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Diffstat (limited to 'digital/avr/modules/math/geometry/vect.c')
-rw-r--r--digital/avr/modules/math/geometry/vect.c114
1 files changed, 114 insertions, 0 deletions
diff --git a/digital/avr/modules/math/geometry/vect.c b/digital/avr/modules/math/geometry/vect.c
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+++ b/digital/avr/modules/math/geometry/vect.c
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+/* vect.c */
+/* 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.
+ *
+ * }}} */
+#include "common.h"
+#include "vect.h"
+
+#include "modules/math/fixed/fixed.h"
+
+void
+vect_scale_f824 (vect_t *v, int32_t s_f824)
+{
+ assert (v);
+ v->x = fixed_mul_f824 (v->x, s_f824);
+ v->y = fixed_mul_f824 (v->y, s_f824);
+}
+
+void
+vect_rotate_uf016 (vect_t *v, uint16_t a_uf016)
+{
+ assert (v);
+ int32_t c, s;
+ uint32_t a_uf824 = ((uint32_t) a_uf016) << 8;
+ c = fixed_cos_f824 (a_uf824);
+ s = fixed_sin_f824 (a_uf824);
+ int16_t tx = v->x, ty = v->y;
+ v->x = fixed_mul_f824 (tx, c) - fixed_mul_f824 (ty, s);
+ v->y = fixed_mul_f824 (tx, s) + fixed_mul_f824 (ty, c);
+}
+
+void
+vect_translate (vect_t *v, const vect_t *t)
+{
+ assert (v);
+ assert (t);
+ v->x = v->x + t->x;
+ v->y = v->y + t->y;
+}
+
+void
+vect_sub (vect_t *v, const vect_t *n)
+{
+ assert (v);
+ assert (n);
+ v->x = v->x - n->x;
+ v->y = v->y - n->y;
+}
+
+vect_value_t
+vect_norm (const vect_t *v)
+{
+ assert (v);
+ int16_t tx = v->x, ty = v->y;
+ return fixed_sqrt_ui32 (tx * tx + ty * ty);
+}
+
+void
+vect_from_polar_uf016 (vect_t *v, int16_t l, uint16_t a_uf016)
+{
+ assert (v);
+ uint32_t a_uf824 = ((uint32_t) a_uf016) << 8;
+ v->x = fixed_mul_f824 (l, fixed_cos_f824 (a_uf824));
+ v->y = fixed_mul_f824 (l, fixed_sin_f824 (a_uf824));
+}
+
+void
+vect_array_scale_f824 (vect_t *va, uint8_t vn, int32_t s_f824)
+{
+ for (; vn; va++, vn--)
+ vect_scale_f824 (va, s_f824);
+}
+
+void
+vect_array_rotate_uf016 (vect_t *va, uint8_t vn, uint16_t a_uf016)
+{
+ assert (va);
+ int32_t c, s;
+ uint32_t a_uf824 = ((uint32_t) a_uf016) << 8;
+ c = fixed_cos_f824 (a_uf824);
+ s = fixed_sin_f824 (a_uf824);
+ for (; vn; va++, vn--)
+ {
+ int16_t tx = va->x, ty = va->y;
+ va->x = fixed_mul_f824 (tx, c) - fixed_mul_f824 (ty, s);
+ va->y = fixed_mul_f824 (tx, s) + fixed_mul_f824 (ty, c);
+ }
+}
+
+void
+vect_array_translate (vect_t *va, uint8_t vn, const vect_t *t)
+{
+ for (; vn; va++, vn--)
+ vect_translate (va, t);
+}