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author heinrichsweikamp
date Sat, 28 Apr 2018 11:52:34 +0200
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37:ccc45c0e1ea2 38:5f11787b4f42
1 ///////////////////////////////////////////////////////////////////////////////
2 /// -*- coding: UTF-8 -*-
3 ///
4 /// \file Discovery/Inc/Utils.h
5 /// \brief Various Utilities...
6 /// \author Heinrichs Weikamp
7 /// \date 2018
8 ///
9 /// $Id$
10 ///////////////////////////////////////////////////////////////////////////////
11 /// \par Copyright (c) 2014-2018 Heinrichs Weikamp gmbh
12 ///
13 /// This program is free software: you can redistribute it and/or modify
14 /// it under the terms of the GNU General Public License as published by
15 /// the Free Software Foundation, either version 3 of the License, or
16 /// (at your option) any later version.
17 ///
18 /// This program is distributed in the hope that it will be useful,
19 /// but WITHOUT ANY WARRANTY; without even the implied warranty of
20 /// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
21 /// GNU General Public License for more details.
22 ///
23 /// You should have received a copy of the GNU General Public License
24 /// along with this program. If not, see <http://www.gnu.org/licenses/>.
25 //////////////////////////////////////////////////////////////////////////////
26
27 #ifndef UTILS_H
28 #define UTILS_H
29
30 #include <stdint.h>
31 #include <stdbool.h>
32 #include <math.h>
33
34 #ifdef FloatToFixed
35 #undef FloatToFixed
36 #undef IntToFixed
37 #undef FixedToFloat
38 #undef FixedToInt
39 #endif
40
41 //
42 // 20.12 fixed-point operations
43 //
44
45 #define Fix(val) ((val)*4096)
46 #define F(val) Fix(val)
47
48 #define FixSqrt2 5793
49 #define FixInvSqrt2 2896
50 #define FixSinPiDiv4 FixInvSqrt2
51 #define FixCosPiDiv4 FixInvSqrt2
52 #define FixSinPiDiv8 1567
53 #define FixCosPiDiv8 3784
54
55 static inline int32_t FloatToFixed(float val) { return val*4096.0f; }
56 static inline int32_t IntToFixed(int val) { return val<<12; }
57 static inline int32_t IntToFixedPlusHalf(int val) { return (val<<12)+0x800; }
58
59 static inline float FixedToFloat(int32_t val) { return (float)val/4096.0f; }
60 static inline int32_t FixedToInt(int32_t val) { return val>>12; }
61 static inline int32_t FixedToRoundedInt(int32_t val) { return (val+0x800)>>12; }
62
63 //static inline int32_t FixedMul(int32_t a,int32_t b) { return ((int64_t)a*(int64_t)b)>>16; }
64
65 static inline int32_t imin(int32_t a,int32_t b) { return a<b?a:b; }
66 static inline int32_t imax(int32_t a,int32_t b) { return a>b?a:b; }
67 static inline int32_t iabs(int32_t a) { return a<0?-a:a; }
68 static inline int32_t isign(int32_t a) { return a>0?1:a<0?-1:0; }
69
70 static inline int64_t imul64(int64_t a, int64_t b) { return (a*b)>>12; }
71 static inline int32_t imul(int32_t a, int32_t b) { return (int32_t)imul64(a,b); }
72
73 static inline int64_t idiv64(int64_t num,int64_t den) { return (num<<12)/den; }
74 static inline int32_t idiv(int32_t num,int32_t den) { return (int32_t)idiv64(num,den); }
75
76 static inline int64_t isq64(int64_t val) { return imul64(val,val); }
77 static inline int32_t isq(int32_t val) { return imul(val,val); }
78
79 static uint32_t sqrti(uint32_t n)
80 {
81 uint32_t s,t;
82
83 #define sqrtBit(k) \
84 t = s+(1UL<<(k-1)); t <<= k+1; if (n >= t) { n -= t; s |= 1UL<<k; }
85
86 s=0;
