public virtual void SetTransform(b2Vec2 position, float angle)
{
if (m_world.IsLocked == true)
{
return;
}
m_xf.q.Set(angle);
m_xf.p = position;
Sweep.c = b2Math.b2Mul(m_xf, Sweep.localCenter);
Sweep.a = angle;
Sweep.c0 = Sweep.c;
Sweep.a0 = angle;
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.Next)
{
f.Synchronize(broadPhase, m_xf, m_xf);
}
m_world.ContactManager.FindNewContacts();
}
public virtual void SynchronizeFixtures()
{
/*
* b2Transform xf1 = b2Transform.Identity;
* xf1.q.Set(Sweep.a0);
* xf1.p = Sweep.c0 - b2Math.b2Mul(xf1.q, Sweep.localCenter);
*
* b2BroadPhase broadPhase = World.ContactManager.BroadPhase;
* for (b2Fixture f = FixtureList; f != null; f = f.Next)
* {
* f.Synchronize(broadPhase, ref xf1, ref Transform);
* }
*/
b2Transform xf1;
xf1.q.s = (float)Math.Sin(Sweep.a0);
xf1.q.c = (float)Math.Cos(Sweep.a0);
xf1.p.x = Sweep.c0.x - (xf1.q.c * Sweep.localCenter.x - xf1.q.s * Sweep.localCenter.y);
xf1.p.y = Sweep.c0.y - (xf1.q.s * Sweep.localCenter.x + xf1.q.c * Sweep.localCenter.y);
b2BroadPhase broadPhase = World.ContactManager.BroadPhase;
for (b2Fixture f = FixtureList; f != null; f = f.Next)
{
f.Synchronize(broadPhase, ref xf1, ref Transform);
}
}
public virtual void SynchronizeFixtures()
{
b2Transform xf1 = b2Transform.Create();
xf1.q.Set(Sweep.a0);
xf1.p = Sweep.c0 - b2Math.b2Mul(xf1.q, Sweep.localCenter);
b2BroadPhase broadPhase = m_world.ContactManager.BroadPhase;
for (b2Fixture f = m_fixtureList; f != null; f = f.Next)
{
f.Synchronize(broadPhase, xf1, m_xf);
}
}
