multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
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</pre><pre class="rust"><code><span class="comment">/* origin: FreeBSD /usr/src/lib/msun/src/e_asinf.c */
/*
 * Conversion to float by Ian Lance Taylor, Cygnus Support, ian@cygnus.com.
 */
/*
 * ====================================================
 * Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved.
 *
 * Developed at SunPro, a Sun Microsystems, Inc. business.
 * Permission to use, copy, modify, and distribute this
 * software is freely granted, provided that this notice
 * is preserved.
 * ====================================================
 */

</span><span class="kw">use </span><span class="kw">super</span>::fabsf::fabsf;
<span class="kw">use </span><span class="kw">super</span>::sqrt::sqrt;

<span class="kw">const </span>PIO2: f64 = <span class="number">1.570796326794896558e+00</span>;

<span class="comment">/* coefficients for R(x^2) */
</span><span class="kw">const </span>P_S0: f32 = <span class="number">1.6666586697e-01</span>;
<span class="kw">const </span>P_S1: f32 = -<span class="number">4.2743422091e-02</span>;
<span class="kw">const </span>P_S2: f32 = -<span class="number">8.6563630030e-03</span>;
<span class="kw">const </span>Q_S1: f32 = -<span class="number">7.0662963390e-01</span>;

<span class="kw">fn </span>r(z: f32) -&gt; f32 {
    <span class="kw">let </span>p = z * (P_S0 + z * (P_S1 + z * P_S2));
    <span class="kw">let </span>q = <span class="number">1. </span>+ z * Q_S1;
    p / q
}

<span class="doccomment">/// Arcsine (f32)
///
/// Computes the inverse sine (arc sine) of the argument `x`.
/// Arguments to asin must be in the range -1 to 1.
/// Returns values in radians, in the range of -pi/2 to pi/2.
</span><span class="attr">#[cfg_attr(all(test, assert_no_panic), no_panic::no_panic)]
</span><span class="kw">pub fn </span>asinf(<span class="kw-2">mut </span>x: f32) -&gt; f32 {
    <span class="kw">let </span>x1p_120 = f64::from_bits(<span class="number">0x3870000000000000</span>); <span class="comment">// 0x1p-120 === 2 ^ (-120)

    </span><span class="kw">let </span>hx = x.to_bits();
    <span class="kw">let </span>ix = hx &amp; <span class="number">0x7fffffff</span>;

    <span class="kw">if </span>ix &gt;= <span class="number">0x3f800000 </span>{
        <span class="comment">/* |x| &gt;= 1 */
        </span><span class="kw">if </span>ix == <span class="number">0x3f800000 </span>{
            <span class="comment">/* |x| == 1 */
            </span><span class="kw">return </span>((x <span class="kw">as </span>f64) * PIO2 + x1p_120) <span class="kw">as </span>f32; <span class="comment">/* asin(+-1) = +-pi/2 with inexact */
        </span>}
        <span class="kw">return </span><span class="number">0. </span>/ (x - x); <span class="comment">/* asin(|x|&gt;1) is NaN */
    </span>}

    <span class="kw">if </span>ix &lt; <span class="number">0x3f000000 </span>{
        <span class="comment">/* |x| &lt; 0.5 */
        /* if 0x1p-126 &lt;= |x| &lt; 0x1p-12, avoid raising underflow */
        </span><span class="kw">if </span>(ix &lt; <span class="number">0x39800000</span>) &amp;&amp; (ix &gt;= <span class="number">0x00800000</span>) {
            <span class="kw">return </span>x;
        }
        <span class="kw">return </span>x + x * r(x * x);
    }

    <span class="comment">/* 1 &gt; |x| &gt;= 0.5 */
    </span><span class="kw">let </span>z = (<span class="number">1. </span>- fabsf(x)) * <span class="number">0.5</span>;
    <span class="kw">let </span>s = sqrt(z <span class="kw">as </span>f64);
    x = (PIO2 - <span class="number">2. </span>* (s + s * (r(z) <span class="kw">as </span>f64))) <span class="kw">as </span>f32;
    <span class="kw">if </span>(hx &gt;&gt; <span class="number">31</span>) != <span class="number">0 </span>{
        -x
    } <span class="kw">else </span>{
        x
    }
}
</code></pre></div>
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