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/*
* Copyright (C) 2016 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "common/math/vec.h"
#include "common/math/macros.h"
void findOrthogonalVector(float inX, float inY, float inZ, float *outX,
float *outY, float *outZ) {
ASSERT_NOT_NULL(outX);
ASSERT_NOT_NULL(outY);
ASSERT_NOT_NULL(outZ);
float x, y, z;
// discard the one with the smallest absolute value
if (fabsf(inX) <= fabsf(inY) && fabsf(inX) <= fabsf(inZ)) {
x = 0.0f;
y = inZ;
z = -inY;
} else if (fabsf(inY) <= fabsf(inZ)) {
x = inZ;
y = 0.0f;
z = -inX;
} else {
x = inY;
y = -inX;
z = 0.0f;
}
float magSquared = x * x + y * y + z * z;
ASSERT(magSquared > 0);
// Only set invMag if magSquared is non-zero.
float invMag = 1.0f;
if (magSquared > 0) {
invMag = 1.0f / sqrtf(magSquared);
}
*outX = x * invMag;
*outY = y * invMag;
*outZ = z * invMag;
}
void vecAdd(float *u, const float *v, const float *w, size_t dim) {
ASSERT_NOT_NULL(u);
ASSERT_NOT_NULL(v);
ASSERT_NOT_NULL(w);
size_t i;
for (i = 0; i < dim; i++) {
u[i] = v[i] + w[i];
}
}
void vecAddInPlace(float *v, const float *w, size_t dim) {
ASSERT_NOT_NULL(v);
ASSERT_NOT_NULL(w);
size_t i;
for (i = 0; i < dim; i++) {
v[i] += w[i];
}
}
void vecSub(float *u, const float *v, const float *w, size_t dim) {
ASSERT_NOT_NULL(u);
ASSERT_NOT_NULL(v);
ASSERT_NOT_NULL(w);
size_t i;
for (i = 0; i < dim; i++) {
u[i] = v[i] - w[i];
}
}
void vecScalarMul(float *u, const float *v, float c, size_t dim) {
ASSERT_NOT_NULL(u);
ASSERT_NOT_NULL(v);
size_t i;
for (i = 0; i < dim; i++) {
u[i] = c * v[i];
}
}
void vecScalarMulInPlace(float *v, float c, size_t dim) {
ASSERT_NOT_NULL(v);
size_t i;
for (i = 0; i < dim; i++) {
v[i] *= c;
}
}
float vecNorm(const float *v, size_t dim) {
ASSERT_NOT_NULL(v);
float norm_sq = vecNormSquared(v, dim);
return sqrtf(norm_sq);
}
float vecNormSquared(const float *v, size_t dim) {
ASSERT_NOT_NULL(v);
return vecDot(v, v, dim);
}
float vecDot(const float *v, const float *w, size_t dim) {
ASSERT_NOT_NULL(v);
ASSERT_NOT_NULL(w);
size_t i;
float result = 0;
for (i = 0; i < dim; ++i) {
result += v[i] * w[i];
}
return result;
}
float vecMaxAbsoluteValue(const float *v, size_t dim) {
ASSERT_NOT_NULL(v);
float max = NANO_ABS(v[0]);
float tmp;
size_t i;
for (i = 1; i < dim; ++i) {
tmp = NANO_ABS(v[i]);
if(tmp > max) {
max = tmp;
}
}
return max;
}
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