synchronizeTransform method

void synchronizeTransform ()

Implementation

void synchronizeTransform() {
  // _xf.q.set(_sweep.a);
  //
  // // _xf.position = _sweep.c - Mul(_xf.R, _sweep.localCenter);
  // Rot.mulToOutUnsafe(_xf.q, _sweep.localCenter, _xf.p);
  // _xf.p.mulLocal(-1).addLocal(_sweep.c);
  //
  _transform.q.s = Math.sin(_sweep.a);
  _transform.q.c = Math.cos(_sweep.a);
  Rot q = _transform.q;
  Vector2 v = _sweep.localCenter;
  _transform.p.x = _sweep.c.x - q.c * v.x + q.s * v.y;
  _transform.p.y = _sweep.c.y - q.s * v.x - q.c * v.y;
}