Vector.nxc File Reference

A simple 3-components vector implementation (2D point + direction) More...

#include "Debug.nxc"
#include "Matrix.nxc"

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Data Structures
struct	Vector
	A vector that represents a 2D point by x-y coordinates and a direction angle. More...

Functions
long	VectorGet (Vector &a, int i)
	Gets the vector members with an index number rather than component names. Useful in a loop.
void	VectorSet (Vector &a, int i, long value)
	Sets the vector members with an index number rather than component names. Useful in a loop.
long	VectorGetDistance (Vector &a)
	Gets the polar distance of the given vector. It's the distance of its x-y coordicate from origin.
int	VectorGetAngle (Vector &a)
	Gets the polar angle of the given vectors. It's the angle of its x-y coordinate from origin. it ranges from 0 to 360, 0 on x-axis facing +ve side and increasing anti-clockwise.
long	VectorGetDistanceVec (Vector &a, Vector &b)
	Gets the distance between given two vectors.
long	VectorGetAngleVec (Vector &a, Vector &b)
	Gets the angle of the line formed by the given two vectors.
void	VectorInit (Vector &a, long x, long y, long theta)
	Initializes the vector with given x, y and theta components.
void	VectorInitPolar (Vector &a, long distance, int angle, int theta)
	Initializes the vector with given distance and angle polar components. More...
void	VectorInitBound (Vector &retVec, long x, long y)
	Initializes the vector into a bound vector with the point given by x and y. Bound vector is a vector originating from world origin and pointing towards the given point. Hence theta is the direction of the (x,y) point w.r.t origin.
void	VectorTranslate (Vector &a, long distance, int angle)
	Translate the vector point to a new point moved the given distance towards the given direction angle. More...
void	VectorAdd (Vector &a, Vector &b)
	Adds vector b to a. i.e. a += b.
void	VectorSubtract (Vector &a, Vector &b)
	Subtracts vector b from a. i.e. a -= b.
void	VectorScale (Vector &a, long S)
	Scales x and y vector components by the given factor. i.e. a = a * S.
void	VectorReduce (Vector &a, long S)
	Reduces x and y vector components by the given factor. i.e. a = a / S.
void	VectorRotate (Vector &vec, long theta)
	Rotates the point in the vector by given angle. The direction component in the vector is not touched.
void	VectorRotateAtPoint (Vector &vec, long theta, long pivotX, long pivotY)
	Rotates the point in the vector by given angle around the pivot point given by pivotX and pivotY. The direction component in the vector is not touched.
void	VectorTransform (Vector &vec, Matrix &matrix, Vector &retVec)
	Transforms the given vector with the given transformation matrix and returns the transformed vector in retVec. retVector must be different from input vector because they are passed as reference. Vector transformation is just multiplying the (column) vector with the transformation matrix.

Detailed Description

A simple 3-components vector implementation (2D point + direction)

Note that this is not a 3D vector as in 3-dimentional coordinates system. It is more of a convenient package to put together a 2D point and a direction component associated with it. This is an important distinciton because many of the vector operations on this are only applicable to the x-y point, such as rotating it. For actual 3D vector, use Matrix instead.

Definition in file Vector.nxc.

Function Documentation

void VectorInitPolar	(	Vector &	a,
		long	distance,
		int	angle,
		int	theta
	)

Initializes the vector with given distance and angle polar components.

Note that 'angle' in the polar coordinate components is not the theta in the vector. 'angle' is part of coordinate that describes the location of of the point. theta, on the other hand, is the direction of the point and could be facing anywhere.

Definition at line 137 of file Vector.nxc.

References Vector::theta, Vector::x, and Vector::y.

void VectorTranslate	(	Vector &	a,
		long	distance,
		int	angle
	)

Translate the vector point to a new point moved the given distance towards the given direction angle.

Note that the theta (direction) component in the vector is unaffected.

Definition at line 163 of file Vector.nxc.

References Vector::x, and Vector::y.

Referenced by Odometer2SetDriftCorrection(), SonarFindObject(), and SonarFindObjectAtAngle().