142 lines
4.1 KiB
C
142 lines
4.1 KiB
C
/*
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* Copyright (c) 1992,1993-1995 by Argonaut Technologies Limited. All rights reserved.
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*
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* $Id: angles.h 1.9 1995/05/25 13:37:24 sam Exp $
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* $Locker: $
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*
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*/
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#ifndef _ANGLES_H_
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#define _ANGLES_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*
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* Angles are alway 0.16 fixed point
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*/
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typedef br_fixed_luf br_angle;
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#define BR_ANGLE_DEG(deg) ((br_angle)((deg)*182))
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#define BR_ANGLE_RAD(rad) ((br_angle)((rad)*10430))
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#if BASED_FIXED
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#define BrAngleToDegree(a) BR_MUL((a),BR_SCALAR(360.0))
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#define BrDegreeToAngle(d) ((br_angle)BR_MULDIV((d),BR_SCALAR(1.0),BR_SCALAR(360.0)))
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#define BrAngleToRadian(a) BR_MUL((a),BR_SCALAR(2.0*PI))
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#define BrRadianToAngle(r) ((br_angle)(BR_MUL((r),BR_SCALAR(0.5/PI))))
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#define BrDegreeToRadian(d) (BR_MULDIV((d),BR_SCALAR(PI),BR_SCALAR(180.0)))
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#define BrRadianToDegree(r) (BR_MUL((r),BR_SCALAR(180.0/PI)))
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#define BrAngleToScalar(a) ((br_scalar)(a))
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#define BrScalarToAngle(s) ((br_angle)(s))
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#define BR_SIN(a) BrFixedSin(a)
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#define BR_COS(a) BrFixedCos(a)
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#define BR_ASIN(a) BrFixedASin(a)
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#define BR_ACOS(a) BrFixedACos(a)
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#define BR_ATAN2(a,b) BrFixedATan2(a,b)
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#define BR_ATAN2FAST(a,b) BrFixedATan2Fast(a,b)
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#endif
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#if BASED_FLOAT
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#define BrAngleToDegree(a) ((a) * (180.0/32768.0))
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#define BrDegreeToAngle(d) ((br_angle)((d) * (32768.0/180.0)))
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#define BrAngleToRadian(a) ((a) * (PI/32768.0))
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#define BrRadianToAngle(r) ((br_angle)((r)*(32768.0/PI)))
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#define BrDegreeToRadian(d) ((d)*(PI/180.0))
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#define BrRadianToDegree(r) ((r)*(180.0/PI))
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#define BrAngleToScalar(a) ((a)*(1.0/(float)BR_ONE_LS))
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#define BrScalarToAngle(s) ((br_angle)((s)*(float)BR_ONE_LS))
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#define BR_SIN(a) sin(BrAngleToRadian(a))
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#define BR_COS(a) cos(BrAngleToRadian(a))
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#define BR_ASIN(a) BrRadianToAngle(asin(a))
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#define BR_ACOS(a) BrRadianToAngle(acos(a))
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#define BR_ATAN2(a,b) BrRadianToAngle(atan2((a),(b)))
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#define BR_ATAN2FAST(a,b) RBradianToAngle(atan2((a),(b)))
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#endif
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/*
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* Fields that go into br_euler.order
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*/
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enum {
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BR_EULER_FIRST = 0x03,
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BR_EULER_FIRST_X = 0x00,
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BR_EULER_FIRST_Y = 0x01,
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BR_EULER_FIRST_Z = 0x02,
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BR_EULER_PARITY = 0x04,
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BR_EULER_PARITY_EVEN = 0x00,
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BR_EULER_PARITY_ODD = 0x04,
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BR_EULER_REPEAT = 0x08,
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BR_EULER_REPEAT_NO = 0x00,
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BR_EULER_REPEAT_YES = 0x08,
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BR_EULER_FRAME = 0x10,
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BR_EULER_FRAME_STATIC = 0x00,
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BR_EULER_FRAME_ROTATING = 0x10
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};
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/*
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* Various possible orders
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*/
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#define BR_EULER_ORDER(a,p,r,f)\
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(BR_EULER_FIRST_##a |\
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BR_EULER_PARITY_##p |\
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BR_EULER_REPEAT_##r |\
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BR_EULER_FRAME_##f)
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enum {
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BR_EULER_XYZ_S = BR_EULER_ORDER(X,EVEN,NO ,STATIC ),
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BR_EULER_XYX_S = BR_EULER_ORDER(X,EVEN,YES,STATIC ),
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BR_EULER_XZY_S = BR_EULER_ORDER(X,ODD ,NO ,STATIC ),
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BR_EULER_XZX_S = BR_EULER_ORDER(X,ODD ,YES,STATIC ),
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BR_EULER_YZX_S = BR_EULER_ORDER(Y,EVEN,NO ,STATIC ),
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BR_EULER_YZY_S = BR_EULER_ORDER(Y,EVEN,YES,STATIC ),
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BR_EULER_YXZ_S = BR_EULER_ORDER(Y,ODD ,NO ,STATIC ),
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BR_EULER_YXY_S = BR_EULER_ORDER(Y,ODD ,YES,STATIC ),
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BR_EULER_ZXY_S = BR_EULER_ORDER(Z,EVEN,NO ,STATIC ),
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BR_EULER_ZXZ_S = BR_EULER_ORDER(Z,EVEN,YES,STATIC ),
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BR_EULER_ZYX_S = BR_EULER_ORDER(Z,ODD ,NO ,STATIC ),
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BR_EULER_ZYZ_S = BR_EULER_ORDER(Z,ODD ,YES,STATIC ),
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BR_EULER_ZYX_R = BR_EULER_ORDER(X,EVEN,NO ,ROTATING),
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BR_EULER_XYX_R = BR_EULER_ORDER(X,EVEN,YES,ROTATING),
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BR_EULER_YZX_R = BR_EULER_ORDER(X,ODD ,NO ,ROTATING),
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BR_EULER_XZX_R = BR_EULER_ORDER(X,ODD ,YES,ROTATING),
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BR_EULER_XZY_R = BR_EULER_ORDER(Y,EVEN,NO ,ROTATING),
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BR_EULER_YZY_R = BR_EULER_ORDER(Y,EVEN,YES,ROTATING),
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BR_EULER_ZXY_R = BR_EULER_ORDER(Y,ODD ,NO ,ROTATING),
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BR_EULER_YXY_R = BR_EULER_ORDER(Y,ODD ,YES,ROTATING),
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BR_EULER_YXZ_R = BR_EULER_ORDER(Z,EVEN,NO ,ROTATING),
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BR_EULER_ZXZ_R = BR_EULER_ORDER(Z,EVEN,YES,ROTATING),
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BR_EULER_XYZ_R = BR_EULER_ORDER(Z,ODD ,NO ,ROTATING),
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BR_EULER_ZYZ_R = BR_EULER_ORDER(Z,ODD ,YES,ROTATING)
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};
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/*
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* A triple of euler angles and a description of how they are to
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* be applied - loosely based on -
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* "Euler Angle Convertion" Ken Shoemake, Graphics Gems IV pp. 222
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*/
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typedef struct br_euler {
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br_angle a;
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br_angle b;
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br_angle c;
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br_uint_8 order;
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} br_euler;
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#ifdef __cplusplus
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};
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#endif
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#endif
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