+21
-15
lines changedFilter options
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-15
lines changed Original file line number Diff line number Diff line change
@@ -71,25 +71,25 @@ public Sweep set(Sweep other) {
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/**
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* Get the interpolated transform at a specific time.
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*
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* @param xf the result is placed here - must not be null
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* @param xf the result is placed here
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* @param beta the normalized time in [0,1]
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*/
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public void getTransform(final Transform xf, final float beta) {
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assert xf != null;
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// xf->p = (1.0f - beta) * c0 + beta * c;
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// float32 angle = (1.0f - beta) * a0 + beta * a;
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// xf->q.Set(angle);
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xf.p.x = (1.0f - beta) * c0.x + beta * c.x;
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xf.p.y = (1.0f - beta) * c0.y + beta * c.y;
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public void getTransform(Transform xf, float beta) {
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xf.p.set(
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lerp(c0.x, c.x, beta),
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lerp(c0.y, c.y, beta)
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);
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float angle = (1.0f - beta) * a0 + beta * a;
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xf.q.set(angle);
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xf.q.set(
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lerp(a0, a, beta)
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);
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// Shift to origin
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// xf->p -= b2Mul(xf->q, localCenter);
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final Rotation q = xf.q;
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xf.p.x -= q.c * localCenter.x - q.s * localCenter.y;
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xf.p.y -= q.s * localCenter.x + q.c * localCenter.y;
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xf.shift(localCenter);
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}
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private float lerp(float a, float b, float t) {
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return (1.0f - t) * a + t * b;
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}
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/**
@@ -59,6 +59,11 @@ public float mulY(Vec2 v) {
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return q.s * v.x + q.c * v.y + p.y;
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}
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public void shift(Vec2 v) {
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p.x -= q.c * v.x - q.s * v.y;
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p.y -= q.s * v.x + q.c * v.y;
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}
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public static Vec2 mul(Transform T, Vec2 v) {
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return new Vec2(T.q.c * v.x - T.q.s * v.y + T.p.x, T.q.s * v.x + T.q.c * v.y + T.p.y);
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}
@@ -38,6 +38,7 @@ class SweepTest {
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@Test
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fun `get transform at given time`() {
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sweep.localCenter.set(3.5f, 1.2f)
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sweep.c.set(2f, 0f)
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sweep.a0 = 2f
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sweep.a = 4f
@@ -46,7 +47,7 @@ class SweepTest {
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sweep.getTransform(xf, 0.5f)
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assertThat(xf.p, `is`(Vec2(1f, 0f)))
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assertThat(xf.p, `is`(Vec2(4.634288f, 0.694177f)))
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// Rotation(3f)
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assertThat(xf.q.c, `is`(-0.9899941f))
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