🐳 Makes phase power JIT

2024-11-09 16:05:31 +01:00
parent ea42cc0aac
commit 0fd729be4a
1 changed files with 8 additions and 1 deletions
@@ -315,11 +315,18 @@ class BezierState : public GaitState {
        float Y[] = {0.0f,           0.0f,           0.9f * *height, 0.9f * *height, 0.9f * *height, 0.9f * *height,
                     0.9f * *height, 1.1f * *height, 1.1f * *height, 1.1f * *height, 0.0f,           0.0f};

+        float phase_power = 1.0f;
+        float inv_phase_power = std::pow(1.0f - phase, 11);
+        float one_minus_phase = 1.0f - phase;
+
        for (int i = 0; i < 12; i++) {
-            float b = COMBINATORIAL_VALUES[i] * std::pow(phase, i) * std::pow(1.0f - phase, 11 - i);
+            float b = COMBINATORIAL_VALUES[i] * phase_power * inv_phase_power;
            point[0] += b * STEP[i] * X_POLAR;
            point[1] += b * Y[i];
            point[2] += b * STEP[i] * Z_POLAR;
+
+            phase_power *= phase;
+            inv_phase_power /= one_minus_phase;
        }
    }