multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
Documentation
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</pre><pre class="rust"><code><span class="comment">/* origin: FreeBSD /usr/src/lib/msun/src/s_atan.c */
/*
 * ====================================================
 * 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.
 * ====================================================
 */
/* atan(x)
 * Method
 *   1. Reduce x to positive by atan(x) = -atan(-x).
 *   2. According to the integer k=4t+0.25 chopped, t=x, the argument
 *      is further reduced to one of the following intervals and the
 *      arctangent of t is evaluated by the corresponding formula:
 *
 *      [0,7/16]      atan(x) = t-t^3*(a1+t^2*(a2+...(a10+t^2*a11)...)
 *      [7/16,11/16]  atan(x) = atan(1/2) + atan( (t-0.5)/(1+t/2) )
 *      [11/16.19/16] atan(x) = atan( 1 ) + atan( (t-1)/(1+t) )
 *      [19/16,39/16] atan(x) = atan(3/2) + atan( (t-1.5)/(1+1.5t) )
 *      [39/16,INF]   atan(x) = atan(INF) + atan( -1/t )
 *
 * Constants:
 * The hexadecimal values are the intended ones for the following
 * constants. The decimal values may be used, provided that the
 * compiler will convert from decimal to binary accurately enough
 * to produce the hexadecimal values shown.
 */

</span><span class="kw">use </span><span class="kw">super</span>::fabs;
<span class="kw">use </span>core::f64;

<span class="kw">const </span>ATANHI: [f64; <span class="number">4</span>] = [
    <span class="number">4.63647609000806093515e-01</span>, <span class="comment">/* atan(0.5)hi 0x3FDDAC67, 0x0561BB4F */
    </span><span class="number">7.85398163397448278999e-01</span>, <span class="comment">/* atan(1.0)hi 0x3FE921FB, 0x54442D18 */
    </span><span class="number">9.82793723247329054082e-01</span>, <span class="comment">/* atan(1.5)hi 0x3FEF730B, 0xD281F69B */
    </span><span class="number">1.57079632679489655800e+00</span>, <span class="comment">/* atan(inf)hi 0x3FF921FB, 0x54442D18 */
</span>];

<span class="kw">const </span>ATANLO: [f64; <span class="number">4</span>] = [
    <span class="number">2.26987774529616870924e-17</span>, <span class="comment">/* atan(0.5)lo 0x3C7A2B7F, 0x222F65E2 */
    </span><span class="number">3.06161699786838301793e-17</span>, <span class="comment">/* atan(1.0)lo 0x3C81A626, 0x33145C07 */
    </span><span class="number">1.39033110312309984516e-17</span>, <span class="comment">/* atan(1.5)lo 0x3C700788, 0x7AF0CBBD */
    </span><span class="number">6.12323399573676603587e-17</span>, <span class="comment">/* atan(inf)lo 0x3C91A626, 0x33145C07 */
</span>];

<span class="kw">const </span>AT: [f64; <span class="number">11</span>] = [
    <span class="number">3.33333333333329318027e-01</span>,  <span class="comment">/* 0x3FD55555, 0x5555550D */
    </span>-<span class="number">1.99999999998764832476e-01</span>, <span class="comment">/* 0xBFC99999, 0x9998EBC4 */
    </span><span class="number">1.42857142725034663711e-01</span>,  <span class="comment">/* 0x3FC24924, 0x920083FF */
    </span>-<span class="number">1.11111104054623557880e-01</span>, <span class="comment">/* 0xBFBC71C6, 0xFE231671 */
    </span><span class="number">9.09088713343650656196e-02</span>,  <span class="comment">/* 0x3FB745CD, 0xC54C206E */
    </span>-<span class="number">7.69187620504482999495e-02</span>, <span class="comment">/* 0xBFB3B0F2, 0xAF749A6D */
    </span><span class="number">6.66107313738753120669e-02</span>,  <span class="comment">/* 0x3FB10D66, 0xA0D03D51 */
    </span>-<span class="number">5.83357013379057348645e-02</span>, <span class="comment">/* 0xBFADDE2D, 0x52DEFD9A */
    </span><span class="number">4.97687799461593236017e-02</span>,  <span class="comment">/* 0x3FA97B4B, 0x24760DEB */
    </span>-<span class="number">3.65315727442169155270e-02</span>, <span class="comment">/* 0xBFA2B444, 0x2C6A6C2F */
    </span><span class="number">1.62858201153657823623e-02</span>,  <span class="comment">/* 0x3F90AD3A, 0xE322DA11 */
</span>];

<span class="doccomment">/// Arctangent (f64)
///
/// Computes the inverse tangent (arc tangent) of the input value.
/// Returns a value 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>atan(x: f64) -&gt; f64 {
    <span class="kw">let </span><span class="kw-2">mut </span>x = x;
    <span class="kw">let </span><span class="kw-2">mut </span>ix = (x.to_bits() &gt;&gt; <span class="number">32</span>) <span class="kw">as </span>u32;
    <span class="kw">let </span>sign = ix &gt;&gt; <span class="number">31</span>;
    ix &amp;= <span class="number">0x7fff_ffff</span>;
    <span class="kw">if </span>ix &gt;= <span class="number">0x4410_0000 </span>{
        <span class="kw">if </span>x.is_nan() {
            <span class="kw">return </span>x;
        }

        <span class="kw">let </span>z = ATANHI[<span class="number">3</span>] + f64::from_bits(<span class="number">0x0380_0000</span>); <span class="comment">// 0x1p-120f
        </span><span class="kw">return if </span>sign != <span class="number">0 </span>{ -z } <span class="kw">else </span>{ z };
    }

