115 lines
2.6 KiB
C
115 lines
2.6 KiB
C
#include "coord.h"
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#include "FxEngine.h"
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/* Cosinus and sinus implementation */
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/// Math values
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const double pi=3.141592653589793238462643383279;
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const double pi2=pi*2;
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const double pi_sur2=pi/2;
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/// Internal Use
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// cos function with 0<a<pi/2
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static const int precision;
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static double reducted_cos(const double a)
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{
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double u=1.0; const double a2=a*a;
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// precision%2=1 && precision>1
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for(int p=precision;p>=1;p-=2)
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u=1-a2/(p*p+p)*u;
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return u;
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}
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// return a with -pi<=a<pi
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double FE_modulo_2pi(double a)
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{
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while (a<=-pi) a+=pi2;
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while (a>pi) a-=pi2;
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return a;
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}
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/// External functions
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// Official FE_cos function
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double FE_cos(double angle)
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{
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angle=FE_modulo_2pi(angle);
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int angle_arrondi=(int)(angle/pi_sur2);
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switch (angle_arrondi)
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{
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case -2:
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return -reducted_cos(angle+pi);
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case 1:
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return -reducted_cos(angle);
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case -1:
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return reducted_cos(-angle);
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case 0:
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return reducted_cos(angle);
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}
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return 0;
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}
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// Official FE_sin function
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double FE_sin(double angle)
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{return FE_cos(angle-pi_sur2);}
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static double matrice[4][4]=
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{
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{0,0,0,0},
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{0,0,0,0},
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{0,0,0,0},
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{0,0,0,1}
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};
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void FE_calc(FE_point* point)
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{
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static FE_position temp;
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temp.x = point->real.x - FE_user.x;
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temp.y = point->real.y - FE_user.y;
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temp.z = point->real.z - FE_user.z;
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temp.x *=15;
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temp.y *=15;
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temp.z *=15;
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point->translated.x = (double)(matrice[0][0]*(double)temp.x + matrice[0][1]*(double)temp.y + matrice[0][2]*(double)temp.z);
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point->translated.z = (double)(matrice[1][0]*(double)temp.x + matrice[1][1]*(double)temp.y + matrice[1][2]*(double)temp.z);
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point->translated.y = (double)(matrice[2][0]*(double)temp.x + matrice[2][1]*(double)temp.y + matrice[2][2]*(double)temp.z);
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//point->translated.x*=10;
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//point->translated.y*=10;
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//point.translated.x/=point.translated.z;
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//point.translated.y/=point.translated.z;
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}
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void FE_set_matrice(void)
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{
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const double A=FE_cos(FE_dh), B=FE_sin(FE_dh);
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const double C=FE_cos(FE_dv), D=FE_sin(FE_dv);
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const double E=FE_cos(FE_roulis), F=FE_sin(FE_roulis);
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const double AD=A*D, BD=B*D;
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matrice[0][0]=C*E;
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matrice[0][1]=-C*F;
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matrice[0][2]=D;
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//matrice[0][3]=0;
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matrice[1][0]=BD*E+A*F;
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matrice[1][1]=-BD*F+A*E;
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matrice[1][2]=-B*C;
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//matrice[1][3]=0;
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matrice[2][0]=-AD*E+B*F;
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matrice[2][1]=AD*F+B*E;
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matrice[2][2]=A*C;
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//matrice[2][2]=0;
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//matrice[3][0]=0;
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//matrice[3][1]=0;
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//matrice[3][2]=0;
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//matrice[3][3]=1;
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}
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