87 if(n>=1<<30) { n-=1<<30; s=1<<15; }
88 sqrtBit(14); sqrtBit(13); sqrtBit(12); sqrtBit(11); sqrtBit(10);
89 sqrtBit(9); sqrtBit(8); sqrtBit(7); sqrtBit(6); sqrtBit(5);
90 sqrtBit(4); sqrtBit(3); sqrtBit(2); sqrtBit(1);
91 if(n>s<<1) s|=1;
92
93 #undef sqrtBit
94
95 return s;
96 }
97
98 static inline int64_t isqrt64(int64_t val) { return sqrti((uint64_t)val<<12); }
99 static inline int32_t isqrt(int32_t val) { return sqrti((uint64_t)val<<12); }
100
101 static inline int64_t inorm64(int64_t a,int64_t b) { return sqrt((double)a*(double)a+(double)b*(double)b); }
102 static inline int32_t inorm(int32_t a,int32_t b) { return sqrt((double)a*(double)a+(double)b*(double)b); }
103
104 static inline int32_t ifloor(int a) { return a&~0xfff; }
105 static inline int32_t ifrac(int a) { return a&0xfff; }
106
107 int32_t isin(int a);
108 static inline int32_t icos(int a) { return isin(a+1024); }
109 static inline int32_t itan(int a) { return idiv(isin(a),icos(a)); } // TODO: use a table
110 static inline int32_t idegrees(int degrees) { return degrees*4096.0f/360.0f; }
111 static inline int32_t iradians(float radians) { return radians*4096.0f/2/3.1415926535897932f; }
112
113 static inline int32_t ilerp(int32_t a,int32_t b,int32_t t)
114 {
115 return a+imul(b-a,t);
116 }
117
118 /*static inline int32_t islerp(int32_t a,int32_t b,int32_t t)
119 {
120 return a;
121 }*/
122
123 //
124 // Bitwise operations
125 //
126
127 static inline int CountBits32(uint32_t val)
128 {
129 val=(val&0x55555555)+((val&0xaaaaaaaa)>>1);
130 val=(val&0x33333333)+((val&0xcccccccc)>>2);
131 val=(val&0x0f0f0f0f)+((val&0xf0f0f0f0)>>4);
132 val=(val&0x00ff00ff)+((val&0xff00ff00)>>8);
133 val=(val&0x0000ffff)+((val&0xffff0000)>>16);
134 return val;
135 }
136
137 static inline int CountBits16(uint16_t val)
138 {
139 val=(val&0x5555)+((val&0xaaaa)>>1);
140 val=(val&0x3333)+((val&0xcccc)>>2);
141 val=(val&0x0f0f)+((val&0xf0f0)>>4);
142 val=(val&0x00ff)+((val&0xff00)>>8);
143 return val;
144 }
145
146 static inline int CountBits8(uint8_t val)
147 {
148 val=(val&0x55)+((val&0xaa)>>1);
149 val=(val&0x33)+((val&0xcc)>>2);
150 val=(val&0x0f)+((val&0xf0)>>4);
151 return val;
152 }
153
154 static inline uint32_t ReverseBits32(uint32_t val)
155 {
156 val=((val>>1)&0x55555555)|((val<<1)&0xaaaaaaaa);
157 val=((val>>2)&0x33333333)|((val<<2)&0xcccccccc);
158 val=((val>>4)&0x0f0f0f0f)|((val<<4)&0xf0f0f0f0);
159 val=((val>>8)&0x00ff00ff)|((val<<8)&0xff00ff00);
160 val=((val>>16)&0x0000ffff)|((val<<16)&0xffff0000);
161 return val;
162 }
163
164 static inline uint16_t ReverseBits16(uint16_t val)
165 {
166 val=((val>>1)&0x5555)|((val<<1)&0xaaaa);
167 val=((val>>2)&0x3333)|((val<<2)&0xcccc);
168 val=((val>>4)&0x0f0f)|((val<<4)&0xf0f0);
169 val=((val>>8)&0x00ff)|((val<<8)&0xff00);
170 return val;
171 }
172
173 static inline uint8_t ReverseBits8(uint8_t val)
174 {
175 val=((val>>1)&0x55)|((val<<1)&0xaa);
176 val=((val>>2)&0x33)|((val<<2)&0xcc);
177 val=((val>>4)&0x0f)|((val<<4)&0xf0);
178 return val;
179 }
180
181 static int LowestBitSet32(uint32_t val)
182 {
183 if(val==0) return -1;
184 return CountBits32(val^val-1)-1;
185 }
186
187 static int LowestBitSet16(uint16_t val)
188 {
189 if(val==0) return -1;
190 return CountBits16(val^val-1)-1;
191 }
192
193 static int LowestBitSet8(uint8_t val)
194 {
195 if(val==0) return -1;
196 return CountBits8(val^val-1)-1;
197 }
198
199 #endif // UTILS_H