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_exp2f.c
//-
// Copyright (c) 2005 David Schultz &lt;das@FreeBSD.ORG&gt;
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS&#39;&#39; AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
// OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
// OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
// SUCH DAMAGE.

</span><span class="kw">const </span>TBLSIZE: usize = <span class="number">16</span>;

<span class="kw">static </span>EXP2FT: [u64; TBLSIZE] = [
    <span class="number">0x3fe6a09e667f3bcd</span>,
    <span class="number">0x3fe7a11473eb0187</span>,
    <span class="number">0x3fe8ace5422aa0db</span>,
    <span class="number">0x3fe9c49182a3f090</span>,
    <span class="number">0x3feae89f995ad3ad</span>,
    <span class="number">0x3fec199bdd85529c</span>,
    <span class="number">0x3fed5818dcfba487</span>,
    <span class="number">0x3feea4afa2a490da</span>,
    <span class="number">0x3ff0000000000000</span>,
    <span class="number">0x3ff0b5586cf9890f</span>,
    <span class="number">0x3ff172b83c7d517b</span>,
    <span class="number">0x3ff2387a6e756238</span>,
    <span class="number">0x3ff306fe0a31b715</span>,
    <span class="number">0x3ff3dea64c123422</span>,
    <span class="number">0x3ff4bfdad5362a27</span>,
    <span class="number">0x3ff5ab07dd485429</span>,
];

<span class="comment">// exp2f(x): compute the base 2 exponential of x
//
// Accuracy: Peak error &lt; 0.501 ulp; location of peak: -0.030110927.
//
// Method: (equally-spaced tables)
//
//   Reduce x:
//     x = k + y, for integer k and |y| &lt;= 1/2.
//     Thus we have exp2f(x) = 2**k * exp2(y).
//
//   Reduce y:
//     y = i/TBLSIZE + z for integer i near y * TBLSIZE.
//     Thus we have exp2(y) = exp2(i/TBLSIZE) * exp2(z),
//     with |z| &lt;= 2**-(TBLSIZE+1).
//
//   We compute exp2(i/TBLSIZE) via table lookup and exp2(z) via a
//   degree-4 minimax polynomial with maximum error under 1.4 * 2**-33.
//   Using double precision for everything except the reduction makes
//   roundoff error insignificant and simplifies the scaling step.
//
//   This method is due to Tang, but I do not use his suggested parameters:
//
//      Tang, P.  Table-driven Implementation of the Exponential Function
//      in IEEE Floating-Point Arithmetic.  TOMS 15(2), 144-157 (1989).

</span><span class="doccomment">/// Exponential, base 2 (f32)
///
/// Calculate `2^x`, that is, 2 raised to the power `x`.
</span><span class="attr">#[cfg_attr(all(test, assert_no_panic), no_panic::no_panic)]
</span><span class="kw">pub fn </span>exp2f(<span class="kw-2">mut </span>x: f32) -&gt; f32 {
    <span class="kw">let </span>redux = f32::from_bits(<span class="number">0x4b400000</span>) / TBLSIZE <span class="kw">as </span>f32;
    <span class="kw">let </span>p1 = f32::from_bits(<span class="number">0x3f317218</span>);
    <span class="kw">let </span>p2 = f32::from_bits(<span class="number">0x3e75fdf0</span>);
    <span class="kw">let </span>p3 = f32::from_bits(<span class="number">0x3d6359a4</span>);
    <span class="kw">let </span>p4 = f32::from_bits(<span class="number">0x3c1d964e</span>);

    <span class="comment">// double_t t, r, z;
    // uint32_t ix, i0, k;

    </span><span class="kw">let </span>x1p127 = f32::from_bits(<span class="number">0x7f000000</span>);

    <span class="comment">/* Filter out exceptional cases. */
    </span><span class="kw">let </span>ui = f32::to_bits(x);
    <span class="kw">let </span>ix = ui &amp; <span class="number">0x7fffffff</span>;
    <span class="kw">if </span>ix &gt; <span class="number">0x42fc0000 </span>{
        <span class="comment">/* |x| &gt; 126 */
        </span><span class="kw">if </span>ix &gt; <span class="number">0x7f800000 </span>{
            <span class="comment">/* NaN */
            </span><span class="kw">return </span>x;
        }
        <span class="kw">if </span>ui &gt;= <span class="number">0x43000000 </span>&amp;&amp; ui &lt; <span class="number">0x80000000 </span>{
            <span class="comment">/* x &gt;= 128 */
            </span>x <span class="kw-2">*</span>= x1p127;
            <span class="kw">return </span>x;
        }
        <span class="kw">if </span>ui &gt;= <span class="number">0x80000000 </span>{
            <span class="comment">/* x &lt; -126 */
            </span><span class="kw">if </span>ui &gt;= <span class="number">0xc3160000 </span>|| (ui &amp; <span class="number">0x0000ffff </span>!= <span class="number">0</span>) {
                <span class="macro">force_eval!</span>(f32::from_bits(<span class="number">0x80000001</span>) / x);
            }
            <span class="kw">if </span>ui &gt;= <span class="number">0xc3160000 </span>{
                <span class="comment">/* x &lt;= -150 */
                </span><span class="kw">return </span><span class="number">0.0</span>;
            }
        }
    } <span class="kw">else if </span>ix &lt;= <span class="number">0x33000000 </span>{
        <span class="comment">/* |x| &lt;= 0x1p-25 */
        </span><span class="kw">return </span><span class="number">1.0 </span>+ x;
    }

    <span class="comment">/* Reduce x, computing z, i0, and k. */
    </span><span class="kw">let </span>ui = f32::to_bits(x + redux);
    <span class="kw">let </span><span class="kw-2">mut </span>i0 = ui;
    i0 += TBLSIZE <span class="kw">as </span>u32 / <span class="number">2</span>;
    <span class="kw">let </span>k = i0 / TBLSIZE <span class="kw">as </span>u32;
    <span class="kw">let </span>ukf = f64::from_bits(((<span class="number">0x3ff </span>+ k) <span class="kw">as </span>u64) &lt;&lt; <span class="number">52</span>);
    i0 &amp;= TBLSIZE <span class="kw">as </span>u32 - <span class="number">1</span>;
    <span class="kw">let </span><span class="kw-2">mut </span>uf = f32::from_bits(ui);
    uf -= redux;
    <span class="kw">let </span>z: f64 = (x - uf) <span class="kw">as </span>f64;
    <span class="comment">/* Compute r = exp2(y) = exp2ft[i0] * p(z). */
    </span><span class="kw">let </span>r: f64 = f64::from_bits(<span class="macro">i!</span>(EXP2FT, i0 <span class="kw">as </span>usize));
    <span class="kw">let </span>t: f64 = r <span class="kw">as </span>f64 * z;
    <span class="kw">let </span>r: f64 = r + t * (p1 <span class="kw">as </span>f64 + z * p2 <span class="kw">as </span>f64) + t * (z * z) * (p3 <span class="kw">as </span>f64 + z * p4 <span class="kw">as </span>f64);

    <span class="comment">/* Scale by 2**k */
    </span>(r * ukf) <span class="kw">as </span>f32
}
</code></pre></div>
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