(impulse float64, wake bool)
| 438 | } |
| 439 | |
| 440 | func (body *B2Body) ApplyAngularImpulse(impulse float64, wake bool) { |
| 441 | if body.M_type != B2BodyType.B2_dynamicBody { |
| 442 | return |
| 443 | } |
| 444 | |
| 445 | if wake && (body.M_flags&B2Body_Flags.E_awakeFlag) == 0 { |
| 446 | body.SetAwake(true) |
| 447 | } |
| 448 | |
| 449 | // Don't accumulate velocity if the body is sleeping |
| 450 | if (body.M_flags & B2Body_Flags.E_awakeFlag) != 0x0000 { |
| 451 | body.M_angularVelocity += body.M_invI * impulse |
| 452 | } |
| 453 | } |
| 454 | |
| 455 | func (body *B2Body) SynchronizeTransform() { |
| 456 | body.M_xf.Q.Set(body.M_sweep.A) |