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

        internal void SynchronizeFixtures()
        {
            Transform xf1 = pxf;
            // xf1.position = m_sweep.c0 - Mul(xf1.R, m_sweep.localCenter);

            // xf1.q.set(m_sweep.a0);
            // Rot.mulToOutUnsafe(xf1.q, m_sweep.localCenter, xf1.p);
            // xf1.p.mulLocal(-1).addLocal(m_sweep.c0);
            // inlined:
            xf1.Q.Sin = MathUtils.Sin(Sweep.A0);
            xf1.Q.Cos = MathUtils.Cos(Sweep.A0);
            xf1.P.X = Sweep.C0.X - xf1.Q.Cos * Sweep.LocalCenter.X + xf1.Q.Sin * Sweep.LocalCenter.Y;
            xf1.P.Y = Sweep.C0.Y - xf1.Q.Sin * Sweep.LocalCenter.X - xf1.Q.Cos * Sweep.LocalCenter.Y;
            // end inline

            for (Fixture f = FixtureList; f != null; f = f.Next)
            {
                f.Synchronize(World.ContactManager.BroadPhase, xf1, Xf);
            }
        }