Added Kraken Math files, extracted from Kraken Engine

include/aabb.h

@@ -0,0 +1,104 @@
+//
+//  KRAABB.h
+//  Kraken
+//
+//  Copyright 2018 Kearwood Gilbert. All rights reserved.
+//
+//  Redistribution and use in source and binary forms, with or without modification, are
+//  permitted provided that the following conditions are met:
+//
+//  1. Redistributions of source code must retain the above copyright notice, this list of
+//  conditions and the following disclaimer.
+//
+//  2. Redistributions in binary form must reproduce the above copyright notice, this list
+//  of conditions and the following disclaimer in the documentation and/or other materials
+//  provided with the distribution.
+//
+//  THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
+//  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+//  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+//  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+//  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+//  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+//  The views and conclusions contained in the software and documentation are those of the
+//  authors and should not be interpreted as representing official policies, either expressed
+//  or implied, of Kearwood Gilbert.
+//
+
+// Axis aligned bounding box (AABB)
+
+#ifndef KRAKEN_AABB_H
+#define KRAKEN_AABB_H
+
+#include <functional> // for hash<>
+
+#include "vector2.h"
+#include "vector3.h"
+
+namespace kraken {
+
+class Matrix4;
+
+class AABB {
+public:
+  Vector3 min;
+  Vector3 max;
+
+  void init(const Vector3 &minPoint, const Vector3 &maxPoint);
+  void init(const Vector3 &corner1, const Vector3 &corner2, const Matrix4 &modelMatrix);
+  void init();
+  static AABB Create(const Vector3 &minPoint, const Vector3 &maxPoint);
+  static AABB Create(const Vector3 &corner1, const Vector3 &corner2, const Matrix4 &modelMatrix);
+  static AABB Create();
+
+  void scale(const Vector3 &s);
+  void scale(float s);
+    
+  Vector3 center() const;
+  Vector3 size() const;
+  float volume() const;
+  bool intersects(const AABB& b) const;
+  bool contains(const AABB &b) const;
+  bool contains(const Vector3 &v) const;
+    
+  bool intersectsLine(const Vector3 &v1, const Vector3 &v2) const;
+  bool intersectsRay(const Vector3 &v1, const Vector3 &dir) const;
+  bool intersectsSphere(const Vector3 &center, float radius) const;
+  void encapsulate(const AABB & b);
+    
+  bool operator ==(const AABB& b) const;
+  bool operator !=(const AABB& b) const;
+    
+  // Comparison operators are implemented to allow insertion into sorted containers such as std::set
+  bool operator >(const AABB& b) const;
+  bool operator <(const AABB& b) const;
+    
+  static AABB Infinite();
+  static AABB Zero();
+    
+  float longest_radius() const;
+  Vector3 nearestPoint(const Vector3 & v) const;
+};
+static_assert(std::is_pod<AABB>::value, "kraken::AABB must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::AABB> {
+  public:
+    size_t operator()(const kraken::AABB &s) const
+    {
+      size_t h1 = hash<kraken::Vector3>()(s.min);
+      size_t h2 = hash<kraken::Vector3>()(s.max);
+      return h1 ^ ( h2 << 1 );
+    }
+  };
+} // namespace std
+
+
+#endif /* defined(KRAKEN_AABB_H) */