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/e_exp.c */
/*
 * ====================================================
 * Copyright (C) 2004 by Sun Microsystems, Inc. All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this
 * software is freely granted, provided that this notice
 * is preserved.
 * ====================================================
 */
/* exp(x)
 * Returns the exponential of x.
 *
 * Method
 *   1. Argument reduction:
 *      Reduce x to an r so that |r| &lt;= 0.5*ln2 ~ 0.34658.
 *      Given x, find r and integer k such that
 *
 *               x = k*ln2 + r,  |r| &lt;= 0.5*ln2.
 *
 *      Here r will be represented as r = hi-lo for better
 *      accuracy.
 *
 *   2. Approximation of exp(r) by a special rational function on
 *      the interval [0,0.34658]:
 *      Write
 *          R(r**2) = r*(exp(r)+1)/(exp(r)-1) = 2 + r*r/6 - r**4/360 + ...
 *      We use a special Remez algorithm on [0,0.34658] to generate
 *      a polynomial of degree 5 to approximate R. The maximum error
 *      of this polynomial approximation is bounded by 2**-59. In
 *      other words,
 *          R(z) ~ 2.0 + P1*z + P2*z**2 + P3*z**3 + P4*z**4 + P5*z**5
 *      (where z=r*r, and the values of P1 to P5 are listed below)
 *      and
 *          |                  5          |     -59
 *          | 2.0+P1*z+...+P5*z   -  R(z) | &lt;= 2
 *          |                             |
 *      The computation of exp(r) thus becomes
 *                              2*r
 *              exp(r) = 1 + ----------
 *                            R(r) - r
 *                                 r*c(r)
 *                     = 1 + r + ----------- (for better accuracy)
 *                                2 - c(r)
 *      where
 *                              2       4             10
 *              c(r) = r - (P1*r  + P2*r  + ... + P5*r   ).
 *
 *   3. Scale back to obtain exp(x):
 *      From step 1, we have
 *         exp(x) = 2^k * exp(r)
 *
 * Special cases:
 *      exp(INF) is INF, exp(NaN) is NaN;
 *      exp(-INF) is 0, and
 *      for finite argument, only exp(0)=1 is exact.
 *
 * Accuracy:
 *      according to an error analysis, the error is always less than
 *      1 ulp (unit in the last place).
 *
 * Misc. info.
 *      For IEEE double
 *          if x &gt;  709.782712893383973096 then exp(x) overflows
 *          if x &lt; -745.133219101941108420 then exp(x) underflows
 */

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

<span class="kw">const </span>HALF: [f64; <span class="number">2</span>] = [<span class="number">0.5</span>, -<span class="number">0.5</span>];
<span class="kw">const </span>LN2HI: f64 = <span class="number">6.93147180369123816490e-01</span>; <span class="comment">/* 0x3fe62e42, 0xfee00000 */
</span><span class="kw">const </span>LN2LO: f64 = <span class="number">1.90821492927058770002e-10</span>; <span class="comment">/* 0x3dea39ef, 0x35793c76 */
</span><span class="kw">const </span>INVLN2: f64 = <span class="number">1.44269504088896338700e+00</span>; <span class="comment">/* 0x3ff71547, 0x652b82fe */
</span><span class="kw">const </span>P1: f64 = <span class="number">1.66666666666666019037e-01</span>; <span class="comment">/* 0x3FC55555, 0x5555553E */
</span><span class="kw">const </span>P2: f64 = -<span class="number">2.77777777770155933842e-03</span>; <span class="comment">/* 0xBF66C16C, 0x16BEBD93 */
</span><span class="kw">const </span>P3: f64 = <span class="number">6.61375632143793436117e-05</span>; <span class="comment">/* 0x3F11566A, 0xAF25DE2C */
</span><span class="kw">const </span>P4: f64 = -<span class="number">1.65339022054652515390e-06</span>; <span class="comment">/* 0xBEBBBD41, 0xC5D26BF1 */
</span><span class="kw">const </span>P5: f64 = <span class="number">4.13813679705723846039e-08</span>; <span class="comment">/* 0x3E663769, 0x72BEA4D0 */

