+++ /dev/null
-/*! ========================================================================
-** Extended Template and Library
-** Fast fastangle Abstraction Class Implementation
-** $Id$
-**
-** Copyright (c) 2002 Robert B. Quattlebaum Jr.
-**
-** This package 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 package 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.
-**
-** === N O T E S ===========================================================
-**
-** This is an internal header file, included by other ETL headers.
-** You should not attempt to use it directly.
-**
-** ========================================================================= */
-
-/* === S T A R T =========================================================== */
-
-#ifndef __ETL_FASTANGLE_H
-#define __ETL_FASTANGLE_H
-
-/* === H E A D E R S ======================================================= */
-
-#include <cmath>
-#include <ETL/fixed>
-
-#include "_fastangle_tables.h"
-
-/* === M A C R O S ========================================================= */
-
-#ifndef PI
-# define PI (3.1415926535897932384626433832795029L)
-#endif
-
-#define ETL_FASTANGLE_INIT()
-
-/* === T Y P E D E F S ===================================================== */
-
-/* === C L A S S E S & S T R U C T S ======================================= */
-
-_ETL_BEGIN_NAMESPACE
-
-/*! ========================================================================
-** \class fastangle
-** \brief Optimized abstraction of the concept of an angle
-**
-** A more detailed description needs to be written.
-*/
-class fastangle
-{
-public:
- typedef double value_type;
-
-protected:
- typedef fixed_base<ETL_FIXED_TYPE,ETL_FASTANGLE_LOOKUP_RES> unit;
-
- unit v; //! Stored in rotations
-
-public:
-
- /*
- ** Arithmetic Operators
- */
-
- //! fastangle Addition Operator
- fastangle
- operator+(const fastangle &rhs)const
- {
- fastangle ret;
- ret.v=v+rhs.v;
- return ret;
- }
-
- //! fastangle Subtraction Operator
- /*! \sa fastangle dist(const fastangle &) */
- fastangle
- operator-(const fastangle &rhs)const
- {
- fastangle ret;
- ret.v=v-rhs.v;
- return ret;
- }
-
- //! fastangle Scalar Multiplication Operator
- /*! This operator will multiply the given
- fastangle by the given scalar value. */
- fastangle
- operator*(const unit &rhs)const
- {
- fastangle ret;
- ret.v=v*rhs;
- return ret;
- }
-
- fastangle
- operator/(const unit &rhs)const
- {
- fastangle ret;
- ret.v=v/rhs;
- return ret;
- }
-
- const fastangle &
- operator+=(const fastangle &rhs)
- {
- v+=rhs.v;
- return *this;
- }
-
- const fastangle &
- operator-=(const fastangle &rhs)
- {
- v-=rhs.v;
- return *this;
- }
-
- const fastangle &
- operator*=(const unit &rhs)
- {
- v*=rhs;
- return *this;
- }
-
- const fastangle &
- operator/=(const unit &rhs)
- {
- v/=rhs;
- return *this;
- }
-
- //! fastangle Negation
- fastangle
- operator-()const
- {
- fastangle ret;
- ret.v=-v;
- return ret;
- }
-
- //! 180 degree rotation operator
- /*! Returns the fastangle directly opposite of
- the given fastangle, and will yield a result
- between 0 and 2PI */
- fastangle
- operator~()const
- {
- fastangle ret;
- ret.v=(unit)std::floor(v+0.5f);
- return ret;
- }
-
- /*! Returns true if the shortest
- fastangle between the left-hand and
- right-hand side is clockwise */
- bool
- operator<(const fastangle &rhs)const
- { return v<rhs.v; }
-// { return dist(rhs).v<(value_type)0.0; }
-
- /*! Returns true if the shortest
- fastangle between the left-hand and
- right-hand side is counter-clockwise */
- bool
- operator>(const fastangle &rhs)const
- { return v>rhs.v; }
-// { return dist(rhs).v>(value_type)0.0; }
-
- /*! Returns true if the shortest
- fastangle between the left-hand and
- right-hand side is clockwise,
- or if the angles are refer to the same
- point on the unit circle. */
- bool
- operator<=(const fastangle &rhs)const
- { return v<=rhs.v; }
-// { return dist(rhs).v<=(value_type)0.0; }
-
- /*! Returns true if the shortest
- fastangle between the left-hand and
- right-hand side is counter-clockwise,
- or if the angles are refer to the same
- point on the unit circle. */
- bool
- operator>=(const fastangle &rhs)const
- { return v>=rhs.v; }
-// { return dist(rhs).v>=(value_type)0.0; }
-
- /*! Returns true if the angles
- are refer to the same point
- on the unit circle. */
- bool
- operator==(const fastangle &rhs)const
