Added Kraken Math files, extracted from Kraken Engine

include/quaternion.h

@@ -0,0 +1,114 @@
+//
+//  Quaternion.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.
+//
+
+#ifndef KRAKEN_QUATERNION_H
+#define KRAKEN_QUATERNION_H
+
+#include "vector3.h"
+
+namespace kraken {
+
+class Quaternion {
+public:
+  union {
+    struct {
+      float w, x, y, z;
+    };
+    float c[4];
+  };
+
+  void init();
+  void init(float w, float x, float y, float z);
+  void init(const Quaternion& p);
+  void init(const Vector3 &euler);
+  void init(const Vector3 &from_vector, const Vector3 &to_vector);
+  static Quaternion Create();
+  static Quaternion Create(float w, float x, float y, float z);
+  static Quaternion Create(const Quaternion& p);
+  static Quaternion Create(const Vector3 &euler);
+  static Quaternion Create(const Vector3 &from_vector, const Vector3 &to_vector);
+    
+  Quaternion operator +(const Quaternion &v) const;
+  Quaternion operator -(const Quaternion &v) const;
+  Quaternion operator +() const;
+  Quaternion operator -() const;
+    
+  Quaternion operator *(const Quaternion &v);
+  Quaternion operator *(float num) const;
+  Quaternion operator /(float num) const;
+    
+  Quaternion& operator +=(const Quaternion& v);
+  Quaternion& operator -=(const Quaternion& v);
+  Quaternion& operator *=(const Quaternion& v);
+  Quaternion& operator *=(const float& v);
+  Quaternion& operator /=(const float& v);
+
+  friend bool operator ==(Quaternion &v1, Quaternion &v2);
+  friend bool operator !=(Quaternion &v1, Quaternion &v2);
+  float& operator [](unsigned i);
+  float operator [](unsigned i) const;
+    
+  void setEulerXYZ(const Vector3 &euler);
+  void setEulerZYX(const Vector3 &euler);
+  Vector3 eulerXYZ() const;
+  Matrix4 rotationMatrix() const;
+    
+  void normalize();
+  static Quaternion Normalize(const Quaternion &v1);
+    
+  void conjugate();
+  static Quaternion Conjugate(const Quaternion &v1);
+    
+  static Quaternion FromAngleAxis(const Vector3 &axis, float angle);
+  static Quaternion Lerp(const Quaternion &a, const Quaternion &b, float t);
+  static Quaternion Slerp(const Quaternion &a, const Quaternion &b, float t);
+  static float Dot(const Quaternion &v1, const Quaternion &v2);
+};
+static_assert(std::is_pod<Quaternion>::value, "kraken::Quaternion must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::Quaternion> {
+  public:
+    size_t operator()(const kraken::Quaternion &s) const
+    {
+      size_t h1 = hash<float>()(s.c[0]);
+      size_t h2 = hash<float>()(s.c[1]);
+      size_t h3 = hash<float>()(s.c[2]);
+      size_t h4 = hash<float>()(s.c[3]);
+      return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+  };
+} // namespace std
+
+#endif // KRAKEN_QUATERNION_H