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/* 3-dimensional source-to-target angle calculator.
** For potential use with a battery of laser turrets.
** Asheem Linaval Oct 25 2009 */
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#define DEBUG 0
#define DELTA_X targ_x-src_x
#define DELTA_Y targ_y-src_y
#define DELTA_Z targ_z-src_z
int targ_ang_calc
(
int src_x,
int src_y,
int src_z,
int targ_x,
int targ_y,
int targ_z,
//returning vals
float *rot_angle,
float *tilt_angle
)
{
float rotdeg = 0.0, tiltdeg = 0.0, twodimdist = 0.0;
// calculate magnitude of inverse tangent of delta-y/delta-x
// and convert from radians to degrees.
rotdeg = (atan( (double)(DELTA_Y) / (double)(DELTA_X) ) * 180.0 ) / 3.14159;
if (rotdeg < 0) rotdeg = rotdeg* -1;
if ( DEBUG )
{
printf("rotdeg == %f\n", rotdeg);
printf("Delta-y = %d\nDelta-x = %d\n", ((DELTA_Y)), ((DELTA_X)));
}
// quads go clockwise for simplicity. fuck convention.
// first quad
if ( (DELTA_X) >= 0 && (DELTA_Y) > 0 )
{
*rot_angle = (90-rotdeg);
if (DEBUG) printf("quad I\n");
}
// second quad
else if ( (DELTA_X) > 0 && (DELTA_Y) <= 0 )
{
*rot_angle = rotdeg + 90;
if (DEBUG ) printf("quad II\n");
}
// third
else if ( (DELTA_X) <= 0 && (DELTA_Y) < 0 ){
*rot_angle = (90-rotdeg) + 180;
if (DEBUG )printf("quad III\n");
}
// fourth
else if ( (DELTA_X) < 0 && (DELTA_Y) >= 0 ){
*rot_angle = rotdeg + 270;
if (DEBUG )printf("quad IV\n");
}
else // target is above the source. Set rot to 0 and tilt to 90
// to point the source straight up and kill function.
{
if ( DEBUG ) printf("Target is at origin.\n");
*rot_angle = 0;
*tilt_angle = 90;
return 0;
}
*tilt_angle = ((atan ( (DELTA_Z) /
(sqrt ( pow(DELTA_X,2)
+ pow(DELTA_Y,2) /*esqrt*/ )) )
) * 180 ) / 3.14159;
/*function end*/
}
int main(int argc, char *argv[])
// usage: 3d s1x s1y s1z s2x s2y s2z s3x s3y s3z s4x s4y s4z tx ty tz
{
int src_x[3], src_y[3], src_z[3], targ_x, targ_y, targ_z, ctr=0;
float rot_angle[3], tilt_angle[3];
// sx sy sz tx ty tz rot tilt
src_x[0]= 100; src_y[0]= 100; src_z[0]=10;
src_x[1]= 100; src_y[1]=-100; src_z[1]=10;
src_x[2]=-100; src_y[2]=-100; src_z[2]=10;
src_x[3]=-100; src_y[3]= 100; src_z[3]=10;
targ_x=0; targ_y=0; targ_z=150;
if (argc == 4)
{
targ_x = atoi( argv[1] );
targ_y = atoi( argv[2] );
targ_z = atoi( argv[3] );
}
else printf("Using defaults. Usage: %s tx ty tz\n\n", argv[0]);
for(1; ctr <= 3; ctr++)
{
targ_ang_calc ( src_x[ctr], src_y[ctr], src_z[ctr], targ_x, targ_y, targ_z, &rot_angle[ctr], &tilt_angle[ctr] );
printf("SOURCE %d: %ROT = %f TILT= %f\n", ctr, rot_angle[ctr], tilt_angle[ctr]);
}
return 0;
}
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