advance method

void advance (double t)

Implementation

void advance(double t) {
  // Advance to the new safe time. This doesn't sync the broad-phase.
  _sweep.advance(t);
  _sweep.c.setFrom(_sweep.c0);
  _sweep.a = _sweep.a0;
  _transform.q.setAngle(_sweep.a);
  // _xf.position = _sweep.c - Mul(_xf.R, _sweep.localCenter);
  Rot.mulToOutUnsafe(_transform.q, _sweep.localCenter, _transform.p);
  (_transform.p..scale(-1.0)).add(_sweep.c);
}