p = _sweep.C - MathUtils.Mul(_xf.q, _sweep.LocalCenter);
}
internal void Advance(float alpha)
{
// Advance to the new safe time. This doesn't sync the broad-phase.
Sweep.Advance(alpha);
Sweep.C = Sweep.C0;
Sweep.A = Sweep.A0;
Xf.q.Set(Sweep.A);
Xf.p = Sweep.C - MathUtils.Mul(Xf.q, Sweep.LocalCenter);
}
internal void Advance(float alpha)
{
// Advance to the new safe time. This doesn't sync the broad-phase.
_sweep.Advance(alpha);
_sweep.C = _sweep.C0;
_sweep.A = _sweep.A0;
_xf.q.Phase = _sweep.A;
_xf.p = _sweep.C - Complex.Multiply(ref _sweep.LocalCenter, ref _xf.q);
}
internal void Advance(float t)
{
// Advance to the new safe time. This doesn't sync the broad-phase.
Sweep.Advance(t);
Sweep.C.Set(Sweep.C0);
Sweep.A = Sweep.A0;
Xf.Q.Set(Sweep.A);
// m_xf.position = m_sweep.c - Mul(m_xf.R, m_sweep.localCenter);
Rot.MulToOutUnsafe(Xf.Q, Sweep.LocalCenter, Xf.P);
Xf.P.MulLocal(-1).AddLocal(Sweep.C);
}