X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fbase%2Fmath%2Fgeometry%2Fvect_base.c;h=9ea271dc81461677cb332dc0c0a0e75fb91aeed4;hp=f36724c40601410f8c32608f50cd4c9dad2c2707;hb=a875ac1ccbff0fa41013996ec6d50d4b78f53d01;hpb=ccc6954bb046671b9e28c5806db5121c1eef49c0

diff --git a/modules/base/math/geometry/vect_base.c b/modules/base/math/geometry/vect_base.c
index f36724c..9ea271d 100755
--- a/modules/base/math/geometry/vect_base.c
+++ b/modules/base/math/geometry/vect_base.c
@@ -1,16 +1,37 @@
+/*
+ *  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;
@@ -20,7 +41,7 @@ vect_pvect(vect_t *v, vect_t *w)
 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;
@@ -31,13 +52,27 @@ vect_pscal_sign(vect_t *v, vect_t *w)
 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;
 }
 
+/* float norm(float x1, float y1, float x2, float y2) */
+/* { */
+/* 	float x = x2 - x1; */
+/* 	float y = y2 - y1; */
+/* 	return sqrt(x*x + y*y); */
+/* } */
+
+float pt_norm(point_t *p1, 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(vect_t *v)
@@ -45,11 +80,9 @@ vect_norm(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;
@@ -58,7 +91,7 @@ void vect_rot_trigo(vect_t *v)
 
 void vect_rot_retro(vect_t *v)
 {
-	int32_t s;
+	float s;
     
 	s = v->x;
 	v->x= v->y;
@@ -68,7 +101,7 @@ void vect_rot_retro(vect_t *v)
 
 float vect_get_angle(vect_t *v, vect_t *w)
 {
-	int32_t ps;
+	float ps;
 	float n;
 	
 	ps = vect_pscal(v, w);
@@ -76,3 +109,11 @@ float vect_get_angle(vect_t *v, vect_t *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;
+}