int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
// B correction
double zb = (*(haldata->pivot_length) + pos->w) * cos(d2r(pos->b));
double xb = (*(haldata->pivot_length) + pos->w) * sin(d2r(pos->b));
// C correction
double xyr = hypot(pos->tran.x, pos->tran.y);
double xytheta = atan2(pos->tran.y, pos->tran.x) - d2r(pos->c);
// U correction
double zv = pos->u * sin(d2r(pos->b));
double xv = pos->u * cos(d2r(pos->b));
// V correction is always in joint 1 only
joints[0] = xyr * cos(xytheta) - xb + xv;
joints[1] = xyr * sin(xytheta) + pos->v;
joints[2] = pos->tran.z + zb + zv - *(haldata->pivot_length);
joints[3] = pos->a;
joints[4] = pos->b;
joints[5] = pos->c;
joints[6] = pos->u;
joints[7] = pos->v;
joints[8] = pos->w;
return 0;
}
cMatrix3d InputManager::GetCameraTransformations()
{
cMatrix3d cam;
//Col0 has Position
cam.setCol0(cVector3d(transforms.xPos, transforms.yPos, transforms.zPos));
//Col1 has Gaze
dvec4 gazeCamSpace = dvec4( 0, 0, 1, 1);
dvec4 gazeWorldSpace = camToWorld * gazeCamSpace;
cam.setCol1(cVector3d(gazeWorldSpace.x, gazeWorldSpace.y, gazeWorldSpace.z));
//Col2 has Up
cVector3d up;
if(transforms.elevation == 0)
{
//If Looking straight down, change the up vector to the heading
up = cVector3d(cos(d2r(transforms.heading)), 0, sin(d2r(transforms.heading)));
}
else if(transforms.elevation == 180)
{
//If looking straight up, change the up vector to the negative heading
up = cVector3d(0 - cos(d2r(transforms.heading)), 0, 0 - sin(d2r(transforms.heading)));
}
else
{
up = cVector3d(0,1,0);
}
cam.setCol2(up);
return cam;
}
int main(){
V6 v6;
DMS dms;
HMS hms;
double ra=0.0, de=0.0, pmra=0.0, pmde=0.0, px=0.0, rv=0.0, C=0.0;
/* Barnard's star from Hipparcos catalog.
ICRS Epoch J1991.25 */
ra = d2r(269.45402305);
de = d2r(4.66828815);
px = 549.01 / 1000.0; /* Arc seconds */
rv = 0.0;
pmra = (-797.84 / 1000.0 ) / cos(de); /* pmra * cos(de) into pmra */
pmra *= 100.0; /* Arcseconds per century. */
pmde = (10326.93 / 1000.0);
pmde *= 100.0; /* Arcseconds per century. */
C = CJ;
printf("RA %f DE %f PMRA %f PMDE %f PX %f RV %f\n",
ra, de, pmra, pmde, px, rv);
v6 = v6init(CARTESIAN);
v6 = cat2v6(ra, de, pmra, pmde, px, rv, C);
v6 = proper_motion(v6, J2000, JYEAR2JD(1991.25));
printf("RAJ2000: %s DEJ2000:%s\n", fmt_alpha(v6GetAlpha(v6c2s(v6))),
fmt_d(r2d(v6GetDelta(v6c2s(v6)))));
hms = hms2hms(r2hms(v6GetAlpha(v6c2s(v6))));
dms = dms2dms(r2dms(v6GetDelta(v6c2s(v6))));
printf("RAJ2000: hh %.1f mm %.1f ss %.4f\n", hms.hh, hms.mm, hms.ss);
printf("DEJ2000: dd %.1f mm %.1f ss %.4f\n", dms.dd, dms.mm, dms.ss);
return 0;
}
double REIXSXESCalibration::spectrometerTheta(double spectrometerRotationDrive) const
{
// lh = liftheight
double lh = frameH0_ - spectrometerRotationDrive + spectrometerRotDrive0_;
double l=frameL_;
double a=frameA_;
double b=frameB_;
double a2 = a*a;
double b2 = b*b;
double l2 = l*l;
double lh2 = lh*lh;
double l3 = l2*l;
double lh4 = lh2*lh2;
double lh6 = lh4*lh2;
double l4 = l2*l2;
double b4 = b2*b2;
double a4 = a2*a2;
// phi = theta_m - d2r(frameATheta_)
double phi = atan2(
-1./2.*(a2-b2-l/(4*l2+4*lh2)*(4*a2*l+4*l*lh2+4*l3-4*b2*l+4*sqrt(-2*l2*lh4-l4*lh2-lh2*b4+2*lh4*b2+2*lh4*a2+2*a2*l2*lh2+2*l2*lh2*b2+2*lh2*b2*a2-a4*lh2-lh6))+l2+lh2)/a/lh,
1./2./(4*l2+4*lh2)*(4*a2*l+4*l*lh2+4*l3-4*b2*l+4*sqrt(-2*l2*lh4-l4*lh2-lh2*b4+2*lh4*b2+2*lh4*a2+2*a2*l2*lh2+2*l2*lh2*b2+2*lh2*b2*a2-a4*lh2-lh6))/a
);// one nasty inverse function
double theta_m = phi + d2r(frameATheta_);
// theta': angle above calibration position = theta - theta_0 [either aligned to working coordianates, or to frame rails. Doesn't matter, since it's a difference between two angles.]
