2021-01-21 23:12:59 +08:00
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/// 2-argument arctangent function.
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///
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/// This implementation uses all integer arithmetic for fast
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/// computation. It is designed to have high accuracy near the axes
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/// and lower away from the axes. It is additionally designed so that
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/// the error changes slowly with respect to the angle.
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///
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/// # Arguments
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///
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/// * `y` - Y-axis component.
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/// * `x` - X-axis component.
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///
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/// # Returns
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///
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/// The angle between the x-axis and the ray to the point (x,y). The
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/// result range is from i32::MIN to i32::MAX, where i32::MIN
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/// represents -pi and, equivalently, +pi. i32::MAX represents one
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/// count less than +pi.
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pub fn atan2(y: i32, x: i32) -> i32 {
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let sign = (x < 0, y < 0);
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let mut y = y.wrapping_abs() as u32;
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let mut x = x.wrapping_abs() as u32;
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let y_greater = y > x;
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if y_greater {
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core::mem::swap(&mut y, &mut x);
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}
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let z = (16 - y.leading_zeros() as i32).max(0);
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x >>= z;
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if x == 0 {
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return 0;
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}
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y >>= z;
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let r = (y << 16) / x;
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debug_assert!(r <= 1 << 16);
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// Uses the general procedure described in the following
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// Mathematics stack exchange answer:
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//
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// https://math.stackexchange.com/a/1105038/583981
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//
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// The atan approximation method has been modified to be cheaper
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// to compute and to be more compatible with integer
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// arithmetic. The approximation technique used here is
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//
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// pi / 4 * r + C * r * (1 - abs(r))
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//
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// which is taken from Rajan 2006: Efficient Approximations for
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// the Arctangent Function.
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//
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// The least mean squared error solution is C = 0.279 (no the 0.285 that
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// Rajan uses). K = C*4/pi.
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// Q5 for K provides sufficient correction accuracy while preserving
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// as much smoothness of the quadratic correction as possible.
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const FP_K: usize = 5;
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const K: u32 = (0.35489 * (1 << FP_K) as f64) as u32;
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// debug_assert!(K == 11);
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// `r` is unsigned Q16.16 and <= 1
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// `angle` is signed Q1.31 with 1 << 31 == +- pi
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// Since K < 0.5 and r*(1 - r) <= 0.25 the correction product can use
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// 4 bits for K, and 15 bits for r and 1-r to remain within the u32 range.
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let mut angle = ((r << 13)
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+ ((K * (r >> 1) * ((1 << 15) - (r >> 1))) >> (FP_K + 1)))
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as i32;
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if y_greater {
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angle = (1 << 30) - angle;
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}
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if sign.0 {
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angle = i32::MAX - angle;
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}
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if sign.1 {
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angle = angle.wrapping_neg();
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2021-05-06 16:10:59 +08:00
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// Negation ends up in slightly faster assembly
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// angle = !angle;
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2021-01-21 23:12:59 +08:00
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}
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angle
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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use core::f64::consts::PI;
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fn angle_to_axis(angle: f64) -> f64 {
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let angle = angle % (PI / 2.);
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(PI / 2. - angle).min(angle)
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}
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#[test]
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fn atan2_absolute_error() {
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const N: usize = 321;
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let mut test_vals = [0i32; N + 4];
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let scale = (1i64 << 31) as f64;
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for i in 0..N {
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test_vals[i] = (scale * (-1. + 2. * i as f64 / N as f64)) as i32;
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}
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assert!(test_vals.contains(&i32::MIN));
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test_vals[N] = i32::MAX;
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test_vals[N + 1] = 0;
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test_vals[N + 2] = -1;
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test_vals[N + 3] = 1;
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let mut rms_err = 0f64;
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let mut abs_err = 0f64;
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let mut rel_err = 0f64;
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for &x in test_vals.iter() {
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for &y in test_vals.iter() {
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let want = (y as f64 / scale).atan2(x as f64 / scale);
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let have = atan2(y, x) as f64 * PI / scale;
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let err = (have - want).abs();
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abs_err = abs_err.max(err);
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rms_err += err * err;
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if err > 3e-5 {
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rel_err = rel_err.max(err / angle_to_axis(want));
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}
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}
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}
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rms_err = rms_err.sqrt() / test_vals.len() as f64;
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println!("max abs err: {:.2e}", abs_err);
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println!("rms abs err: {:.2e}", rms_err);
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println!("max rel err: {:.2e}", rel_err);
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assert!(abs_err < 5e-3);
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assert!(rms_err < 3e-3);
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assert!(rel_err < 0.6);
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}
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}
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