#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);
/** Compute a vector normal (rotate the vector counter-clockwise of pi/2).
* - v: input/result vector. */
void
vect_normal (vect_t *v);
/** Compute the dot product (scalar product) of two vectors.
* - a, b: vectors to make product of.
* - returns: dot product. */
int32_t
vect_dot_product (const vect_t *a, const vect_t *b);
/** Compute the dot product (scalar product) of a normal of the first vector
* with the second vector.
* - a: vector to take normal of.
* - b: vector to make product with.
* - returns: dot product.
* The first vector is rotated of pi/2. The result is the same as the z part
* of the vector product. */
int32_t
vect_normal_dot_product (const vect_t *a, const vect_t *b);
/** 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 */