// theta_m: angle of inclineable rails above horizontal frame rails = theta' + theta_0m
return theta_m + d2r(spectrometerTheta0_) - d2r(spectrometerTheta0m_);
}
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
// B correction
double zb = (*(haldata->pivot_length) + joints[8]) * cos(d2r(joints[4]));
double xb = (*(haldata->pivot_length) + joints[8]) * sin(d2r(joints[4]));
// C correction
double xyr = hypot(joints[0], joints[1]);
double xytheta = atan2(joints[1], joints[0]) + d2r(joints[5]);
// U correction
double zv = joints[6] * sin(d2r(joints[4]));
double xv = joints[6] * cos(d2r(joints[4]));
// V correction is always in joint 1 only
pos->tran.x = xyr * cos(xytheta) + xb - xv;
pos->tran.y = xyr * sin(xytheta) - joints[7];
pos->tran.z = joints[2] - zb + zv + *(haldata->pivot_length);
pos->a = joints[3];
pos->b = joints[4];
pos->c = joints[5];
pos->u = joints[6];
pos->v = joints[7];
pos->w = joints[8];
return 0;
}
void CEnemy3::Exec()
{
// 移動
if(y <= 150){
y += 1.0f;
}else{
// 途中から水平移動に切り替え
if(left == true){
x += 1.0f;
}else{
x -= 1.0f;
}
if(x > 704.0f && x < -64.0f){
RemoveObject(this);
return;
}
}
// 弾の発射
if(frame % 120 == 0 && frame > 0){
//120フレームごとに連射フラグを切り替える
shoot = !shoot;
// 連射終了直後であれば
// 真下に向かって5way弾を発射する
if(shoot == false){
float angle[5] = {90.0f, 70.0f, 50.0f, 110.0f, 130.0f};
for(int i = 0; i < 5; i++){
AppendObject(
new CEnemyBullet(x, y + 18, d2r(angle[i]), 2.5f),
ENEMYBULLET_PRIORITY, true);
}
}
}
// 連射フラグが有効になっているのであれば
// 20フレームごとに真下に弾を発射
if(shoot == true){
if(frame % 20 == 0){
AppendObject(
new CEnemyBullet(x - 40, y + 37, d2r(90.0f), 2.0f),
ENEMYBULLET_PRIORITY, true);
AppendObject(
new CEnemyBullet(x + 40, y + 37, d2r(90.0f), 2.0f),
ENEMYBULLET_PRIORITY, true);
}
}
frame++;
sprite.Draw(x, y);
if(this->HitTest(player)){
player->Destroy();
this->Damaged();
}
}
double
refract(double z, double refa, double refb, int flag)
{
double dz; /* refraction */
double err; /* iteration error */
double tz0; /* tangent value */
double z0; /* refracted (observed) zenith distance */
double z0_last; /* previous value */
int i;
/* limit the given zenith angle */
if (z < 0) {
z = 0;
} else if (z > d2r(Z_LIMIT)) {
z = d2r(Z_LIMIT);
}
if (flag > 0) {
/* apply refraction */
/* we have to iterate the refraction equation to get z0 */
/* first guess */
z0 = z;
/* use newton's method to find z0 */
for (i = 0; i < ITERATIONS; i++) {
z0_last = z0;
tz0 = tan(z0);
dz = tz0 * (refa + tz0 * (tz0 * refb));
