/**
* Internal. Compute one rock curve segment and don't change internal state.
*
* @param i16 which rock
* @param t0 starttime
* @param sweepFactor
* @return the new Curve in world coordinates.
*/
CurveRock<Pos> doComputeCurve(
final int i16,
final double t0,
final RockSet<Pos> p,
final RockSet<Vel> s,
final double sweepFactor) {
final Rock<Pos> x = p.getRock(i16);
final Rock<Vel> v = s.getRock(i16);
final CurveRock<Pos> wc;
if (v.p().distanceSq(0, 0) == 0) wc = CurveStill.newInstance(x);
else
// Convert the initial angle from WC to RC.
// TUNE 2x sqrt, 2x atan2 to 1x each?
wc =
new CurveTransformed<Pos>(
curler.computeRc(
x.getA() + Math.atan2(v.getX(), v.getY()),
MathVec.abs2D(v.p()),
v.getA(),
sweepFactor),
CurveTransformed.createRc2Wc(x.p(), v.p(), null),
t0);
if (log.isDebugEnabled()) log.debug(i16 + " " + wc);
return wc;
}
