(cache *B2SimplexCache, proxyA *B2DistanceProxy, transformA B2Transform, proxyB *B2DistanceProxy, transformB B2Transform)
| 251 | } |
| 252 | |
| 253 | func (simplex *B2Simplex) ReadCache(cache *B2SimplexCache, proxyA *B2DistanceProxy, transformA B2Transform, proxyB *B2DistanceProxy, transformB B2Transform) { |
| 254 | B2Assert(cache.Count <= 3) |
| 255 | |
| 256 | // Copy data from cache. |
| 257 | simplex.M_count = cache.Count |
| 258 | vertices := &simplex.M_vs |
| 259 | for i := 0; i < simplex.M_count; i++ { |
| 260 | v := &vertices[i] |
| 261 | v.IndexA = cache.IndexA[i] |
| 262 | v.IndexB = cache.IndexB[i] |
| 263 | wALocal := proxyA.GetVertex(v.IndexA) |
| 264 | wBLocal := proxyB.GetVertex(v.IndexB) |
| 265 | v.WA = B2TransformVec2Mul(transformA, wALocal) |
| 266 | v.WB = B2TransformVec2Mul(transformB, wBLocal) |
| 267 | v.W = B2Vec2Sub(v.WB, v.WA) |
| 268 | v.A = 0.0 |
| 269 | } |
| 270 | |
| 271 | // Compute the new simplex metric, if it is substantially different than |
| 272 | // old metric then flush the simplex. |
| 273 | if simplex.M_count > 1 { |
| 274 | metric1 := cache.Metric |
| 275 | metric2 := simplex.GetMetric() |
| 276 | if metric2 < 0.5*metric1 || 2.0*metric1 < metric2 || metric2 < B2_epsilon { |
| 277 | // Reset the simplex. |
| 278 | simplex.M_count = 0 |
| 279 | } |
| 280 | } |
| 281 | |
| 282 | // If the cache is empty or invalid ... |
| 283 | if simplex.M_count == 0 { |
| 284 | v := &vertices[0] |
| 285 | v.IndexA = 0 |
| 286 | v.IndexB = 0 |
| 287 | wALocal := proxyA.GetVertex(0) |
| 288 | wBLocal := proxyB.GetVertex(0) |
| 289 | v.WA = B2TransformVec2Mul(transformA, wALocal) |
| 290 | v.WB = B2TransformVec2Mul(transformB, wBLocal) |
| 291 | v.W = B2Vec2Sub(v.WB, v.WA) |
| 292 | v.A = 1.0 |
| 293 | simplex.M_count = 1 |
| 294 | } |
| 295 | } |
| 296 | |
| 297 | func (simplex B2Simplex) WriteCache(cache *B2SimplexCache) { |
| 298 | cache.Metric = simplex.GetMetric() |
no test coverage detected