128 lines
3.9 KiB
C++
128 lines
3.9 KiB
C++
/*
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* math_inc.h
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*
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* Created on: 20 äĺę. 2017 ă.
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* Author: titov
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*/
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#ifndef SOURCE_COMMON_MATH_INC_H_
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#define SOURCE_COMMON_MATH_INC_H_
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#include <cmath>
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#include <utility>
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namespace math {
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namespace constants {
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constexpr float pi2 = 3.141592653589793238462643383279502884197169399375105820974944f * 2.0f;
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constexpr float pi = 3.141592653589793238462643383279502884197169399375105820974944f * 1.0f;
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constexpr float pi_2 = 3.141592653589793238462643383279502884197169399375105820974944f / 2.0f;
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constexpr float pi_3 = 3.141592653589793238462643383279502884197169399375105820974944f / 3.0f;
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constexpr float pi_4 = 3.141592653589793238462643383279502884197169399375105820974944f / 4.0f;
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constexpr float pi_6 = 3.141592653589793238462643383279502884197169399375105820974944f / 6.0f;
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constexpr float pi0_3 = 3.141592653589793238462643383279502884197169399375105820974944f * 0.0f / 3.0f;
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constexpr float pi1_3 = pi_3;
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constexpr float pi2_3 = 3.141592653589793238462643383279502884197169399375105820974944f * 2.0f / 3.0f;
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constexpr float pi3_3 = pi;
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constexpr float pi4_3 = 3.141592653589793238462643383279502884197169399375105820974944f * 4.0f / 3.0f;
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constexpr float pi5_3 = 3.141592653589793238462643383279502884197169399375105820974944f * 5.0f / 3.0f;
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constexpr float pi6_3 = pi2;
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constexpr float _1_pi = 0.3183098861837906715f;
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constexpr float _2_pi = 0.6366197723675813430f;
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constexpr float sqrt3 = 1.73205080757f;
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constexpr float sqrt3_2 = 1.73205080757f / 2.0f;
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constexpr float sqrt2 = 1.4142135623730950488f;
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constexpr float _1_sqrt2 = 0.7071067811865475244f;
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constexpr float _2_sqrtpi = 1.1283791670955125739f;
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constexpr float e = 2.7182818284590452354f;
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constexpr float log2e = 1.4426950408889634074f;
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constexpr float log10e = 0.4342944819032518276f;
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constexpr float ln2 = 0.6931471805599453094f;
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constexpr float ln10 = 2.3025850929940456840f;
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}
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namespace function {
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//!Ôóíęöč˙ âű÷čńë˙ĺň âđĺě˙ äë˙ çŕäŕííîăî ďĺđĺěĺůĺíč˙ ń çŕäŕííűěč îăđŕíč÷ĺíč˙ěč ńęîđîńňč č óńęîđĺíč˙ äë˙ đŕâíîóńęîđĺííîăî ďđîôčë˙ äâčćĺíč˙.
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inline float get_time( float s, float v, float a ) {
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using namespace std;
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float v_max = sqrt( s / a ) * a;
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if( v_max > v )
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return s / v + v / a;
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else
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return sqrt( s / a ) * 2;
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}
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//!Ôóíęöč˙
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inline void sincos(float angle, float * sin_val, float * cos_val) {
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using namespace std;
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*sin_val = sin(angle);
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*cos_val = cos(angle);
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}
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inline float isqrt(float val ) {
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using namespace std;
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return 1.0f / sqrt(val);
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}
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inline float q_rsqrt( float number ) {
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using namespace std;
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long i;
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float x2, y;
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const float threehalfs = 1.5f;
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x2 = number * 0.5f;
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y = number;
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i = * ( long * ) &y; // evil floating point bit level hacking
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i = 0x5f3759dfl - ( i >> 1 );
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y = * ( float * ) &i;
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y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
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y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
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return y;
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}
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inline float saturation( float value, float max, float min ) {
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using namespace std;
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return fmaxf( fminf( value, max ), min );
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}
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inline float turn( float value ) {
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return value > math::constants::pi ? value - math::constants::pi2 :
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value <= -math::constants::pi ? value + math::constants::pi2 :
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value;
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}
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inline std::pair<float, float> calculate_kb( float x1, float x2, float y1, float y2 ) {
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float coefficient = ( y2 - y1 ) / ( x2 - x1 );
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float offset = y1 - x1 * coefficient;
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return { coefficient, offset };
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}
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}
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}
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#endif /* SOURCE_COMMON_MATH_INC_H_ */
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