Added Kraken Math files, extracted from Kraken Engine

include/vector4.h

@@ -0,0 +1,126 @@
+//
+//  Vector4.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_VECTOR4_H
+#define KRAKEN_VECTOR4_H
+
+#include <functional> // for hash<>
+
+namespace kraken {
+
+class Vector3;
+
+class Vector4 {
+    
+public:
+  union {
+    struct {
+      float x, y, z, w;
+    };
+    float c[4];
+  };
+
+  void init();
+  void init(float X, float Y, float Z, float W);
+  void init(float v);
+  void init(float *v);
+  void init(const Vector4 &v);
+  void init(const Vector3 &v, float W);
+  static Vector4 Create();
+  static Vector4 Create(float X, float Y, float Z, float W);
+  static Vector4 Create(float v);
+  static Vector4 Create(float *v);
+  static Vector4 Create(const Vector4 &v);
+  static Vector4 Create(const Vector3 &v, float W);
+    
+  Vector4 operator +(const Vector4& b) const;
+  Vector4 operator -(const Vector4& b) const;
+  Vector4 operator +() const;
+  Vector4 operator -() const;
+  Vector4 operator *(const float v) const;
+  Vector4 operator /(const float v) const;
+    
+  Vector4& operator +=(const Vector4& b);
+  Vector4& operator -=(const Vector4& b);
+  Vector4& operator *=(const float v);
+  Vector4& operator /=(const float v);
+    
+  bool operator ==(const Vector4& b) const;
+  bool operator !=(const Vector4& b) const;
+    
+  // Comparison operators are implemented to allow insertion into sorted containers such as std::set
+  bool operator >(const Vector4& b) const;
+  bool operator <(const Vector4& 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 normalize();
+  static Vector4 Normalize(const Vector4 &v);
+    
+  static float Dot(const Vector4 &v1, const Vector4 &v2);
+  static Vector4 Min();
+  static Vector4 Max();
+  static Vector4 Zero();
+  static Vector4 One();
+  static Vector4 Forward();
+  static Vector4 Backward();
+  static Vector4 Up();
+  static Vector4 Down();
+  static Vector4 Left();
+  static Vector4 Right();
+  static Vector4 Lerp(const Vector4 &v1, const Vector4 &v2, float d);
+  static Vector4 Slerp(const Vector4 &v1, const Vector4 &v2, float d);
+  static void OrthoNormalize(Vector4 &normal, Vector4 &tangent); // Gram-Schmidt Orthonormalization
+};
+static_assert(std::is_pod<Vector4>::value, "kraken::Vector4 must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::Vector4> {
+  public:
+    size_t operator()(const kraken::Vector4 &s) const
+    {
+      size_t h1 = hash<float>()(s.x);
+      size_t h2 = hash<float>()(s.y);
+      size_t h3 = hash<float>()(s.z);
+      size_t h4 = hash<float>()(s.w);
+      return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+    }
+  };
+} // namespace std
+
+#endif // KRAKEN_VECTOR4_H