Question Proper way to update transform from Rigidbody2D?

I have a program like a extension of physics simulation that read write the Rigidbody2D position and rotation.
like this:

Code (CSharp):

1.  
2. Rigidbody2D[] bodies;
3.  
4. void MySimulationUpdate() {
5.     Physics2D.SyncTransform(); // Flush transform to rigidbody.
6.  
7.     // do something with body.position and body.rotation.
8.     DoMySimulation(bodies);
9.  
10.     // TODO: Write all transforms from rigidbody.
11.     //
12. }
13.  
14.  

I knew SyncTransforms() is only to update rigidbody from transform from this thread: https://forum.unity.com/threads/physics-synctransforms-questions.487424/#post-3180021

Then I want to know if there is any way to update transforms from rigidbody?

My simulation is working on Time.scale = 0, so the Unity physics system won't update.
And I also don't want physics system to work at the moment because my simulation could make colliders overlap and I don't want to make them "collide" in physics.

I've tried this way to update transform from rigidbody.

Code (CSharp):

1.  
2. rigidbody.transform.position = rigidbody.position;
3. rigidbody.transform.eulerAngle = new Vector3(0, 0, rigidbody.rotation);
4.  

But there is a problem that it makes transform dirty:
Next time it do SyncTransform(), it will write the transform back to rigidbody.

It's not the serious problem in most cases.
But it breaks if the rigidbody is connected by joint which matters relative angle between bodies. (fixed and hinge joints)
Because the rotation of rigidbody could be lost by Quaternion. (e.g. rotation changes from 350 to -10)
Then it could make joints totally wrong.

 

Eventually, I had this solution.
Although it looks pretty inefficient since it actually did assign twice for each rigidbody, but it works.

Code (CSharp):

1.  
2. Rigidbody2D[] bodies;
3.  
4. void MySimulationUpdate() {
5.     Physics2D.SyncTransform(); // Flush transform to rigidbody.
6.     // do something with body.position and body.rotation.
7.     DoMySimulation(bodies);
8.     // Write all transforms from rigidbody.
9.     SyncToTransform();
10. }
11.  
12. void SyncToTransform() {
13.     Vector2[] originalBodyPositions = new Vector2[bodies.Length];
14.     float[] originalBodyRotations = new float[bodies.Length];
15.     int i = 0;
16.     foreach(var body in bodies) {
17.         // Assign to transform.
18.         body.transform.position = body.position;
19.         body.transform.eulerAngle = new Vector3(0, 0, body.rotation);
20.         // Store the position and rotation.
21.         originalBodyPositions[i] = body.position;
22.         originalBodyRotations[i] = body.rotation;
23.         i += 1;
24.     }
25.  
26.     // Flush transform to rigidbodies.
27.     // To make sure the dirties are flushed.
28.     Physics2D.SyncTransform();
29.  
30.     // Assign back to rigidbody to prevent from degree loss by sync
31.     i = 0;
32.     foreach(var body in bodies) {
33.         body.position = originalBodyPositions[i];
34.         body.rotation = originalBodyRotations[i];
35.         i += 1;
36.     }
37. }
38.  

 

That is exactly what I'm looking for.

Understandable. It's not a serious problem to me since I had the above solution.
I'd appreciate if it is implemented so that I don't need the that inefficient solution anymore.

 

Sorry for a bit of a necroposting, but was this API added (if yes what's the name)? I can't find it in 2022.3.0 in Rigidbody nor Rigidbody2D