endless rotation bug caused by applyTransform

[pavel-b-kr12]

processing 3.5.3
open any example with

DwWorld world
world.applyTransform(this.g); 

see endless rotation of body visual (after move it a bit).

If use USE_DEBUG_DRAW - all work as it should

[OWilliam]

I see this, too, on Windows with processing 3.5.4. Visual bodies spin while the debug physical bodies don't.

It looks like it could be an angle conversion issue: small angular changes in the physical bodies are converted to large angular changes in the visual body. Is there radians <-> degrees conversion bug somewhere?

[MadMontanaMax]

there is a problem with PShape.resetMatrix() not resetting rotation in P2D
(https://discourse.processing.org/t/pshape-resetmatrix-not-resetting-rotation-in-p2d/8508)

the workaround suggested there works.
in DwWorld class change updateBodies() :
instead of applying the rotation to the shapeMatrix, apply it to a new PMatrix2D, which can be resetted.
then apply that matrix to the shape.

public void updateBodies(){
    PMatrix2D matrix = new PMatrix2D();
    for (Body body = super.getBodyList(); body != null; body = body.getNext()) {
      Transform xf = body.getTransform();
      
      DwBody dwbody = getShape(body);
      if(dwbody != null){
        float angle=(float)xf.q.getAngle();
        
        matrix.reset();
        matrix.rotate(angle);
        
        dwbody.shape.resetMatrix();
        dwbody.shape.applyMatrix(matrix);
        //dwbody.shape.rotate(angle);
        
        dwbody.shape.translate(xf.p.x, xf.p.y);
 }

same with updateLineShapes()