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);
}
public void advance(double t)
{
// Advance to the new safe time. This doesn't sync the broad-phase.
m_sweep.advance(t);
m_sweep.c.set(m_sweep.c0);
m_sweep.a = m_sweep.a0;
m_xf.q.set(m_sweep.a);
// m_xf.position = m_sweep.c - Mul(m_xf.R, m_sweep.localCenter);
Rot.mulToOutUnsafe(m_xf.q, m_sweep.localCenter, m_xf.p);
m_xf.p.mulLocal(-1).addLocal(m_sweep.c);
}