/** @see Shape#computeSweptAABB(AABB, XForm, XForm) */
@Override
public void computeSweptAABB(final AABB aabb, final XForm transform1, final XForm transform2) {
// djm this method is pretty hot (called every time step)
final Vec2 sweptV1 = tlSwept1.get();
final Vec2 sweptV2 = tlSwept2.get();
final Vec2 sweptV3 = tlSwept3.get();
final Vec2 sweptV4 = tlSwept4.get();
XForm.mulToOut(transform1, m_v1, sweptV1);
XForm.mulToOut(transform1, m_v2, sweptV2);
XForm.mulToOut(transform2, m_v1, sweptV3);
XForm.mulToOut(transform2, m_v2, sweptV4);
// aabb.lowerBound = Vec2.min(Vec2.min(Vec2.min(v1, v2), v3), v4);
// aabb.upperBound = Vec2.max(Vec2.max(Vec2.max(v1, v2), v3), v4);
// djm ok here's the non object-creation-crazy way
Vec2.minToOut(sweptV1, sweptV2, aabb.lowerBound);
Vec2.minToOut(aabb.lowerBound, sweptV3, aabb.lowerBound);
Vec2.minToOut(aabb.lowerBound, sweptV4, aabb.lowerBound);
Vec2.maxToOut(sweptV1, sweptV2, aabb.upperBound);
Vec2.maxToOut(aabb.upperBound, sweptV3, aabb.upperBound);
Vec2.maxToOut(aabb.upperBound, sweptV4, aabb.upperBound);
}
@Override
public final void computeAABB(final AABB aabb, final Transform xf, int childIndex) {
final Vec2 v = pool1;
final Vec2 lower = aabb.lowerBound;
final Vec2 upper = aabb.upperBound;
final Vec2 v1 = m_vertices[0];
lower.x = (xf.q.c * v1.x - xf.q.s * v1.y) + xf.p.x;
lower.y = (xf.q.s * v1.x + xf.q.c * v1.y) + xf.p.y;
upper.set(lower);
for (int i = 1; i < m_count; ++i) {
Vec2 v2 = m_vertices[i];
v.x = (xf.q.c * v2.x - xf.q.s * v2.y) + xf.p.x;
v.y = (xf.q.s * v2.x + xf.q.c * v2.y) + xf.p.y;
// Vec2 v = Mul(xf, m_vertices[i]);
Vec2.minToOut(lower, v, lower);
Vec2.maxToOut(upper, v, upper);
}
// Vec2 r(m_radius, m_radius);
// aabb.lowerBound = lower - r;
// aabb.upperBound = upper + r;
aabb.lowerBound.x -= m_radius;
aabb.lowerBound.y -= m_radius;
aabb.upperBound.x += m_radius;
aabb.upperBound.y += m_radius;
}
/** @see Shape#computeAABB(AABB, XForm) */
@Override
public void computeAABB(final AABB aabb, final XForm transform) {
/*Vec2 v1 = XForm.mul(transform, m_v1);
Vec2 v2 = XForm.mul(transform, m_v2);
aabb.lowerBound = Vec2.min(v1, v2);
aabb.upperBound = Vec2.max(v1, v2);*/
// djm we avoid one creation. crafty huh?
XForm.mulToOut(transform, m_v1, aabb.lowerBound);
final Vec2 v2 = tlV2.get();
XForm.mulToOut(transform, m_v2, v2);
Vec2.maxToOut(aabb.lowerBound, v2, aabb.upperBound);
Vec2.minToOut(aabb.lowerBound, v2, aabb.lowerBound);
}
