work on beacon

[aversive.git] / modules / base / math / geometry / vect_base.c

diff --git a/modules/base/math/geometry/vect_base.c b/modules/base/math/geometry/vect_base.c
index f36724c..6008440 100755 (executable)
--- a/modules/base/math/geometry/vect_base.c
+++ b/modules/base/math/geometry/vect_base.c
@@ -1,26 +1,47 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ *
+ *  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
+ *
+ *  Revision : $Id: f16.h,v 1.6.4.3 2008-05-10 15:06:26 zer0 Exp $
+ *
+ */
+
 #include <stdint.h>
 #include <math.h>
 #include <vect_base.h>
- 
+
 /* Return scalar product */
-int32_t 
+float
 vect_pscal(vect_t *v, vect_t *w)
 {
        return v->x * w->x + v->y * w->y;
 }
 
 /* Return Z of vectorial product */
-int32_t 
+float
 vect_pvect(vect_t *v, vect_t *w)
 {
        return v->x*w->y - v->y*w->x;
 }
 
 /* Return scalar product */
-int8_t 
+int8_t
 vect_pscal_sign(vect_t *v, vect_t *w)
 {
-       int32_t z;
+       float z;
        z = vect_pscal(v, w);
        if (z==0)
                return 0;
@@ -28,51 +49,70 @@ vect_pscal_sign(vect_t *v, vect_t *w)
 }
 
 /* Return Z of vectorial product */
-int8_t 
+int8_t
 vect_pvect_sign(vect_t *v, vect_t *w)
 {
-       int32_t z;
+       float z;
        z = vect_pvect(v, w);
        if (z==0)
                return 0;
        return z>0?1:-1;
 }
 
-/* norm of a vector */
-float
-vect_norm(vect_t *v)
+float xy_norm(float x1, float y1, float x2, float y2)
 {
-       return sqrt(v->x*v->x+v->y*v->y);
+       float x = x2 - x1;
+       float y = y2 - y1;
+       return sqrt(x*x + y*y);
 }
 
+float pt_norm(const point_t *p1, const point_t *p2)
+{
+       float x = p2->x - p1->x;
+       float y = p2->y - p1->y;
+       return sqrt(x*x + y*y);
+}
 
+/* norm of a vector */
+float vect_norm(const vect_t *v)
+{
+       return sqrt(v->x*v->x+v->y*v->y);
+}
 
 void vect_rot_trigo(vect_t *v)
 {
-       int32_t s;
-    
+       float s;
+
        s = v->x;
        v->x= -v->y;
        v->y = s;
-}    
+}
 
 void vect_rot_retro(vect_t *v)
 {
-       int32_t s;
-    
+       float s;
+
        s = v->x;
        v->x= v->y;
        v->y = -s;
-}    
+}
 
 
 float vect_get_angle(vect_t *v, vect_t *w)
 {
-       int32_t ps;
+       float ps;
        float n;
-       
+
        ps = vect_pscal(v, w);
        n = vect_norm(v) * vect_norm(w);
-       
+
        return acos((float)ps/n);
 }
+
+void vect_resize(vect_t *v, float l)
+{
+       float old_l = vect_norm(v);
+       float x = v->x, y = v->y;
+       v->x = x * l / old_l;
+       v->y = y * l / old_l;
+}