kazu
9947dced15
added new helper methods/classes (e.g. for heading) new test cases optimize the dijkstra cleanups/refactoring added timed-benchmarks to the log many more...
52 lines
1.3 KiB
C++
Executable File
52 lines
1.3 KiB
C++
Executable File
#ifndef ANGLE_H
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#define ANGLE_H
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#include <cmath>
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#include <KLib/Assertions.h>
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struct Angle {
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public:
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/** get the radians from (x1,y1) to (x2,y2) between 0 (to-the-right) and <2_PI */
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static float getRAD_2PI(const float x1, const float y1, const float x2, const float y2) {
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_assertFalse( (x1==x2)&&(y1==y2), "(x1,y1) must not equal (x2,y2)!!");
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const float tmp = std::atan2(y2-y1, x2-x1);
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return (tmp < 0) ? (tmp + 2*M_PI) : (tmp);
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}
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/** get the degrees from (x1,y1) to (x2,y2) between 0 (to-the-right) and <360 */
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static float getDEG_360(const float x1, const float y1, const float x2, const float y2) {
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return radToDeg(getRAD_2PI(x1,y1,x2,y2));
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}
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/**
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* gets the angular difference between
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* - the given radians [0:2PI]
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* - as a change-in-direction between [0:PI]
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*/
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static float getDiffRAD_2PI_PI(const float r1, const float r2) {
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_assertBetween(r1, 0, 2*M_PI, "r1 out of bounds");
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_assertBetween(r2, 0, 2*M_PI, "r2 out of bounds");
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float tmp = std::abs(r1-r2);
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return (tmp <= M_PI) ? (tmp) : (2*M_PI-tmp);
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//float tmp2 = fmod(tmp, M_PI);
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//return fmod(std::abs(r2 - r1), M_PI);
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}
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/** convert degrees to radians */
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static constexpr float degToRad(const float deg) {
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return deg / 180 * M_PI;
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}
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/** convert radians to degrees */
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static float radToDeg(const float rad) {
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return rad * 180 / M_PI;
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}
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};
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#endif // ANGLE_H
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