- { return v==rhs.v; }
-// { return dist(rhs).v==(value_type)0.0; }
-
- /*! Returns false if the angles
- are refer to the same point
- on the unit circle. */
- bool
- operator!=(const fastangle &rhs)const
- { return v!=rhs.v; }
-// { return dist(rhs).v!=(value_type)0.0; }
-
- //! fastangle Difference Function
- /*! This function will return the
- shortest physical distance between
- two angles, from -PI/2 to PI/2
- \warning Not yet tested
- \sa fastangle operator-(const fastangle &) */
- fastangle
- dist(const fastangle &rhs)const
- {
- fastangle ret;
- ret.v=v-rhs.v;
- ret.v-=(unit)std::floor(ret.v+0.5f);
- return ret;
- }
-
- //! Rotation Modulus
- /*! This function will return the
- value of the fastangle between 0 and 2PI */
- fastangle
- mod()const
- {
- fastangle ret(*this);
- ret.v-=(unit)std::floor(ret.v);
- return ret;
- }
-
- static fastangle
- zero()
- {
- fastangle ret;
- ret.v=0;
- return ret;
- }
-
- bool operator!()const { return v==unit(0); }
-
- /*
- ** Conversion Classes
- */
-
- class radians;
- class degrees;
- class rotations;
-
- /*
- ** Trigonometric Classes
- */
-
- class sin;
- class cos;
- class tan;
-
- /*
- ** Friend classes
- */
-
- friend class radians;
- friend class degrees;
- friend class rotations;
- friend class sin;
- friend class cos;
- friend class tan;
-
- /*
- ** Bleh...
- */
-
- typedef radians rad;
- typedef degrees deg;
- typedef rotations rot;
-
-}; // END of class fastangle
-
-/*! ========================================================================
-** \class fastangle::radians
-** \brief fastangle representation in radians
-**
-** A more detailed description needs to be written.
-*/
-class fastangle::radians : public fastangle
-{
-public:
- radians(const value_type &x) { v=x/((value_type)PI*2.0f); }
- radians(const fastangle &a):fastangle(a) { }
- radians mod()const { return fastangle::mod(); }
- radians dist(const fastangle &rhs)const { return fastangle::dist(rhs); }
- operator value_type()const { return get(); }
- value_type get()const { return (value_type)v*(value_type)PI*2.0f; }
-}; // END of class fastangle::radians
-
-/*! ========================================================================
-** \class fastangle::degrees
-** \brief fastangle representation in degrees
-**
-** A more detailed description needs to be written.
-*/
-class fastangle::degrees : public fastangle
-{
-public:
- degrees(const value_type &x) { v=x/360; }
- degrees(const fastangle &a):fastangle(a) { }
- degrees mod()const { return fastangle::mod(); }
- degrees dist(const fastangle &rhs)const { return fastangle::dist(rhs); }
- operator value_type()const { return get(); }
- value_type get()const { return v*360/*(value_type)(v-::floor(v))*360*/; }
-}; // END of class fastangle::degrees
-
-/*! ========================================================================
-** \class fastangle::rotations
-** \brief fastangle representation in rotations
-**
-** A more detailed description needs to be written.
-*/
-class fastangle::rotations : public fastangle
-{
-public:
- rotations(const value_type &x) { v=x; }
- rotations(const fastangle &a):fastangle(a) { }
- rotations mod()const { return fastangle::mod(); }
- rotations dist(const fastangle &rhs)const { return fastangle::dist(rhs); }
- operator value_type()const { return get(); }
- value_type get()const { return v; }
-}; // END of class fastangle::rotations
-
-/*! ========================================================================
-** \class fastangle::sin
-** \brief fastangle representation as a sine function
-**
-** A more detailed description needs to be written.
-*/
-class fastangle::sin : public fastangle
-{
-public:
- sin(const value_type &x) { v.data()=_fastangle_asin_table[(int)((x+1)*(value_type)(1<<(ETL_FASTANGLE_LOOKUP_RES-1)))]; }
- sin(const fastangle &a):fastangle(a) { }
- sin mod()const { return fastangle::mod(); }
- sin dist(const fastangle &rhs)const { return fastangle::dist(rhs); }
- operator value_type()const { return get(); }
- value_type get()const { return (value_type)_fastangle_sin_table[v.data()&( (1<<ETL_FASTANGLE_LOOKUP_RES)-1)]; }
-}; // END of class fastangle::sin
-
-/*! ========================================================================
-** \class fastangle::cos
-** \brief fastangle representation as a cosine function
-**
-** A more detailed description needs to be written.
