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Cmake build system for esp32 #1

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franchioping merged 8 commits from cmake_esp32 into master 2026-04-02 16:55:09 +01:00
Conversation 0 Commits 8 Files Changed 12 +17 -8
1 changed files with 17 additions and 8 deletions
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Showing only changes of commit 13e27fe725 - Show all commits

25
src/cmath.rs
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@ -36,16 +36,25 @@ impl From<na::Vector3<f32>> for Vec3C {
}
}
#[unsafe(no_mangle)]
pub extern "C" fn apply_rot(vec_ptr: *const Vec3C, quat_ptr: *const QuatC) -> Vec3C{
assert!(!vec_ptr.is_null());
assert!(!quat_ptr.is_null());
pub extern "C" fn apply_rot(vec_ptr: *const Vec3C, quat_ptr: *const QuatC) -> Vec3C {
if vec_ptr.is_null() || quat_ptr.is_null() {
return Vec3C { x: 0.0, y: 0.0, z: 0.0 };
}
unsafe {
let quat: na::UnitQuaternion<f32> = std::ptr::read(quat_ptr).into();
let v: na::Vector3<f32> = std::ptr::read(vec_ptr).into();
return quat.transform_vector(&v).into();
let v_raw = &*vec_ptr;
let q_raw = &*quat_ptr;
let v = na::Vector3::new(v_raw.x, v_raw.y, v_raw.z);
let q = na::UnitQuaternion::from_quaternion(
na::Quaternion::new(q_raw.w , q_raw.i, q_raw.j, q_raw.k)
);
let rotated = q.transform_vector(&v);
Vec3C { x: rotated.x, y: rotated.y, z: rotated.z }
}
}