z0 -= ((z0-z) + dz) / (1 + (refa+3*refb*tz0*tz0)/(cos(z0)*cos(z0)));
err = fabs(z0-z0_last);
#ifdef DEBUG
(void)fprintf(stdout, "refract: z0 %.15g dz %.15g z %.15g err %.15g\n",
z0, dz, z, err);
#endif
}
dz *= -1.0;
} else {
/* remove refraction */
z0 = z;
tz0 = tan(z0);
dz = tz0 * (refa + tz0 * (tz0 * refb));
z = z0 + dz;
#ifdef DEBUG
(void)fprintf(stdout, "refract: z0 %.15g tz0 %.15g dz %.15g z %.15g\n",
z0, tz0, dz, z);
#endif
}
return(dz);
}
int main(){
V6 v6;
v6 = geod2geoc(d2r(30.567), d2r(46.713), 1500.0);
printf("X %.9f \tY %.9f \tZ %.9f \nXDOT %.9f \tYDOT %.9f \tZDOT %.9f\n",
v6GetX(v6), v6GetY(v6), v6GetZ(v6), v6GetXDot(v6),
v6GetYDot(v6), v6GetZDot(v6));
return 0;
}
V6
equ2gal(V6 v6)
{
/* subtract e-terms */
v6 = ellab(B1950, v6, -1);
v6 = m3v6(m3Rz(d2r(GAL_RA)), v6);
v6 = m3v6(m3Ry(d2r(90-GAL_DEC)), v6);
v6 = m3v6(m3Rz(d2r(90-GAL_LON)), v6);
return(v6);
}
NuId calcNuStep(const IntegralArea* ia, const unsigned int nu_step)
{
NuId nuid;
real tmp1, tmp2;
nuid.nu = ia->nu_min + (nu_step * ia->nu_step_size);
tmp1 = d2r(90.0 - nuid.nu - ia->nu_step_size);
tmp2 = d2r(90.0 - nuid.nu);
nuid.id = mw_cos(tmp1) - mw_cos(tmp2);
nuid.nu += 0.5 * ia->nu_step_size;
return nuid;
}
void draw_dots(SDL_Surface *surface, int secondes, int totalSecondes, int x, int y, int radius, int dotRadius, Uint32 dotColor) {
int centerX = x + radius;
int centerY = y + radius;
secondes++;
if(secondes > totalSecondes) {
secondes = totalSecondes;
}
for(int i = 0; i < secondes; i++) {
int dotX = centerX + radius * cos((d2r(360)/totalSecondes)*i-d2r(90));
int dotY = centerY + radius * sin((d2r(360)/totalSecondes)*i-d2r(90));
draw_circle(surface, dotX, dotY, dotRadius, dotColor);
}
}
void InputManager::BuildCamToWorld()
{
dvec3 gaze, up, v, u, w;
gaze.x = sin(d2r(transforms.elevation)) * cos(d2r(transforms.heading));
gaze.y = 0 - cos(d2r(transforms.elevation));
gaze.z = sin(d2r(transforms.elevation)) * sin(d2r(transforms.heading));
if(transforms.elevation == 0)
{
//If Looking straight down, change the up vector to the heading
up = dvec3(cos(d2r(transforms.heading)), 0, sin(d2r(transforms.heading)));
}
else if(transforms.elevation == 180)
{
//If looking straight up, change the up vector to the negative heading
up = dvec3(0 - cos(d2r(transforms.heading)), 0, 0 - sin(d2r(transforms.heading)));
}
else
{
up = dvec3(0,1,0);
}
w.x = 0 - gaze.x;
w.y = 0 - gaze.y;
w.z = 0 - gaze.z;
//Shouldn't be necessary, but just in case...
