run_utils.c

/*
  走行制御の補助関数
  Satofumi KAMIMURA
  $Id$
*/
#define C_RUNCTRL_SOURCE

#include "run_utils.h"
#include "detect_os.h"
#if defined Linux || defined NoSDL_Linux
#include <unistd.h>
#elif defined WINDOWS
#include <windows.h>
#endif

#include <math.h>
#include "math_util.h"


int deg(int degree) {
  return (int)(65536 * degree / 360);
}


int rad(double radian) {
  return (int)(65536 * radian / (2.0 * M_PI));
}


int to_deg(int div16) {
  return (360 * div16 / 65536);
}


double to_rad(int div16) {
  return (2.0 * M_PI * div16 / 65536.0);
}


int sec(double second) {
  return (1000.0 * second);
}


void mWait(int msec) {
#ifdef __linux__
  usleep(1000 * msec);
#elif __WIN32__ || _MBCS
  Sleep(msec);
#endif
}