/**
* Internal. Typically after a hit: Recompute the new curves and upcoming collission candidates.
*
* @param hitMask
* @return bitmask of rocks with new curves
*/
int doRecomputeCurvesAndCollissionTimes(
final int hitMask, double t0, final RockSet<Pos> cp, final RockSet<Vel> cv) {
int computedMask = 0;
// first compute the new curves:
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(hitMask, i16)) continue;
curveStore.add(i16, t0, doComputeCurve(i16, t0, cp, cv, NoSweep), _30);
computedMask |= 1 << i16;
}
// then add all combinations of potential collissions
t0 += hitDt;
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(computedMask, i16)) continue;
for (int j16 = RockSet.ROCKS_PER_SET - 1; j16 >= 0; j16--) {
if (i16 == j16 || i16 > j16 && RockSet.isSet(computedMask, j16)) continue;
collissionStore.replace(
i16,
j16,
collissionDetector.compute(
t0, _30, curveStore.getCurve(i16), curveStore.getCurve(j16)));
}
}
return computedMask;
}
private void recompute(final double currentTime, final boolean complete) {
if (getSuspended()) return;
if (complete) {
{
// initial
final double t0 = 0.0;
// TUNE Parallel
// initial curves:
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
curveStore.reset(i16);
curveStore.add(i16, t0, doComputeCurve(i16, t0, initialPos, initialSpeed, NoSweep), _30);
}
// initial collission detection:
collissionStore.clear();
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--)
for (int j16 = i16 - 1; j16 >= 0; j16--)
// log.info("collissionDetect " + i + ", " + j);
collissionStore.add(
collissionDetector.compute(
t0, _30, curveStore.getCurve(i16), curveStore.getCurve(j16)),
i16,
j16);
}
final AffineTransform m = new AffineTransform();
// NaN-safe time range check (are we navigating known ground?):
while (currentTime > doGetNextHit().t) {
final Tupel nh = doGetNextHit();
if (log.isDebugEnabled()) log.debug(nh.a + " - " + nh.b + " : " + nh.t);
doUpdatePosAndVel(nh.t, tmpPos, tmpVel);
// compute collission(s);
final int mask = collider.compute(tmpPos, tmpVel, m);
if (mask == 0) break;
doRecomputeCurvesAndCollissionTimes(mask, nh.t, tmpPos, tmpVel);
}
}
doUpdatePosAndVel(currentTime, currentPos, currentVel);
}
/**
* Internal. Does not {@link RockSet#fireStateChanged()}!
*
* @param currentTime
*/
void doUpdatePosAndVel(final double currentTime, final RockSet<Pos> cp, final RockSet<Vel> cv) {
// TUNE Parallel
for (int i = RockSet.ROCKS_PER_SET - 1; i >= 0; i--) {
final R1RNFunction c = curveStore.getCurve(i);
double x = c.at(currentTime, 0, 0);
double y = c.at(currentTime, 0, 1);
double a = c.at(currentTime, 0, 2);
cp.getRock(i).setLocation(x, y, a);
x = c.at(currentTime, 1, 0);
y = c.at(currentTime, 1, 1);
a = c.at(currentTime, 1, 2);
cv.getRock(i).setLocation(x, y, a);
}
}