advance method
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);
}