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111
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1 -- { dg-do compile }
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2 -- { dg-options "-O3" }
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3
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4 with Opt18_Pkg; use Opt18_Pkg;
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5
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6 package body Opt18 is
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7
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8 function Mag (Item : in Cart_Vector_Type) return Float is
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9 begin
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10 return Sqrt (Item (X) * Item (X) + Item (Y) * Item (Y)
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11 + Item (Z) * Item (Z));
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12 end;
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13
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14 function Unit_Quaternion_To_Mag_Axis (Quaternion : in Unit_Quaternion_Type)
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15 return Mag_Axis_Type is
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16 Sin_Half : Float
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17 := Mag (Cart_Vector_Type'(Quaternion.X, Quaternion.Y, Quaternion.Z));
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18 begin
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19 if Sin_Half > 3.0 * First_Order_Trig then
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20 return
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21 (Mag => Atan2 (Double_Trig (Unchecked_Trig_Pair (Sin_Half,
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22 Quaternion.S))),
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23 Axis => Unit_Vector_Type'(Quaternion.X / Sin_Half,
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24 Quaternion.Y / Sin_Half,
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25 Quaternion.Z / Sin_Half));
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26 else
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27 return (0.0, X_Unit);
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28 end if;
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29 end;
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30
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31 end Opt18;
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