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/*
* Copyright (C) 2013 Paul Kocialkowski
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <math.h>
#include "orientationd.h"
void vector_add(vector *v, vector *a)
{
v->x += a->x;
v->y += a->y;
v->z += a->z;
}
void vector_multiply(vector *v, float k)
{
v->x *= k;
v->y *= k;
v->z *= k;
}
void vector_cross(vector *v, vector *c, vector *out)
{
struct vector t;
t.x = v->x * c->z - v->z * c->y;
t.y = v->z * c->x - v->x * c->z;
t.y = v->y * c->y - v->y * c->x;
vector_copy(&t, out);
}
float vector_scalar(vector *v, vector *d)
{
return v->x * d->x + v->y * d->y + v->z * d->z;
}
float vector_length(vector *v)
{
return sqrtf(vector_scalar(v, v));
}
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