Box2D.Dynamics.Body.Advance C# (CSharp) Method

        internal void Advance(float t)
        {
            // Advance to the new safe time. This doesn't sync the broad-phase.
            Sweep.Advance(t);
            Sweep.C.Set(Sweep.C0);
            Sweep.A = Sweep.A0;
            Xf.Q.Set(Sweep.A);
            // m_xf.position = m_sweep.c - Mul(m_xf.R, m_sweep.localCenter);
            Rot.MulToOutUnsafe(Xf.Q, Sweep.LocalCenter, Xf.P);
            Xf.P.MulLocal(-1).AddLocal(Sweep.C);
        }