Merge pull request #267 from robojumper/degree

Degree WIP

src/PowerPC_EABI_Support/MSL/MSL_C/MSL_Common/Include/math.h

@@ -90,6 +90,9 @@ extern inline float sqrtf(float x) {
     return x;
 }
 
+#if 1
+double sqrt(double);
+#else
 extern inline double sqrt(double x) {
     if (x > 0.0) {
         double guess = __frsqrte(x);                    /* returns an approximation to    */
@@ -106,6 +109,7 @@ extern inline double sqrt(double x) {
 
     return HUGE_VALF;
 }
+#endif
 
 inline float atan2f(float y, float x) {
     return (float)atan2(y, x);

src/toBeSorted/deg_angle_util.cpp

@@ -0,0 +1,157 @@
+#include "toBeSorted/deg_angle_util.h"
+
+#include "c/c_math.h"
+#include "common.h"
+#include "m/m_angle.h"
+#include "m/m_vec.h"
+#include "math.h"
+
+#include <cmath>
+
+f32 dDegree::adjust(f32 value) {
+    while (value < -180.0f) {
+        value += 360.0f;
+    }
+
+    while (value > 180.0f) {
+        value -= 360.0f;
+    }
+
+    return value;
+}
+
+f32 dDegree::canonicalize(f32 value) {
+    while (value < -180.0f) {
+        value += 360.0f;
+    }
+
+    while (value >= 180.0f) {
+        value -= 360.0f;
+    }
+
+    return value;
+}
+
+f32 dDegree::rotate180F() const {
+    return adjust(value + 180.0f);
+}
+
+void dDegree::rotate180() {
+    value = adjust(value + 180.0f);
+}
+
+f32 dDegree::abs() const {
+    f32 v = value;
+    if (v < 0.0f) {
+        v = -v;
+    }
+    return v;
+}
+
+f32 dDegree::sin() const {
+    return std::sinf(toRad());
+}
+
+f32 dDegree::cos() const {
+    return std::cosf(toRad());
+}
+
+f32 dDegree::tan() const {
+    f32 c = cos();
+    f32 s = sin();
+    if (cM::isZero(c)) {
+        return s > 0.0f ? INFINITY : -INFINITY;
+    }
+    return s / c;
+}
+
+f32 dDegree::tan2() const {
+    return tan();
+}
+
+f32 dDegree::toRad() const {
+    return mAng::deg2rad_c(value);
+}
+
+s16 dDegree::toIdx() {
+    return mAng::fromDeg(value);
+}
+
+dPolar::dPolar(f32 r, f32 u, f32 v) {
+    Set(r, u, v);
+}
+
+dPolar::dPolar(const mVec3_c &v) {
+    setCartesian(v);
+}
+
+dPolar *dPolar::canonicalize() {
+    // NONMATCHING - redundant stack copies
+    if (R < 0.0f) {
+        R = -R;
+
+        U.Set(-U.value);
+        V.Set(V.rotate180F());
+    }
+
+    if (U.value < -90.0f) {
+        U.Set(U.value + 180.0f);
+        V.Set(V.rotate180F());
+    } else if (U.value > 90.0f) {
+        U.Set(U - 180.0f);
+        V.Set(V.rotate180F());
+    }
+    return this;
+}
+
+void dPolar::Set(f32 r, f32 u, f32 v) {
+    R = r;
+    U.Set(u);
+    V.Set(v);
+    canonicalize();
+}
+
+void dPolar::setCartesian(const mVec3_c &v) {
+    f32 x = v.x;
+    f32 y = v.y;
+    f32 z = v.z;
+
+    f64 magXZSq = (f64)(z * z) + (f64)(x * x);
+    f64 magSq = magXZSq + (f64)(y * y);
+
+    f32 magXZ = (magXZSq > 0.0) ? (f32)sqrt(magXZSq) : 0.f;
+    R = (magSq > 0.0) ? (f32)sqrt(magSq) : 0.f;
+    U.Set(mAng::rad2deg_c(M_PI / 2 - cM::atan2f(magXZ, y)));
+    V.Set(mAng::rad2deg_c(cM::atan2f(x, z)));
+    canonicalize();
+}
+
+mVec3_c dPolar::toCartesian() const {
+    f32 cosU = U.cos();
+    f32 sinU = U.sin();
+    f32 cosV = V.cos();
+    f32 sinV = V.sin();
+
+    f32 x = sinV * (R * cosU);
+    f32 z = cosV * (R * cosU);
+    f32 y = R * sinU;
+
+    return mVec3_c(x, y, z);
+}
+
+f32 dPolar::SetR(f32 r) {
+    R = r;
+    canonicalize();
+    return R;
+}
+
+f32 dPolar::SetU(f32 u) {
+    U.Set(u);
+    canonicalize();
+    return U.value;
+}
+
+f32 dPolar::SetV(f32 v) {
+    V.Set(v);
+    return V.value;
+}