3b2d97289c
the core YASim stuff. Mostly cosmetic: whitespace adjustment, dead
code & meaningless comment removal, a little code motion to better
partition the helicopter handling from the original code (no more
giant if() { ... } around the solver). Added a warning to the parser
to try to eliminate the string booleans that crept in.
There should be NO behavioral changes with this checkin.
254 lines
4.6 KiB
C++
254 lines
4.6 KiB
C++
#include <math.h>
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#include "Math.hpp"
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namespace yasim {
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float Math::clamp(float val, float min, float max)
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{
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if(val < min) return min;
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if(val > max) return max;
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return val;
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}
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float Math::abs(float f)
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{
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return (float)::fabs(f);
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}
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float Math::sqrt(float f)
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{
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return (float)::sqrt(f);
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}
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float Math::ceil(float f)
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{
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return (float)::ceil(f);
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}
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float Math::acos(float f)
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{
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return (float)::acos(f);
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}
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float Math::asin(float f)
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{
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return (float)::asin(f);
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}
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float Math::cos(float f)
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{
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return (float)::cos(f);
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}
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float Math::sin(float f)
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{
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return (float)::sin(f);
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}
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float Math::tan(float f)
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{
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return (float)::tan(f);
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}
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float Math::atan(float f)
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{
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return (float)::atan(f);
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}
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float Math::atan2(float y, float x)
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{
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return (float)::atan2(y, x);
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}
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double Math::abs(double f)
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{
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return ::fabs(f);
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}
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double Math::sqrt(double f)
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{
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return ::sqrt(f);
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}
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float Math::pow(double base, double exp)
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{
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return (float)::pow(base, exp);
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}
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double Math::ceil(double f)
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{
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return ::ceil(f);
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}
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double Math::cos(double f)
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{
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return ::cos(f);
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}
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double Math::sin(double f)
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{
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return ::sin(f);
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}
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double Math::tan(double f)
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{
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return ::tan(f);
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}
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double Math::atan2(double y, double x)
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{
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return ::atan2(y, x);
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}
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void Math::set3(float* v, float* out)
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{
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out[0] = v[0];
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out[1] = v[1];
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out[2] = v[2];
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}
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float Math::dot3(float* a, float* b)
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{
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return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
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}
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void Math::mul3(float scalar, float* v, float* out)
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{
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out[0] = scalar * v[0];
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out[1] = scalar * v[1];
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out[2] = scalar * v[2];
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}
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void Math::add3(float* a, float* b, float* out)
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{
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out[0] = a[0] + b[0];
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out[1] = a[1] + b[1];
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out[2] = a[2] + b[2];
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}
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void Math::sub3(float* a, float* b, float* out)
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{
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out[0] = a[0] - b[0];
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out[1] = a[1] - b[1];
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out[2] = a[2] - b[2];
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}
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float Math::mag3(float* v)
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{
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return sqrt(dot3(v, v));
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}
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void Math::unit3(float* v, float* out)
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{
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float imag = 1/mag3(v);
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mul3(imag, v, out);
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}
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void Math::cross3(float* a, float* b, float* out)
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{
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float ax=a[0], ay=a[1], az=a[2];
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float bx=b[0], by=b[1], bz=b[2];
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out[0] = ay*bz - by*az;
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out[1] = az*bx - bz*ax;
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out[2] = ax*by - bx*ay;
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}
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void Math::mmul33(float* a, float* b, float* out)
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{
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float tmp[9];
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tmp[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6];
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tmp[3] = a[3]*b[0] + a[4]*b[3] + a[5]*b[6];
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tmp[6] = a[6]*b[0] + a[7]*b[3] + a[8]*b[6];
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tmp[1] = a[0]*b[1] + a[1]*b[4] + a[2]*b[7];
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tmp[4] = a[3]*b[1] + a[4]*b[4] + a[5]*b[7];
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tmp[7] = a[6]*b[1] + a[7]*b[4] + a[8]*b[7];
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tmp[2] = a[0]*b[2] + a[1]*b[5] + a[2]*b[8];
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tmp[5] = a[3]*b[2] + a[4]*b[5] + a[5]*b[8];
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tmp[8] = a[6]*b[2] + a[7]*b[5] + a[8]*b[8];
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int i;
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for(i=0; i<9; i++)
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out[i] = tmp[i];
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}
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void Math::vmul33(float* m, float* v, float* out)
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{
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float x = v[0], y = v[1], z = v[2];
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out[0] = x*m[0] + y*m[1] + z*m[2];
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out[1] = x*m[3] + y*m[4] + z*m[5];
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out[2] = x*m[6] + y*m[7] + z*m[8];
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}
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void Math::tmul33(float* m, float* v, float* out)
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{
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float x = v[0], y = v[1], z = v[2];
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out[0] = x*m[0] + y*m[3] + z*m[6];
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out[1] = x*m[1] + y*m[4] + z*m[7];
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out[2] = x*m[2] + y*m[5] + z*m[8];
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}
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void Math::invert33(float* m, float* out)
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{
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// Compute the inverse as the adjoint matrix times 1/(det M).
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// A, B ... I are the cofactors of a b c
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// d e f
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// g h i
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float a=m[0], b=m[1], c=m[2];
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float d=m[3], e=m[4], f=m[5];
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float g=m[6], h=m[7], i=m[8];
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float A = (e*i - h*f);
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float B = -(d*i - g*f);
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float C = (d*h - g*e);
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float D = -(b*i - h*c);
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float E = (a*i - g*c);
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float F = -(a*h - g*b);
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float G = (b*f - e*c);
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float H = -(a*f - d*c);
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float I = (a*e - d*b);
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float id = 1/(a*A + b*B + c*C);
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out[0] = id*A; out[1] = id*D; out[2] = id*G;
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out[3] = id*B; out[4] = id*E; out[5] = id*H;
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out[6] = id*C; out[7] = id*F; out[8] = id*I;
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}
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void Math::trans33(float* m, float* out)
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{
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// 0 1 2 Elements 0, 4, and 8 are the same
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// 3 4 5 Swap elements 1/3, 2/6, and 5/7
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// 6 7 8
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out[0] = m[0];
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out[4] = m[4];
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out[8] = m[8];
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float tmp = m[1];
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out[1] = m[3];
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out[3] = tmp;
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tmp = m[2];
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out[2] = m[6];
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out[6] = tmp;
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tmp = m[5];
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out[5] = m[7];
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out[7] = tmp;
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}
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void Math::ortho33(float* x, float* y,
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float* xOut, float* yOut, float* zOut)
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{
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float x0[3], y0[3];
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set3(x, x0);
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set3(y, y0);
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unit3(x0, xOut);
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cross3(xOut, y0, zOut);
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unit3(zOut, zOut);
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cross3(zOut, xOut, yOut);
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}
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}; // namespace yasim
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