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/s_atanf.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;

<span class="kw">const </span>ATAN_HI: [f32; <span class="number">4</span>] = [
    <span class="number">4.6364760399e-01</span>, <span class="comment">/* atan(0.5)hi 0x3eed6338 */
    </span><span class="number">7.8539812565e-01</span>, <span class="comment">/* atan(1.0)hi 0x3f490fda */
    </span><span class="number">9.8279368877e-01</span>, <span class="comment">/* atan(1.5)hi 0x3f7b985e */
    </span><span class="number">1.5707962513e+00</span>, <span class="comment">/* atan(inf)hi 0x3fc90fda */
</span>];

<span class="kw">const </span>ATAN_LO: [f32; <span class="number">4</span>] = [
    <span class="number">5.0121582440e-09</span>, <span class="comment">/* atan(0.5)lo 0x31ac3769 */
    </span><span class="number">3.7748947079e-08</span>, <span class="comment">/* atan(1.0)lo 0x33222168 */
    </span><span class="number">3.4473217170e-08</span>, <span class="comment">/* atan(1.5)lo 0x33140fb4 */
    </span><span class="number">7.5497894159e-08</span>, <span class="comment">/* atan(inf)lo 0x33a22168 */
</span>];

<span class="kw">const </span>A_T: [f32; <span class="number">5</span>] = [
    <span class="number">3.3333328366e-01</span>,
    -<span class="number">1.9999158382e-01</span>,
    <span class="number">1.4253635705e-01</span>,
    -<span class="number">1.0648017377e-01</span>,
    <span class="number">6.1687607318e-02</span>,
];

<span class="doccomment">/// Arctangent (f32)
///
/// 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>atanf(<span class="kw-2">mut </span>x: f32) -&gt; f32 {
    <span class="kw">let </span>x1p_120 = f32::from_bits(<span class="number">0x03800000</span>); <span class="comment">// 0x1p-120 === 2 ^ (-120)

    </span><span class="kw">let </span>z: f32;

    <span class="kw">let </span><span class="kw-2">mut </span>ix = x.to_bits();
    <span class="kw">let </span>sign = (ix &gt;&gt; <span class="number">31</span>) != <span class="number">0</span>;
    ix &amp;= <span class="number">0x7fffffff</span>;

    <span class="kw">if </span>ix &gt;= <span class="number">0x4c800000 </span>{
        <span class="comment">/* if |x| &gt;= 2**26 */
        </span><span class="kw">if </span>x.is_nan() {
            <span class="kw">return </span>x;
        }
        z = <span class="macro">i!</span>(ATAN_HI, <span class="number">3</span>) + x1p_120;
        <span class="kw">return if </span>sign { -z } <span class="kw">else </span>{ z };
    }
    <span class="kw">let </span>id = <span class="kw">if </span>ix &lt; <span class="number">0x3ee00000 </span>{
        <span class="comment">/* |x| &lt; 0.4375 */
        </span><span class="kw">if </span>ix &lt; <span class="number">0x39800000 </span>{
            <span class="comment">/* |x| &lt; 2**-12 */
            </span><span class="kw">if </span>ix &lt; <span class="number">0x00800000 </span>{
                <span class="comment">/* raise underflow for subnormal x */
                </span><span class="macro">force_eval!</span>(x * x);
            }
            <span class="kw">return </span>x;
        }
        -<span class="number">1
    </span>} <span class="kw">else </span>{
        x = fabsf(x);
        <span class="kw">if </span>ix &lt; <span class="number">0x3f980000 </span>{
            <span class="comment">/* |x| &lt; 1.1875 */
            </span><span class="kw">if </span>ix &lt; <span class="number">0x3f300000 </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">0x401c0000 </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**26 */
            </span>x = -<span class="number">1. </span>/ x;
            <span class="number">3
        </span>}
    };
    <span class="comment">/* end of argument reduction */
    </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 * (<span class="macro">i!</span>(A_T, <span class="number">0</span>) + w * (<span class="macro">i!</span>(A_T, <span class="number">2</span>) + w * <span class="macro">i!</span>(A_T, <span class="number">4</span>)));
    <span class="kw">let </span>s2 = w * (<span class="macro">i!</span>(A_T, <span class="number">1</span>) + w * <span class="macro">i!</span>(A_T, <span class="number">3</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>id = id <span class="kw">as </span>usize;
    <span class="kw">let </span>z = <span class="macro">i!</span>(ATAN_HI, id) - ((x * (s1 + s2) - <span class="macro">i!</span>(ATAN_LO, id)) - x);
    <span class="kw">if </span>sign {
        -z
    } <span class="kw">else </span>{
        z
    }
}
</code></pre></div>
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