</span><span class="doccomment">/// Exponential, base *e* (f64)
///
/// Calculate the exponential of `x`, that is, *e* raised to the power `x`
/// (where *e* is the base of the natural system of logarithms, approximately 2.71828).
</span><span class="attr">#[cfg_attr(all(test, assert_no_panic), no_panic::no_panic)]
</span><span class="kw">pub fn </span>exp(<span class="kw-2">mut </span>x: f64) -&gt; f64 {
    <span class="kw">let </span>x1p1023 = f64::from_bits(<span class="number">0x7fe0000000000000</span>); <span class="comment">// 0x1p1023 === 2 ^ 1023
    </span><span class="kw">let </span>x1p_149 = f64::from_bits(<span class="number">0x36a0000000000000</span>); <span class="comment">// 0x1p-149 === 2 ^ -149

    </span><span class="kw">let </span>hi: f64;
    <span class="kw">let </span>lo: f64;
    <span class="kw">let </span>c: f64;
    <span class="kw">let </span>xx: f64;
    <span class="kw">let </span>y: f64;
    <span class="kw">let </span>k: i32;
    <span class="kw">let </span>sign: i32;
    <span class="kw">let </span><span class="kw-2">mut </span>hx: u32;

    hx = (x.to_bits() &gt;&gt; <span class="number">32</span>) <span class="kw">as </span>u32;
    sign = (hx &gt;&gt; <span class="number">31</span>) <span class="kw">as </span>i32;
    hx &amp;= <span class="number">0x7fffffff</span>; <span class="comment">/* high word of |x| */

    /* special cases */
    </span><span class="kw">if </span>hx &gt;= <span class="number">0x4086232b </span>{
        <span class="comment">/* if |x| &gt;= 708.39... */
        </span><span class="kw">if </span>x.is_nan() {
            <span class="kw">return </span>x;
        }
        <span class="kw">if </span>x &gt; <span class="number">709.782712893383973096 </span>{
            <span class="comment">/* overflow if x!=inf */
            </span>x <span class="kw-2">*</span>= x1p1023;
            <span class="kw">return </span>x;
        }
        <span class="kw">if </span>x &lt; -<span class="number">708.39641853226410622 </span>{
            <span class="comment">/* underflow if x!=-inf */
            </span><span class="macro">force_eval!</span>((-x1p_149 / x) <span class="kw">as </span>f32);
            <span class="kw">if </span>x &lt; -<span class="number">745.13321910194110842 </span>{
                <span class="kw">return </span><span class="number">0.</span>;
            }
        }
    }

    <span class="comment">/* argument reduction */
    </span><span class="kw">if </span>hx &gt; <span class="number">0x3fd62e42 </span>{
        <span class="comment">/* if |x| &gt; 0.5 ln2 */
        </span><span class="kw">if </span>hx &gt;= <span class="number">0x3ff0a2b2 </span>{
            <span class="comment">/* if |x| &gt;= 1.5 ln2 */
            </span>k = (INVLN2 * x + <span class="macro">i!</span>(HALF, sign <span class="kw">as </span>usize)) <span class="kw">as </span>i32;
        } <span class="kw">else </span>{
            k = <span class="number">1 </span>- sign - sign;
        }
        hi = x - k <span class="kw">as </span>f64 * LN2HI; <span class="comment">/* k*ln2hi is exact here */
        </span>lo = k <span class="kw">as </span>f64 * LN2LO;
        x = hi - lo;
    } <span class="kw">else if </span>hx &gt; <span class="number">0x3e300000 </span>{
        <span class="comment">/* if |x| &gt; 2**-28 */
        </span>k = <span class="number">0</span>;
        hi = x;
        lo = <span class="number">0.</span>;
    } <span class="kw">else </span>{
        <span class="comment">/* inexact if x!=0 */
        </span><span class="macro">force_eval!</span>(x1p1023 + x);
        <span class="kw">return </span><span class="number">1. </span>+ x;
    }

    <span class="comment">/* x is now in primary range */
    </span>xx = x * x;
    c = x - xx * (P1 + xx * (P2 + xx * (P3 + xx * (P4 + xx * P5))));
    y = <span class="number">1. </span>+ (x * c / (<span class="number">2. </span>- c) - lo + hi);
    <span class="kw">if </span>k == <span class="number">0 </span>{
        y
    } <span class="kw">else </span>{
        scalbn(y, k)
    }
}
</code></pre></div>
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