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/* vector.c: vector/point operations. */
#define _XOPEN_SOURCE 500 /* get M_PI in math.h */
#include <math.h>
#include <errno.h>
#include <assert.h>
#include <string.h>
#include "pm_c_util.h"
#include "vector.h"
#include "message.h"
#include "epsilon.h"
static float
acosD(float const v,
at_exception_type * const excepP) {
float vAdj;
float a;
float retval;
if (epsilon_equal(v, 1.0))
vAdj = 1.0;
else if (epsilon_equal(v, -1.0))
vAdj = -1.0;
else
vAdj = v;
errno = 0;
a = acos(vAdj);
if (errno == ERANGE || errno == EDOM) {
at_exception_fatal(excepP, strerror(errno));
retval = 0.0;
} else
retval = a * 180.0 / M_PI;
return retval;
}
Vector
vector_fromPoint(Point const c) {
/* Vector corresponding to point 'c', taken as a vector from the origin. */
Vector v;
v.dx = c.x;
v.dy = c.y;
v.dz = c.z;
return v;
}
Vector
vector_fromTwoPoints(Point const c1,
Point const c2) {
Vector retval;
retval.dx = c1.x - c2.x;
retval.dy = c1.y - c2.y;
retval.dz = c1.z - c2.z;
return retval;
}
/* And the converse: given a vector, return the corresponding point. */
Point
vector_toPoint_point(Vector const v) {
/* vector as a point, i.e., a displacement from the origin. */
Point coord;
coord.x = v.dx;
coord.y = v.dy;
coord.z = v.dz;
return coord;
}
float
vector_magnitude(Vector const v) {
return sqrt(SQR(v.dx) + SQR(v.dy) + SQR(v.dz));
}
Vector
vector_normalized(Vector const v) {
Vector new_v;
float const m = vector_magnitude(v);
if (m > 0.0) {
new_v.dx = v.dx / m;
new_v.dy = v.dy / m;
new_v.dz = v.dz / m;
} else {
new_v.dx = v.dx;
new_v.dy = v.dy;
new_v.dz = v.dz;
}
return new_v;
}
Vector
vector_sum(Vector const addend,
Vector const adder) {
Vector retval;
retval.dx = addend.dx + adder.dx;
retval.dy = addend.dy + adder.dy;
retval.dz = addend.dz + adder.dz;
return retval;
}
float
vector_dotProduct(Vector const v1,
Vector const v2) {
return v1.dx * v2.dx + v1.dy * v2.dy + v1.dz * v2.dz;
}
Vector
vector_scaled(Vector const v,
float const r) {
Vector retval;
retval.dx = v.dx * r;
retval.dy = v.dy * r;
retval.dz = v.dz * r;
return retval;
}
float
vector_angle(Vector const inVector,
Vector const outVector,
at_exception_type * const exP) {
/* The angle between 'inVector' and 'outVector' in degrees, in the range zero
to 180.
*/
Vector const v1 = vector_normalized(inVector);
Vector const v2 = vector_normalized(outVector);
return acosD(vector_dotProduct(v2, v1), exP);
}
Point
vector_sumPoint(Point const c,
Vector const v) {
Point retval;
retval.x = c.x + v.dx;
retval.y = c.y + v.dy;
retval.z = c.z + v.dz;
return retval;
}
Point
vector_diffPoint(Point const c,
Vector const v) {
Point retval;
retval.x = c.x - v.dx;
retval.y = c.y - v.dy;
retval.z = c.z - v.dz;
return retval;
}
Vector
vector_IPointDiff(pm_pixelcoord const coord1,
pm_pixelcoord const coord2) {
Vector retval;
retval.dx = (int) (coord1.col - coord2.col);
retval.dy = (int) (coord1.row - coord2.row);
retval.dz = 0.0;
return retval;
}
pm_pixelcoord
vector_sumIntPoint(pm_pixelcoord const c,
Vector const v) {
/* This returns the rounded sum. */
pm_pixelcoord retval;
retval.col = ROUND ((float) c.col + v.dx);
retval.row = ROUND ((float) c.row + v.dy);
return retval;
}
Vector
vector_abs(Vector const v) {
/* First-quadrant mirror of 'v' (both components unsigned) */
Vector retval;
retval.dx = (float) fabs (v.dx);
retval.dy = (float) fabs (v.dy);
retval.dz = (float) fabs (v.dz);
return retval;
}
Vector
vector_pointDirection(Point const final,
Point const initial) {
return vector_normalized(vector_fromTwoPoints(final, initial));
}
Vector
vector_horizontal(void) {
Vector retval;
retval.dx = 1.0;
retval.dy = 0.0;
retval.dz = 0.0;
return retval;
}
Vector
vector_zero(void) {
Vector retval;
retval.dx = 0.0;
retval.dy = 0.0;
retval.dz = 0.0;
return retval;
}
bool
vector_equal(Vector const comparand,
Vector const comparator) {
return
epsilon_equal(comparand.dx, comparator.dx)
&&
epsilon_equal(comparand.dy, comparator.dy)
&&
epsilon_equal(comparand.dz, comparator.dz)
;
}
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