w = normalize(w);
u = cross(up, w);
u = normalize(u);
v = cross(w, u);
v = normalize(v);
dmat4x4 changeBase = dmat4x4( u.x, u.y, u.z, 0,
v.x, v.y, v.z, 0,
gaze.x, gaze.y, gaze.z, 0,
0 , 0 , 0 , 1);
changeBase = transpose(changeBase);
dmat4x4 eye2origin = dmat4x4( 1, 0, 0, 0 - transforms.xPos,
0, 1, 0, 0 - transforms.yPos,
0, 0, 1, 0 - transforms.zPos,
0, 0, 0, 1);
eye2origin = transpose(eye2origin);
dmat4x4 changeBaseINV = inverse(changeBase);
dmat4x4 eye2originINV = inverse(eye2origin);
rotateToWorld = changeBaseINV;
camToWorld = eye2originINV * changeBaseINV;
}
void CBoss::Action2()
{
// 左右に移動
if(moveflag1 == 0){
x -= 0.5f;
if(x < 100.0f) moveflag1 = 1;
}else{
x += 0.5f;
if(x > 540.0f) moveflag1 = 0;
}
frame++;
if(frame % 40 == 0){
ShootFromNozzle(2.0f);
}
if(frame == 240){
// 中央部分から拡散弾
float range[] = {30.0f, 60.0f, 90.0f, 120.0f, 150.0f};
for(int i = 0; i < 5; i++){
AppendObject(
new CEnemyBullet(x, y + 50.0f, d2r(range[i]), 3.0f),
ENEMYBULLET_PRIORITY, true);
}
frame = 0;
}
}
void rotz(mat4 m, float a)
{
const float r=d2r(a), c=cosf(r), s=sinf(r);
vec4 t[2]; t[0]=m[0]; t[1]=m[1];
m[0]=(t[0]*c)+(t[1]*-s);
m[1]=(t[0]*s)+(t[1]*c);
}
double
do_sind(double x)
{
double temp;
errno = 0;
temp = sin(d2r(x));
MATH_ERROR("sind");
return (temp);
}
double
do_cosd(double x)
{
double temp;
errno = 0;
temp = cos(d2r(x));
MATH_ERROR("cosd");
return (temp);
}
double
do_tand(double x)
{
double temp;
errno = 0;
temp = tan(d2r(x));
MATH_ERROR("tand");
return (temp);
}
int camera_sphere(double f,double v,double h,double o){
int x,y;
double a_v=r2d(2*atan(v/(2*f)));
double a_h=r2d(2*atan(h/(2*f)));
verbose(L_CAMR,"%s: focal: %6.2f mm",cam->name,f);
verbose(L_CAMR,"%s: υ: sensor: %6.2f • %6.2f mm",cam->name,v,h);
verbose(L_CAMR,"%s: υ: α: %6.2f • %6.2f °",cam->name,a_v,a_h);
a_v=a_v*(1-(o/2));a_h=a_h*(1-(o/2));
verbose(L_CAMR,"%s: υ: α': %6.2f • %6.2f °",cam->name,a_v,a_h);
verbose(L_CAMR,"%s: υ: Ξ: %6.3f",cam->name,o);
for(y=0;y<=ceil(180/a_v);y++){
double pos_theta=(y*(180/ceil(180/a_v)))-90;
for(x=0;x<ceil(360/(a_h/cos(d2r(pos_theta))));x++){
double pos_phi=x*(360/ceil(360/(a_h/cos(d2r(pos_theta)))));
go(0,pos_theta,pos_phi);
trigger_shot(0);
}
}
}
int main(){
double ra = (12+22/60.0+54.899/3600.0) * (2*M_PI/24.0);
double de = (15+49/60.0+20.57/3600.0) * (2*M_PI/360.0);
double ra1, ra1_d, de1, de1_d;
double ep = J2000;
double eq = J2000;
DMS ra_dms, de_dms;
V6 v6;
V6 pvec[N_TPM_STATES];
TPM_TSTATE tstate;
int s1 = TPM_S06; /* Heliocentric mean J2000 FK5 ~~ ICRS */
int s2 = TPM_S00; /* Assign required states. */
for(int i=TPM_S00; i < N_TPM_STATES; i ++){
tpm_data(&tstate, TPM_INIT);
tstate.utc = J2000;
tstate.lon = d2r(-111.598333);
tstate.lat = d2r(31.956389);
