Added Kraken Math files, extracted from Kraken Engine

include/triangle3.h

@@ -0,0 +1,78 @@
+//
+//  KRTriangle.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_TRIANGLE3_H
+#define KRAKEN_TRIANGLE3_H
+
+#include "vector3.h"
+
+namespace kraken {
+
+class Triangle3
+{
+public:
+  Vector3 vert[3];
+
+  void init(const Triangle3 &tri);
+  void init(const Vector3 &v1, const Vector3 &v2, const Vector3 &v3);
+    
+  Vector3 calculateNormal() const;
+    
+  bool operator ==(const Triangle3& b) const;
+  bool operator !=(const Triangle3& b) const;
+  Vector3& operator[](unsigned int i);
+  Vector3 operator[](unsigned int i) const;
+    
+  bool rayCast(const Vector3 &start, const Vector3 &dir, Vector3 &hit_point) const;
+  bool sphereCast(const Vector3 &start, const Vector3 &dir, float radius, Vector3 &hit_point, float &hit_distance) const;
+    
+  bool containsPoint(const Vector3 &p) const;
+  Vector3 closestPointOnTriangle(const Vector3 &p) const;
+};
+static_assert(std::is_pod<Triangle3>::value, "kraken::Triangle3 must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::Triangle3> {
+  public:
+    size_t operator()(const kraken::Triangle3 &s) const
+    {
+      size_t h1 = hash<kraken::Vector3>()(s.vert[0]);
+      size_t h2 = hash<kraken::Vector3>()(s.vert[1]);
+      size_t h3 = hash<kraken::Vector3>()(s.vert[2]);
+      return h1 ^ (h2 << 1) ^ (h3 << 2);
+    }
+  };
+} // namespace std
+
+#endif // KRAKEN_TRIANGLE3_H