-*/
-class fastangle::cos : public fastangle
-{
-public:
- cos(const value_type &x) { v.data()=(1<<(ETL_FASTANGLE_LOOKUP_RES-2))-_fastangle_asin_table[(int)((x+1)*(value_type)(1<<(ETL_FASTANGLE_LOOKUP_RES-1)))]; }
- cos(const fastangle &a):fastangle(a) { }
- cos mod()const { return fastangle::mod(); }
- cos dist(const fastangle &rhs)const { return fastangle::dist(rhs); }
- operator value_type()const { return get(); }
- value_type get()const { return (value_type)_fastangle_sin_table[(v.data()+(1<<(ETL_FASTANGLE_LOOKUP_RES-2)))&( (1<<ETL_FASTANGLE_LOOKUP_RES)-1)]; }
-}; // END of class fastangle::cos
-
-/*! ========================================================================
-** \class fastangle::tan
-** \brief fastangle representation as a tangent function
-**
-** A more detailed description needs to be written.
-*/
-class fastangle::tan : public fastangle
-{
-public:
- tan(const value_type &x)
- {
- if(x>1)
- v.data()=(1<<(ETL_FASTANGLE_LOOKUP_RES-2))-_fastangle_atan_table[(int)(((1.0/x)+1)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- else if(x<-1)
- v.data()=-(1<<(ETL_FASTANGLE_LOOKUP_RES-1)) + (1<<(ETL_FASTANGLE_LOOKUP_RES-2)) - _fastangle_atan_table[(int)(((1.0/x)+1)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- else
- v.data()=_fastangle_atan_table[(int)((x+1)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- }
-
- tan(const value_type &y,const value_type &x)
- {
- if(x>=0 && y>=0) // First quadrant
- {
- if(y>x)
- v.data()=(1<<(ETL_FASTANGLE_LOOKUP_RES-2))-_fastangle_atan_table[(int)(((x/y)+1)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- else
- v.data()=_fastangle_atan_table[(int)(((y/x)+1)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- }
- else if(x>=0 && y<0) // Fourth quadrant
- {
- if(-y>x)
- v.data()=-(1<<(ETL_FASTANGLE_LOOKUP_RES-1)) + (1<<(ETL_FASTANGLE_LOOKUP_RES-2))-_fastangle_atan_table[(int)(((x/y)+1.0)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- else
- v.data()=_fastangle_atan_table[(int)(((y/x)+1.0)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- }
- else if(x<0 && y>=0) // Second quadrant
- {
- if(y>-x)
- v.data()=(1<<(ETL_FASTANGLE_LOOKUP_RES-2))-_fastangle_atan_table[(int)(((x/y)+1.0)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))];
- else
- v.data()=_fastangle_atan_table[(int)(((y/x)+1.0)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))]+(1<<(ETL_FASTANGLE_LOOKUP_RES-1));
- }
- else if(x<0 && y<0) // Third Quadrant
- {
- if(-y>-x)
- v.data()=(1<<(ETL_FASTANGLE_LOOKUP_RES-2))-_fastangle_atan_table[(int)(((x/y)+1.0)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))] - (1<<(ETL_FASTANGLE_LOOKUP_RES-1));
- else
- v.data()=_fastangle_atan_table[(int)(((y/x)+1.0)*(value_type)((1<<(ETL_FASTANGLE_LOOKUP_RES-1))-1))]-(1<<(ETL_FASTANGLE_LOOKUP_RES-1));
- }
- else v.data()=0;
- }
- tan(const fastangle &a):fastangle(a) { }
- tan mod()const { return fastangle::mod(); }
- tan dist(const fastangle &rhs)const { return fastangle::dist(rhs); }
- operator value_type()const { return get(); }
- value_type get()const { return (value_type)_fastangle_tan_table[v.data()&( (1<<ETL_FASTANGLE_LOOKUP_RES)-1)]; }
-}; // END of class fastangle::tan
-
-_ETL_END_NAMESPACE
-
-template <>
-struct affine_combo<etl::fastangle,float>
-{
- etl::fastangle operator()(const etl::fastangle &a,const etl::fastangle &b,const float &t)const
- {
- return b.dist(a)*t+a;
- }
-
- etl::fastangle reverse(const etl::fastangle &x, const etl::fastangle &b, const float &t)const
- {
- return x.dist(b*t)*((float)1/((float)1-t));
- }
-};
-
-template <>
-struct distance_func<etl::fastangle> : public std::binary_function<etl::fastangle, etl::fastangle, etl::fastangle>
-{
- etl::fastangle operator()(const etl::fastangle &a,const etl::fastangle &b)const
- {
- etl::fastangle delta=b.dist(a);
- if(delta<etl::fastangle::zero())
- return -delta;
- return delta;
- }
-
- etl::fastangle cook(const etl::fastangle &x) { return x; }
- etl::fastangle uncook(const etl::fastangle &x) { return x; }
-};
-
-/* === E N D =============================================================== */
-
-#endif
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