From bed724fe33b2dc903b89f8f8517738370c751cd1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 7 Apr 2010 23:51:28 +0200 Subject: digital/avr/modules/math/geometry: add new module --- digital/avr/modules/math/geometry/vect.c | 114 +++++++++++++++++++++++++++++++ 1 file changed, 114 insertions(+) create mode 100644 digital/avr/modules/math/geometry/vect.c (limited to 'digital/avr/modules/math/geometry/vect.c') diff --git a/digital/avr/modules/math/geometry/vect.c b/digital/avr/modules/math/geometry/vect.c new file mode 100644 index 00000000..57b5a4d4 --- /dev/null +++ b/digital/avr/modules/math/geometry/vect.c @@ -0,0 +1,114 @@ +/* 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); +} -- cgit v1.2.3