advance method

void advance(
  1. 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);
  transform.p.setFrom(Rot.mulVec2(transform.q, sweep.localCenter));
  (transform.p..scale(-1.0)).add(sweep.c);
}