tstate.alt = 2093.093;
tstate.delta_ut = delta_UT(tstate.utc);
tpm_data(&tstate, TPM_ALL);
v6 = v6init(SPHERICAL);
v6SetR(v6, 1e9);
v6SetAlpha(v6, ra);
v6SetDelta(v6, de);
pvec[s1] = v6s2c(v6);
s2 = i;
tpm(pvec, s1, s2, ep, eq, &tstate);
v6 = v6c2s(pvec[s2]);
ra_dms = dms2dms(r2dms(v6GetAlpha(v6)));
de_dms = dms2dms(r2dms(v6GetDelta(v6)));
printf("%02d-%02d %7.2f %7.2f %8.4f %7.2f %7.2f %8.4f\n",
s1, s2, ra_dms.dd, ra_dms.mm, ra_dms.ss,
de_dms.dd, de_dms.mm, de_dms.ss);
}
return 0;
}
int main(){
V6 v6;
#define L 3
double ha, dec;
double az[L] = {0, 90, 133.30805555555557};
double el[L] = {90, -45, 59.086111111111116};
v6 = v6init(SPHERICAL);
v6SetR(v6, 1e9);
for (int i=0; i < L; i++){
v6SetAlpha(v6, d2r(az[i]));
v6SetDelta(v6, d2r(el[i]));
v6 = v6c2s(azel2hadec(v6s2c(v6), d2r(43.07833)));
ha = r2d(r2r(v6GetAlpha(v6)));
dec = r2d(r2r(v6GetDelta(v6)));
printf("%.9f %.9f\n", ha, dec);
}
return 0;
}
void persp(mat4 m, float fov, float a, float n, float f)
{
const float nf=1.0f/(n-f);
memset((void*)m,0,_mat4s);
m[1][1]=1.0f/tanf(d2r(fov/2.0f));
m[0][0]=m[1][1]/a;
m[2][2]=(n+f)*nf;
m[2][3]=-1.0f;
m[3][2]=2.0f*n*f*nf;
}
NuConstants* prepareNuConstants(unsigned int nu_steps, real nu_step_size, real nu_min)
{
unsigned int i;
real tmp1, tmp2;
NuConstants* nu_consts;
nu_consts = (NuConstants*) mwMallocA(sizeof(NuConstants) * nu_steps);
for (i = 0; i < nu_steps; ++i)
{
nu_consts[i].nu = nu_min + (i * nu_step_size);
tmp1 = d2r(90.0 - nu_consts[i].nu - nu_step_size);
tmp2 = d2r(90.0 - nu_consts[i].nu);
nu_consts[i].id = mw_cos(tmp1) - mw_cos(tmp2);
nu_consts[i].nu += 0.5 * nu_step_size;
}
return nu_consts;
}
int camera_vshot(double f,double v,double h,double o,double vv,double vh){
int x,y;
double a_v=r2d(2*atan( v/(2*f)));
double a_h=r2d(2*atan( h/(2*f)));
double va_v=r2d(2*atan(vv/(2*f)));
double va_h=r2d(2*atan(vh/(2*f)));
verbose(L_CAMR,"%s: focal: %6.2f mm",cam->name,f);
verbose(L_CAMR,"%s: υ: sensor: %6.2f • %6.2f mm",cam->name,v,h);
verbose(L_CAMR,"%s: υ: α: %6.2f • %6.2f °",cam->name,a_v,a_h);
a_v=a_v*(1-(o/2));a_h=a_h*(1-(o/2));
verbose(L_CAMR,"%s: υ: α': %6.2f • %6.2f °",cam->name,a_v,a_h);
verbose(L_CAMR,"%s: υ: Ξ: %6.3f",cam->name,o);
verbose(L_CAMR,"%s: ν: sensor: %6.2f • %6.2f mm",cam->name,vv,vh);
verbose(L_CAMR,"%s: ν: α: %6.2f • %6.2f °",cam->name,va_v,va_h);
for(y=0;y<=floor(va_v/a_v);y++){
double pos_theta=((a_v*((y*2)-floor(va_v/a_v)))/2);
for(x=0;x<=floor(va_h/(a_h/cos(d2r(pos_theta))));x++){
double pos_phi=(((a_h/cos(d2r(pos_theta)))*((x*2)-floor(va_h/(a_h/cos(d2r(pos_theta))))))/2);
go(0,pos_theta,(y%2?-pos_phi:pos_phi));
trigger_shot(0);
}
}
}
double
tdt2tdb(double tdt)
{
double T; /* elapsed julian centuries */
