Added Kraken Math files, extracted from Kraken Engine

include/vector3.h

@@ -0,0 +1,153 @@
+//
+//  Vector3.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_VECTOR3_H
+#define KRAKEN_VECTOR3_H
+
+#include <functional> // for hash<>
+
+#include "vector2.h"
+#include "vector4.h"
+
+namespace kraken {
+
+class Vector3 {
+
+public:
+  union {        
+    struct {
+      float x, y, z;
+    };
+    float c[3];
+  };
+    
+  void init();
+  void init(float X, float Y, float Z);
+  void init(float v);
+  void init(float *v);
+  void init(double *v);
+  void init(const Vector3 &v);
+  void init(const Vector4 &v);
+  static Vector3 Create();
+  static Vector3 Create(float X, float Y, float Z);
+  static Vector3 Create(float v);
+  static Vector3 Create(float *v);
+  static Vector3 Create(double *v);
+  static Vector3 Create(const Vector3 &v);
+  static Vector3 Create(const Vector4 &v);
+
+    
+  // Vector2 swizzle getters
+  Vector2 xx() const;
+  Vector2 xy() const;
+  Vector2 xz() const;
+  Vector2 yx() const;
+  Vector2 yy() const;
+  Vector2 yz() const;
+  Vector2 zx() const;
+  Vector2 zy() const;
+  Vector2 zz() const;
+    
+  // Vector2 swizzle setters
+  void xy(const Vector2 &v);
+  void xz(const Vector2 &v);
+  void yx(const Vector2 &v);
+  void yz(const Vector2 &v);
+  void zx(const Vector2 &v);
+  void zy(const Vector2 &v);
+    
+  Vector3& operator =(const Vector4& b);
+  Vector3 operator +(const Vector3& b) const;
+  Vector3 operator -(const Vector3& b) const;
+  Vector3 operator +() const;
+  Vector3 operator -() const;
+  Vector3 operator *(const float v) const;
+  Vector3 operator /(const float v) const;
+    
+  Vector3& operator +=(const Vector3& b);
+  Vector3& operator -=(const Vector3& b);
+  Vector3& operator *=(const float v);
+  Vector3& operator /=(const float v);
+    
+  bool operator ==(const Vector3& b) const;
+  bool operator !=(const Vector3& b) const;
+    
+  // Comparison operators are implemented to allow insertion into sorted containers such as std::set
+  bool operator >(const Vector3& b) const;
+  bool operator <(const Vector3& b) const;
+    
+  float& operator[](unsigned i);
+  float operator[](unsigned i) const;
+    
+  float sqrMagnitude() const; // calculate the square of the magnitude (useful for comparison of magnitudes without the cost of a sqrt() function)
+  float magnitude() const;
+    
+  void scale(const Vector3 &v);
+  void normalize();
+  static Vector3 Normalize(const Vector3 &v);
+    
+  static Vector3 Cross(const Vector3 &v1, const Vector3 &v2);
+    
+  static float Dot(const Vector3 &v1, const Vector3 &v2);
+  static Vector3 Min();
+  static Vector3 Max();
+  static Vector3 Zero();
+  static Vector3 One();
+  static Vector3 Forward();
+  static Vector3 Backward();
+  static Vector3 Up();
+  static Vector3 Down();
+  static Vector3 Left();
+  static Vector3 Right();
+  static Vector3 Scale(const Vector3 &v1, const Vector3 &v2);
+  static Vector3 Lerp(const Vector3 &v1, const Vector3 &v2, float d);
+  static Vector3 Slerp(const Vector3 &v1, const Vector3 &v2, float d);
+  static void OrthoNormalize(Vector3 &normal, Vector3 &tangent); // Gram-Schmidt Orthonormalization
+};
+static_assert(std::is_pod<Vector3>::value, "kraken::Vector3 must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::Vector3> {
+  public:
+    size_t operator()(const kraken::Vector3 &s) const
+    {
+      size_t h1 = hash<float>()(s.x);
+      size_t h2 = hash<float>()(s.y);
+      size_t h3 = hash<float>()(s.z);
+      return h1 ^ (h2 << 1) ^ (h3 << 2);
+    }
+  };
+} // namespace std
+
+#endif // KRAKEN_VECTOR3_H