84 lines
2.8 KiB
Common Lisp
84 lines
2.8 KiB
Common Lisp
(in-package #:flight-sim)
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;;; degrees to radians
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(defmacro dtr (d)
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`(/ (* ,d pi) 180))
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;;; radians to degress
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(defmacro rtd (r)
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`(/ (* ,r 180) pi))
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(deftype point-vector () '(simple-array float (*)))
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(deftype shape-vector () '(simple-array point-vector (*)))
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(deftype pos-int () '(integer 0 *))
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(deftype ref-vector () '(simple-array pos-int (*)))
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(deftype shape-ref-vector () '(simple-array ref-vector (*)))
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;; function to determine value lying on start to end taking time duration at now
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(defun converge (start end duration now)
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(if (> now duration)
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end
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(float (+ start (* (- end start) (if (eql now 0.0) 0.0 (/ (min now duration) duration)))))))
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;; returns a real lisp 2d array
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(defun make-rotation-matrix (xa ya za)
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(let ((sxa (sin xa))
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(cxa (cos xa))
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(sya (sin ya))
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(cya (cos ya))
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(sza (sin za))
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(cza (cos za)))
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(make-array '(3 3) :initial-contents (list (list (* cya cza) (+ (- (* cxa sza)) (* sxa sya cza)) (+ (* sxa sza) (* cxa sya cza)))
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(list (* cya sza) (+ (* cxa cza) (* sxa sya sza)) (+ (- (* sxa cza)) (* cxa sya sza)))
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(list (- sya) (* sxa cya) (* cxa cya))))))
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(defun rotate* (m v)
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(let ((result (make-array 3 :initial-element 0)))
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(dotimes (x 3)
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(dotimes (y 3)
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(incf (aref result x) (* (aref v y) (aref m x y)))))
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result))
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(defun translate-point (v1 v2 &optional (fn #'+))
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(let ((result (make-array 3)))
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(dotimes (i 3)
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(setf (aref result i) (funcall fn (aref v1 i) (aref v2 i))))
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result))
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(defun translate-triangle (tri position)
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(make-array (length tri) :initial-contents
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(loop for v across tri collecting (translate-point position v))))
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(defun rotate-triangle (tri m)
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(make-array (length tri) :initial-contents
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(loop for v across tri collecting (rotate* m v))))
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(defun scale-vector (v a)
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(make-array (length v) :initial-contents (loop for i across v collecting (* i a))))
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; returns a vector with all elemts scaled to biggest 1 which is scaled to 1
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; e.x. (scale-vector (8 4 2)) -> (1 .5 .25)
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(defun scale-vector-1 (v)
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(let ((max (loop for i across v maximize (abs i) into result finally (return result))))
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(make-array (length v) :initial-contents (loop for i across v collecting (float (/ i max))))))
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(defun dot (v1 v2)
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(loop for i from 0 to (1- (length v1)) summing (* (aref v1 i) (aref v2 i))))
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(defun vector-length (v)
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(sqrt (dot v v)))
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(defun scalar-proj (vector direction)
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(let ((length (vector-length direction)))
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(if (eql 0 length)
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0
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(/ (dot vector direction) length))))
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(defun vector- (v1 v2)
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(make-array (length v1) :initial-contents (loop for i from 0 to (1- (length v1)) collecting (- (aref v1 i) (aref v2 i)))))
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(defun vector+ (v1 v2)
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(make-array (length v1) :initial-contents (loop for i from 0 to (1- (length v1)) collecting (+ (aref v1 i) (aref v2 i))))) |