00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 #ifndef VECTOR_H_ 00038 #define VECTOR_H_ 00039 00040 #include <LinearMath/btVector3.h> 00041 00042 namespace geom { 00043 00044 typedef btVector3 Point; 00045 typedef btVector3 Vector; 00046 00047 #define EPSILON 0.001f 00048 00049 btVector3 perp(const btVector3& v); 00050 00051 bool almostEqual(const Vector& a, const Vector& b, float epsilon = EPSILON); 00052 00053 Point getPoint(float theta); 00054 Point getPoint(float r, float theta); 00055 float getTheta(const Point& p); 00056 00057 void wrap_angle(float *a); 00058 float wrap_angle(float a); 00059 void wrap_angle2PI(float *a); 00060 float wrap_angle2PI(float a); 00061 float wrap_angle_0_PI(float a); 00062 00063 #define DTOR(a) ((a)*M_PI/180.0) 00064 #define RTOD(a) ((a)*180.0/M_PI) 00065 00066 } 00067 00068 #endif /* VECTOR_H_ */