summaryrefslogtreecommitdiffhomepage
path: root/digital/avr/modules/math/geometry/vect.h
diff options
context:
space:
mode:
Diffstat (limited to 'digital/avr/modules/math/geometry/vect.h')
-rw-r--r--digital/avr/modules/math/geometry/vect.h107
1 files changed, 107 insertions, 0 deletions
diff --git a/digital/avr/modules/math/geometry/vect.h b/digital/avr/modules/math/geometry/vect.h
new file mode 100644
index 00000000..6a1cc570
--- /dev/null
+++ b/digital/avr/modules/math/geometry/vect.h
@@ -0,0 +1,107 @@
+#ifndef vect_h
+#define vect_h
+/* vect.h */
+/* avr.math.geometry - Geometry math module. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* See fixed.h for numbers notation convention. Angles are in the [0, 1)
+ * interval, counter clock wise, uf0.16 unless noted. */
+
+/** Vector single value. As we are working with millimeters most of the time,
+ * 16 bits are enough. There is no magic, if you change this, code should be
+ * reviewed. */
+typedef int16_t vect_value_t;
+
+/** 2D vector. */
+struct vect_t
+{
+ /** X coordinate. */
+ vect_value_t x;
+ /** Y coordinate. */
+ vect_value_t y;
+};
+typedef struct vect_t vect_t;
+
+/** Scale (multiply) a vector by a fixed point value.
+ * - v: input/result vector.
+ * - s_f824: scale (f8.24). */
+void
+vect_scale_f824 (vect_t *v, int32_t s_f824);
+
+/** Rotate a vector.
+ * - v: input/result vector.
+ * - a_uf016: angle of rotation (uf0.16). */
+void
+vect_rotate_uf016 (vect_t *v, uint16_t a_uf016);
+
+/** Translate a vector (add two vectors).
+ * - v: input/result vector.
+ * - t: translation vector. */
+void
+vect_translate (vect_t *v, const vect_t *t);
+
+/** Same as vect_translate. */
+#define vect_add vect_translate
+
+/** Substract two vectors.
+ * - v: input/result vector.
+ * - n: substracted vector. */
+void
+vect_sub (vect_t *v, const vect_t *n);
+
+/** Compute vector norm (length).
+ * - v: input vector.
+ * - returns: norm. */
+vect_value_t
+vect_norm (const vect_t *v);
+
+/** Compute a vector from polar coordinates.
+ * - v: result vector.
+ * - l: vector length.
+ * - a_uf016: vector angle (uf0.16). */
+void
+vect_from_polar_uf016 (vect_t *v, int16_t l, uint16_t a_uf016);
+
+/** Scale (multiply) vectors by a fixed point value.
+ * - va: input/result vectors array.
+ * - vn: number of vectors.
+ * - s_f824: scale (f8.24). */
+void
+vect_array_scale_f824 (vect_t *va, uint8_t vn, int32_t s_f824);
+
+/** Rotate vectors.
+ * - va: input/result vectors array.
+ * - vn: number of vectors.
+ * - a_uf016: angle of rotation (uf0.16). */
+void
+vect_array_rotate_uf016 (vect_t *va, uint8_t vn, uint16_t a_uf016);
+
+/** Translate vectors.
+ * - va: input/result vectors array.
+ * - vn: number of vectors.
+ * - t: translation vector. */
+void
+vect_array_translate (vect_t *va, uint8_t vn, const vect_t *t);
+
+#endif /* vect_h */