Added Kraken Math files, extracted from Kraken Engine

include/matrix4.h

@@ -0,0 +1,130 @@
+//
+//  Matrix4.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.
+//
+
+
+#include "vector3.h"
+#include "vector4.h"
+
+#ifndef KRAKEN_MATRIX4_H
+#define KRAKEN_MATRIX4_H
+
+namespace kraken {
+
+typedef enum {
+  X_AXIS,
+  Y_AXIS,
+  Z_AXIS
+} AXIS;
+
+class Quaternion;
+
+class Matrix4 {
+public:
+
+  union {
+    struct {
+      Vector4 axis_x, axis_y, axis_z, transform;
+    };
+    // Matrix components, in column-major order
+    float c[16];
+  };
+    
+  // Default initializer - Creates an identity matrix
+  void init();
+    
+  void init(float *pMat);
+    
+  void init(const Vector3 &new_axis_x, const Vector3 &new_axis_y, const Vector3 &new_axis_z, const Vector3 &new_transform);
+
+  void init(const Matrix4 &m);
+    
+  // Overload comparison operator
+  bool operator==(const Matrix4 &m) const;
+    
+  // Overload compound multiply operator
+  Matrix4& operator*=(const Matrix4 &m);
+    
+  float& operator[](unsigned i);
+  float operator[](unsigned i) const;
+    
+  // Overload multiply operator
+  //Matrix4& operator*(const Matrix4 &m);
+  Matrix4 operator*(const Matrix4 &m) const;
+    
+  float *getPointer();
+    
+  void perspective(float fov, float aspect, float nearz, float farz);
+  void ortho(float left, float right, float top, float bottom, float nearz, float farz);
+  void translate(float x, float y, float z);
+  void translate(const Vector3 &v);
+  void scale(float x, float y, float z);
+  void scale(const Vector3 &v);
+  void scale(float s);
+  void rotate(float angle, AXIS axis);
+  void rotate(const Quaternion &q);
+  void bias();
+  bool invert();
+  void transpose();
+    
+  static Vector3 DotNoTranslate(const Matrix4 &m, const Vector3 &v); // Dot product without including translation; useful for transforming normals and tangents
+  static Matrix4 Invert(const Matrix4 &m);
+  static Matrix4 Transpose(const Matrix4 &m);
+  static Vector3 Dot(const Matrix4 &m, const Vector3 &v);
+  static Vector4 Dot4(const Matrix4 &m, const Vector4 &v);
+  static float DotW(const Matrix4 &m, const Vector3 &v);
+  static Vector3 DotWDiv(const Matrix4 &m, const Vector3 &v);
+    
+  static Matrix4 LookAt(const Vector3 &cameraPos, const Vector3 &lookAtPos, const Vector3 &upDirection);
+    
+  static Matrix4 Translation(const Vector3 &v);
+  static Matrix4 Rotation(const Vector3 &v);
+  static Matrix4 Scaling(const Vector3 &v);
+};
+static_assert(std::is_pod<Matrix4>::value, "kraken::Matrix4 must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::Matrix4> {
+  public:
+    size_t operator()(const kraken::Matrix4 &s) const
+    {
+      size_t h1 = hash<kraken::Vector4>()(s.axis_x);
+      size_t h2 = hash<kraken::Vector4>()(s.axis_y);
+      size_t h3 = hash<kraken::Vector4>()(s.axis_z);
+      size_t h4 = hash<kraken::Vector4>()(s.transform);
+      return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+  };
+} // namespace std
+
+#endif // KRAKEN_MATRIX4_H