math_sdr.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef MATH_SDR_H 
#define MATH_SDR_H 
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
/* Includes ------------------------------------------------------------------*/
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <string.h>
 
 
/* Typedefs ------------------------------------------------------------------*/
 
/* Quaternion */
typedef struct _QUAT
    {
    float w, x, y, z;
    } QUAT;

typedef struct _VECTOR_3F
    {
    float x;
    float y;
    float z;
    } VECTOR_3F;
 
/* Macros --------------------------------------------------------------------*/
 
/* Constants */
#define GRAVITY 9.8f
#define IDENTITY_QUAT ((QUAT) {1.0f, 0.0f, 0.0f, 0.0f })
 

#define util_set_bit( orig, idx ) ( orig | ( 1 << idx ) )
 

#define rad_to_deg(x) ((x) * 57.29577951f)
 

#define deg_to_rad(x) ((x) * 0.01745329252f)
 

#define array_size( array ) ( sizeof( array ) / sizeof( array[0] ) )
 
/* Function Prototypes -------------------------------------------------------*/
 
uint32_t crc32
    (
    const uint8_t *data, 
    size_t len
    );
 
float clamp_float
    (
    float value,
    float minimum,
    float maximum
    );
 
/* Quaternions ---------------------------------------------------------------*/
 
QUAT eul_to_quat
    (
    float yaw,
    float pitch,
    float roll
    );
 
QUAT quat_mult
    (
    QUAT a,
    QUAT b
    );
 
float quat_dot
    (
    QUAT a,
    QUAT b
    );
 
QUAT quat_add
    (
    QUAT a,
    QUAT b
    );
 
QUAT quat_scale
    (
    QUAT q,
    float s
    );
 
QUAT quat_normalize
    (
    QUAT q
    );
 
QUAT quat_conj
    (
    QUAT q
    );
 
QUAT quat_rotate_world_to_body
    (
    QUAT attitude,
    QUAT vector_world
    );
 
QUAT quat_rotate_body_to_world
    (
    QUAT attitude,
    QUAT vector_body
    );
 
bool quat_is_finite
    (
    QUAT quaternion
    );
 
/* Vectors -------------------------------------------------------------------*/
 
bool vector_is_finite
    (
    VECTOR_3F vector
    );
 
float vector_magnitude
    (
    VECTOR_3F vector
    );
 
bool vector_normalize
    (
    VECTOR_3F *vector
    );
 
VECTOR_3F vector_cross
    (
    VECTOR_3F a,
    VECTOR_3F b
    );
 
VECTOR_3F vector_add
    (
    VECTOR_3F a,
    VECTOR_3F b
    );
 
VECTOR_3F vector_scale
    (
    VECTOR_3F vector,
    float scalar
    );
 
#ifdef __cplusplus
}
#endif
#endif /* MATH_SDR_H */
 
/*******************************************************************************
* END OF FILE                                                                  * 
*******************************************************************************/