    <span class="kw">let </span>id = <span class="kw">if </span>ix &lt; <span class="number">0x3fdc_0000 </span>{
        <span class="comment">/* |x| &lt; 0.4375 */
        </span><span class="kw">if </span>ix &lt; <span class="number">0x3e40_0000 </span>{
            <span class="comment">/* |x| &lt; 2^-27 */
            </span><span class="kw">if </span>ix &lt; <span class="number">0x0010_0000 </span>{
                <span class="comment">/* raise underflow for subnormal x */
                </span><span class="macro">force_eval!</span>(x <span class="kw">as </span>f32);
            }

            <span class="kw">return </span>x;
        }

        -<span class="number">1
    </span>} <span class="kw">else </span>{
        x = fabs(x);
        <span class="kw">if </span>ix &lt; <span class="number">0x3ff30000 </span>{
            <span class="comment">/* |x| &lt; 1.1875 */
            </span><span class="kw">if </span>ix &lt; <span class="number">0x3fe60000 </span>{
                <span class="comment">/* 7/16 &lt;= |x| &lt; 11/16 */
                </span>x = (<span class="number">2. </span>* x - <span class="number">1.</span>) / (<span class="number">2. </span>+ x);
                <span class="number">0
            </span>} <span class="kw">else </span>{
                <span class="comment">/* 11/16 &lt;= |x| &lt; 19/16 */
                </span>x = (x - <span class="number">1.</span>) / (x + <span class="number">1.</span>);
                <span class="number">1
            </span>}
        } <span class="kw">else if </span>ix &lt; <span class="number">0x40038000 </span>{
            <span class="comment">/* |x| &lt; 2.4375 */
            </span>x = (x - <span class="number">1.5</span>) / (<span class="number">1. </span>+ <span class="number">1.5 </span>* x);
            <span class="number">2
        </span>} <span class="kw">else </span>{
            <span class="comment">/* 2.4375 &lt;= |x| &lt; 2^66 */
            </span>x = -<span class="number">1. </span>/ x;
            <span class="number">3
        </span>}
    };

    <span class="kw">let </span>z = x * x;
    <span class="kw">let </span>w = z * z;
    <span class="comment">/* break sum from i=0 to 10 AT[i]z**(i+1) into odd and even poly */
    </span><span class="kw">let </span>s1 = z * (AT[<span class="number">0</span>] + w * (AT[<span class="number">2</span>] + w * (AT[<span class="number">4</span>] + w * (AT[<span class="number">6</span>] + w * (AT[<span class="number">8</span>] + w * AT[<span class="number">10</span>])))));
    <span class="kw">let </span>s2 = w * (AT[<span class="number">1</span>] + w * (AT[<span class="number">3</span>] + w * (AT[<span class="number">5</span>] + w * (AT[<span class="number">7</span>] + w * AT[<span class="number">9</span>]))));

    <span class="kw">if </span>id &lt; <span class="number">0 </span>{
        <span class="kw">return </span>x - x * (s1 + s2);
    }

    <span class="kw">let </span>z = <span class="macro">i!</span>(ATANHI, id <span class="kw">as </span>usize) - (x * (s1 + s2) - <span class="macro">i!</span>(ATANLO, id <span class="kw">as </span>usize) - x);

    <span class="kw">if </span>sign != <span class="number">0 </span>{
        -z
    } <span class="kw">else </span>{
        z
    }
}

<span class="attr">#[cfg(test)]
</span><span class="kw">mod </span>tests {
    <span class="kw">use </span><span class="kw">super</span>::atan;
    <span class="kw">use </span>core::f64;

    <span class="attr">#[test]
    </span><span class="kw">fn </span>sanity_check() {
        <span class="kw">for </span>(input, answer) <span class="kw">in </span>[
            (<span class="number">3.0_f64</span>.sqrt() / <span class="number">3.0</span>, f64::consts::FRAC_PI_6),
            (<span class="number">1.0</span>, f64::consts::FRAC_PI_4),
            (<span class="number">3.0_f64</span>.sqrt(), f64::consts::FRAC_PI_3),
            (-<span class="number">3.0_f64</span>.sqrt() / <span class="number">3.0</span>, -f64::consts::FRAC_PI_6),
            (-<span class="number">1.0</span>, -f64::consts::FRAC_PI_4),
            (-<span class="number">3.0_f64</span>.sqrt(), -f64::consts::FRAC_PI_3),
        ]
        .iter()
        {
            <span class="macro">assert!</span>(
                (atan(<span class="kw-2">*</span>input) - answer) / answer &lt; <span class="number">1e-5</span>,
                <span class="string">&quot;\natan({:.4}/16) = {:.4}, actual: {}&quot;</span>,
                input * <span class="number">16.0</span>,
                answer,
                atan(<span class="kw-2">*</span>input)
            );
        }
    }

    <span class="attr">#[test]
    </span><span class="kw">fn </span>zero() {
        <span class="macro">assert_eq!</span>(atan(<span class="number">0.0</span>), <span class="number">0.0</span>);
    }

    <span class="attr">#[test]
    </span><span class="kw">fn </span>infinity() {
        <span class="macro">assert_eq!</span>(atan(f64::INFINITY), f64::consts::FRAC_PI_2);
    }

    <span class="attr">#[test]
    </span><span class="kw">fn </span>minus_infinity() {
        <span class="macro">assert_eq!</span>(atan(f64::NEG_INFINITY), -f64::consts::FRAC_PI_2);
    }

    <span class="attr">#[test]
    </span><span class="kw">fn </span>nan() {
        <span class="macro">assert!</span>(atan(f64::NAN).is_nan());
    }
}
</code></pre></div>
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