Changes to address #560

louis-langholtz · Jan 21, 2024 · 41a4981 · 41a4981
1 parent 6df26ed
commit 41a4981
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Showing 5 changed files with 19 additions and 20 deletions.
diff --git a/Library/include/playrho/d2/Body.hpp b/Library/include/playrho/d2/Body.hpp
@@ -451,14 +451,10 @@ class Body
     static FlagsType GetFlags(const BodyConf& bd) noexcept;
 
     /// Transformation for body origin.
-    /// @note Also availble from <code>GetTransform1(m_sweep)</code>.
-    /// @note <code>m_xf.p == m_sweep.pos1.linear && m_xf.q ==
-    ///   UnitVec::Get(m_sweep.pos1.angular)</code>.
+    /// @note This is a cache of the result of <code>GetTransform1(m_sweep)</code>.
     Transformation m_xf;
 
     /// @brief Sweep motion for CCD.
-    /// @note <code>m_sweep.pos1.linear == m_xf.p && UnitVec::Get(m_sweep.pos1.angular) ==
-    ///   m_xf.q</code>.
     Sweep m_sweep;
 
     FlagsType m_flags = 0u; ///< Flags.
@@ -671,7 +667,7 @@ inline void Body::SetSweep(const Sweep& value) noexcept
 {
     assert(((m_flags & Body::e_velocityFlag) != 0) || value.pos0 == value.pos1);
     m_sweep = value;
-    m_xf = GetTransform1(value);
+    m_xf = GetTransform1(m_sweep);
 }
 
 inline void Body::SetPosition0(const Position& value) noexcept
@@ -684,7 +680,7 @@ inline void Body::SetPosition1(const Position& value) noexcept
 {
     assert(((m_flags & Body::e_velocityFlag) != 0) || m_sweep.pos1 == value);
     m_sweep.pos1 = value;
-    m_xf = ::playrho::d2::GetTransformation(value, m_sweep.localCenter);
+    m_xf = GetTransform1(m_sweep);
 }
 
 inline void Body::ResetAlpha0() noexcept

diff --git a/Library/include/playrho/d2/Transformation.hpp b/Library/include/playrho/d2/Transformation.hpp
@@ -28,12 +28,12 @@
 // IWYU pragma: begin_exports
 
 #include <playrho/Vector2.hpp>
+
 #include <playrho/d2/UnitVec.hpp>
 
 // IWYU pragma: end_exports
 
-namespace playrho {
-namespace d2 {
+namespace playrho::d2 {
 
 struct BodyConf;
 
@@ -79,7 +79,9 @@ constexpr UnitVec GetDirection(const Transformation& value) noexcept
     return value.q;
 }
 
-} // namespace d2
+} // namespace playrho::d2
+
+namespace playrho {
 
 /// @brief Determines if the given value is valid.
 /// @relatedalso d2::Transformation

diff --git a/Library/source/playrho/d2/Body.cpp b/Library/source/playrho/d2/Body.cpp
@@ -87,7 +87,7 @@ Body::FlagsType Body::GetFlags(const BodyConf& bd) noexcept
 }
 
 Body::Body(const BodyConf& bd)
-    : m_xf{::playrho::d2::GetTransformation(bd)},
+    : m_xf{GetTransform1(bd.sweep)},
       m_sweep{bd.sweep},
       m_flags{GetFlags(bd)},
       m_invMass{(bd.type == playrho::BodyType::Dynamic)

diff --git a/Library/source/playrho/d2/BodyConf.cpp b/Library/source/playrho/d2/BodyConf.cpp
@@ -52,7 +52,8 @@ BodyConf GetBodyConf(const Body& body)
 
 Transformation GetTransformation(const BodyConf& conf) noexcept
 {
-    return {conf.sweep.pos0.linear, UnitVec::Get(conf.sweep.pos0.angular)};
+    // This must match what GetTransformation(Body{}) returns
+    return GetTransform1(conf.sweep);
 }
 
 } // namespace playrho::d2
diff --git a/UnitTests/Body.cpp b/UnitTests/Body.cpp
@@ -139,14 +139,14 @@ TEST(Body, InvMassOnConstruction)
 
 TEST(Body, TransformationOnConstruction)
 {
-    EXPECT_EQ(
-        Body(BodyConf{}.UseLocation(Length2{10_m, 12_m}).UseAngle(90_deg)).GetTransformation(),
-        ::playrho::d2::GetTransformation(
-            BodyConf{}.UseLocation(Length2{10_m, 12_m}).UseAngle(90_deg)));
-    EXPECT_EQ(
-        Body(BodyConf{}.UseLocation(Length2{4_m, -3_m}).UseAngle(-32_deg)).GetTransformation(),
-        ::playrho::d2::GetTransformation(
-            BodyConf{}.UseLocation(Length2{4_m, -3_m}).UseAngle(-32_deg)));
+    {
+        const auto conf = BodyConf{}.UseLocation(Length2{10_m, 12_m}).UseAngle(90_deg);
+        EXPECT_EQ(Body(conf).GetTransformation(), GetTransform1(conf.sweep));
+    }
+    {
+        const auto conf = BodyConf{}.UseLocation(Length2{4_m, -3_m}).UseAngle(-32_deg);
+        EXPECT_EQ(Body(conf).GetTransformation(), GetTransform1(conf.sweep));
+    }
 }
 
 TEST(Body, VelocityOnConstruction)