cvrSinCos.h

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/*
 * Copyright (C) 2005-2007
 * Peter Doerfler
 *
 *
 * This file is part of the Computer Vision and Robotics Library (CVR-Lib)
 *
 * The CVR-Lib is free software; you can redistribute it and/or
 * modify it under the terms of the BSD License.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the authors nor the names of its contributors may be
 *    used to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */


/**
 * \file   cvrSinCos.h
 *         Contains platform and/or compiler specific implementations
 *         of sincos, sincosf, and sincosl - always appending _impl to
 *         the name. Don't use this file directly but include
 *         cvrMath.h instead which provides a template function
 *         sincos()
 *
 * \author Peter Doerfler
 * \date   27.10.2005
 *
 * $Id: cvrSinCos.h,v 1.1 2007/09/13 23:29:55 alvarado Exp $
 */


#ifndef _CVR_SIN_COS_H_
#define _CVR_SIN_COS_H_

#include "cvrTypes.h"
#include "cvrMacroSymbols.h"
#include <cmath>


namespace cvr {

  namespace internal {
    // structure: first level: compiler, possibly second level with
    // machine type needed.

    // MacOSX somehow misses sincos() and sincosf()
#if defined(_CVR_GNUC_3) && !(defined(_CVR_MACOSX))

    // just wrap for constistency

    /**
     * Calculate the sine and cosine values of \p angle in one step if
     * the setup allows it.
     */
    void inline sincos_impl(double angle, double& sval, double& cval) {
      ::sincos(angle, &sval, &cval);
    }

    /**
     * Calculate the sine and cosine values of \p angle in one step if
     * the setup allows it.
     */
    void inline sincosf_impl(float angle, float& sval, float& cval) {
      ::sincosf(angle, &sval, &cval);
    }

#elif defined(_CVR_MSC_VER)

    // inline asm implementations

    /**
     * Calculate the sine and cosine values of \p angle in one step if
     * the setup allows it.
     */
    void inline sincos_impl(double angle, double& sval, double& cval) {
      __asm {

        fld QWORD PTR [angle]
          fsincos
          mov ebx, [cval]
          fstp QWORD PTR [ebx]
          mov ebx, [sval]
          fstp QWORD PTR [ebx]
          }
    }

    /**
     * Calculate the sine and cosine values of \p angle in one step if
     * the setup allows it.
     */
    void inline sincosf_impl(float angle, float& sval, float& cval) {
      __asm {

        fld DWORD PTR [angle]
          fsincos
          mov ebx, [cval]
          fstp DWORD PTR [ebx]
          mov ebx, [sval]
          fstp DWORD PTR [ebx]
          }
    }

#else

    // don't know how to do this right so just do the simple thing
    void inline sincos_impl(double angle, double& sval, double& cval) {
      sval = sin(angle);
      cval = cos(angle);
    }
    void inline sincosf_impl(float angle, float& sval, float& cval) {
      sval = sin(angle);
      cval = cos(angle);
    }

#endif // compilers

  } // end of namespace internal

  /**
   * Calculate the sine and cosine values of \p angle in one step if
   * the setup allows it.
   *
   * @param angle the angle
   * @param sval sine of the \p angle
   * @param cval cosine of the \p angle
   */
  template <class T>
  inline void sincos(T angle, T& sval, T& cval) {
    internal::sincos_impl(static_cast<double>(angle),
                          static_cast<double&>(sval),
                          static_cast<double&>(cval));
  }
  
  // overload for float
  inline void sincos(float angle, float& sval, float& cval) {
    internal::sincosf_impl(angle,sval,cval);
  }
  
}

#endif // _CVR_SIN_COS_H