Math.kc

module KOS::Math;

import KOS::Builtin unqualified;

builtin structure Vector : Structure {
  Scalar X;
  Scalar Y;
  Scalar Z;
  Scalar Mag;
  Vector Normalized get;
  Scalar SqrMagnitude get;
  Direction Direction;
  Vector Vec get;
}

builtin Vector V(Scalar x, Scalar y, Scalar z);
builtin Scalar vdot(Vector v1, Vector v2);
builtin Vector vcrs(Vector v1, Vector v2);
builtin Scalar vang(Vector v1, Vector v2);
builtin Vector vxcl(Vector v1, Vector v2);

builtin structure Direction : Structure {
  Scalar Pitch get;
  Scalar Yaw get;
  Scalar Roll get;
  Vector ForeVector get;
  Vector TopVector get;
  Vector StarVector get;
  Direction Inverse get;
}

builtin Direction R(Scalar pitch, Scalar yaw, Scalar roll);
builtin Direction Q(Scalar x, Scalar y, Scalar z, Scalar rot);
builtin Direction Heading(Scalar dir, Scalar pitch);
builtin Direction LookDirUp(Vector lookAt, Vector lookUp);
builtin Direction AngleAxis(Scalar degrees, Vector axis);
builtin Direction RotateFromTo(Vector from, Vector to);

builtin structure Constant {
  Scalar G get;
  Scalar E get;
  Scalar Pi get;
  Scalar c get;
  Scalar AtmToKPa get;
  Scalar KPaToAtm get;
  Scalar DegToRad get;
  Scalar RadToDeg get;
}
builtin Constant Constant get;

builtin structure PIDLoop {
  Scalar LastSampleTime get;
  Scalar KP;
  Scalar KI;
  Scalar KD;
  Scalar Input get;
  Scalar Setpoint;
  Scalar Error get;
  Scalar Output get;
  Scalar MaxOutput;
  Scalar MinOutput;
  Scalar ErrorSum get;
  Scalar PTerm get;
  Scalar ITerm get;
  Scalar DTerm get;
  Scalar ChangeRate get;
  Void Reset();
  Scalar Update(Scalar time, Scalar input);
}

builtin PIDLoop PIDLoop(Scalar kp = ?, Scalar ki = ?, Scalar kd = ?, Scalar minOut = ?, Scalar maxOut = ?);

builtin Scalar Min(Scalar a, Scalar b);
builtin Scalar Max(Scalar a, Scalar b);
builtin Scalar Abs(Scalar a);
builtin Scalar Ceiling(Scalar a);
builtin Scalar Floor(Scalar a);
builtin Scalar Ln(Scalar a);
builtin Scalar Log10(Scalar a);
builtin Scalar Mod(Scalar a, Scalar b);
builtin Scalar Round(Scalar a, Scalar b = ?);
builtin Scalar Sqrt(Scalar a);
builtin String Char(Scalar a);
builtin Scalar UnChar(String a);

builtin Scalar Sin(Scalar a);
builtin Scalar Cos(Scalar a);
builtin Scalar Tan(Scalar a);
builtin Scalar ArcSin(Scalar a);
builtin Scalar ArcCos(Scalar a);
builtin Scalar ArcTan(Scalar a);
builtin Scalar ArcTan2(Scalar a, Scalar b);