double dt; /* (tdb - tdt) in seconds */
double g;
double tdb;
T = (tdt - J2000) / 36525;
g = d2r(357.528 + (T * 35999.050));
dt = 0.001658 * sin(g + (0.01671 * sin(g)));
tdb = tdt + (dt / 86400);
return(tdb);
}
int main(){
V6 v6;
v6 = v6init(SPHERICAL);
v6SetR(v6, 1e9);
v6SetAlpha(v6, d2r(34.1592));
v6SetDelta(v6, d2r(12.9638));
v6SetRDot(v6, -0.123);
v6SetAlphaDot(v6, 0.382);
v6SetDeltaDot(v6, 1.0);
v6 = v6s2c(v6);
v6 = precess(J2000, J1984, v6, PRECESS_FK5);
v6 = v6c2s(v6);
printf("R %.10f \tALPHA %.10f \tDELTA %.10f \nRDOT %.10f \tALPHADOT %.10f \tDELTADOT %.10f\n",
v6GetR(v6), v6GetAlpha(v6), v6GetDelta(v6),
v6GetRDot(v6), v6GetAlphaDot(v6), v6GetDeltaDot(v6));
return 0;
}
void setup_obliquity( JULIAN *ptr )
{
double temp, eps;
temp = ( -1.81e-3 * ptr->jd_cent ) + 5.9e-3;
temp *= ptr->jd_cent;
temp += 4.6845e1;
temp *= ptr->jd_cent;
eps = 2.345229444e1 - ( temp / 3600.0 );
obliquity = eps;
eps = d2r( eps );
sin_obliquity = _sin( eps );
cos_obliquity = _cos( eps );
tan_obliquity = _tan( eps );
}
int main(){
V6 v6;
v6 = v6init(CARTESIAN);
v6SetX(v6, 0.5);
v6SetY(v6, 0.173611298);
v6SetZ(v6, 0.84844511);
v6SetXDot(v6, -0.034000000);
v6SetYDot(v6, 0.251873488);
v6SetZDot(v6, -0.872330067);
v6 = equ2ecl(v6, d2r(23.7));
printf("X %.9f \tY %.9f \tZ %.9f \nXDOT %.9f \tYDOT %.9f \tZDOT %.9f\n",
v6GetX(v6), v6GetY(v6), v6GetZ(v6), v6GetXDot(v6),
v6GetYDot(v6), v6GetZDot(v6));
return 0;
}
int main(){
V6 v6;
v6 = v6init(SPHERICAL);
v6SetR(v6, 1e9);
v6SetAlpha(v6, h2r(20.0));
v6SetDelta(v6, d2r(40.0));
v6 = v6s2c(v6);
v6 = v6c2s(ellab(J2000, v6, -1));
printf("X %.9f \tY %.9f \tZ %.9f \nXDOT %.9f \tYDOT %.9f \tZDOT %.9f\n",
v6GetX(v6), r2h(r2r(v6GetY(v6))), r2d(r2r(v6GetZ(v6))), v6GetXDot(v6),
v6GetYDot(v6), v6GetZDot(v6));
return 0;
}
int main(){
V6 v6;
v6 = v6init(SPHERICAL);
v6SetR(v6, 1.0);
v6SetAlpha(v6, M_PI/4.0);
v6SetDelta(v6, M_PI/4.0);
v6 = v6s2c(v6);
v6SetXDot(v6, -0.034);
v6SetYDot(v6, -0.12);
v6SetZDot(v6, -0.9);
v6 = ecl2equ(v6, d2r(23.7));
printf("X %.9f \tY %.9f \tZ %.9f \nXDOT %.9f \tYDOT %.9f \tZDOT %.9f\n",
v6GetX(v6), v6GetY(v6), v6GetZ(v6), v6GetXDot(v6),
v6GetYDot(v6), v6GetZDot(v6));
return 0;
}
void InitTweak( void )
{
int rTweakValues[] = { 0, 5, 10, 30, 50, 70, 90, 110, 130, 150, 170 };
int count, rotate;
double tweakRad;
for( rotate = 0; rotate<2; rotate++ )
{
for( count=0; count<=10; count++ )
{
tweakRad = d2r( (90*rotate) - rTweakValues[count] );
tweakOffsetX[rotate][count] = (int) floor( 0.5 + cos( tweakRad ) * kBlobHorizSize );
tweakOffsetY[rotate][count] = (int) floor( 0.5 + sin( tweakRad ) * kBlobVertSize );
tweakOffsetX[rotate+2][count] = -tweakOffsetX[rotate][count];
tweakOffsetY[rotate+2][count] = -tweakOffsetY[rotate][count];
}
}
}