Jonathan Goret / LSM303DLH

same

Dependents:   Nucleo_gyro_magno

vector.cpp

Committer:
johnylafleur
Date:
2015-04-13
Revision:
0:38cd86f4249d

File content as of revision 0:38cd86f4249d:

#include <vector.h>
#include <math.h>

void vector_cross(const vector *a,const vector *b, vector *out)
{
  out->x = a->y*b->z - a->z*b->y;
  out->y = a->z*b->x - a->x*b->z;
  out->z = a->x*b->y - a->y*b->x;
}

float vector_dot(const vector *a,const vector *b)
{
  return a->x*b->x+a->y*b->y+a->z*b->z;
}

void vector_normalize(vector *a)
{
  float mag = sqrt(vector_dot(a,a));
  a->x /= mag;
  a->y /= mag;
  a->z /= mag;
}