protected final void advance(float 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); } }
protected final void advance(float 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); } }
protected final void advance(float 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); Rotation.mulToOutUnsafe(m_xf.q, m_sweep.localCenter, m_xf.p); m_xf.p.mulLocal(-1).addLocal(m_sweep.c); } }
protected final void advance(float 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); } }
protected final void advance(float 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); } }