1 files changed, 94 insertions, 0 deletions
diff --git a/src/Quaternions.h b/src/Quaternions.h
new file mode 100644
index 0000000..0a0ca4f
--- /dev/null
+++ b/src/Quaternions.h
@@ -0,0 +1,94 @@
+
+#ifndef _QUATERNIONS_H_
+#define _QUATERNIONS_H_
+
+#ifdef OS9 
+#pragma mark -
+#endif
+
+#include "Maths.h"
+#ifdef OS9 
+#include <gl.h>
+#else
+#include <GL/gl.h>
+#endif
+#include "PhysicsMath.h"
+
+/**> Quaternion Structures <**/
+#define PI      3.14159265355555897932384626
+#define RADIANS 0
+#define DEGREES 1
+#define deg2rad .0174532925
+
+using namespace std;
+typedef float Matrix_t [4][4];
+struct euler
+{
+        float x, y, z;
+};
+struct angle_axis
+{
+        float x, y, z, angle;
+};
+struct quaternion
+{
+        float x, y, z, w;
+};
+
+class XYZ{
+	public:
+		float x;
+		float y;
+		float z;
+		XYZ operator+(XYZ add);
+		XYZ operator-(XYZ add);
+		XYZ operator*(float add);
+		XYZ operator*(XYZ add);
+		XYZ operator/(float add);
+		void operator+=(XYZ add);
+		void operator-=(XYZ add);
+		void operator*=(float add);
+		void operator*=(XYZ add);
+		void operator/=(float add);
+		void operator=(float add);
+		void vec(Vector add);
+		bool operator==(XYZ add);
+};
+
+/*********************> Quaternion Function definition <********/
+quaternion To_Quat(int Degree_Flag, euler Euler);
+quaternion To_Quat(angle_axis Ang_Ax);
+quaternion To_Quat(Matrix_t m);
+angle_axis Quat_2_AA(quaternion Quat);
+void Quat_2_Matrix(quaternion Quat, Matrix_t m);
+quaternion Normalize(quaternion Quat);
+quaternion Quat_Mult(quaternion q1, quaternion q2);
+quaternion QNormalize(quaternion Quat);
+XYZ Quat2Vector(quaternion Quat);
+
+void CrossProduct(XYZ P, XYZ Q, XYZ *V);
+void Normalise(XYZ *vectory);
+float normaldotproduct(XYZ point1, XYZ point2);
+float fast_sqrt (register float arg);
+bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3);
+bool LineFacet(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc,XYZ *p);
+float LineFacetd(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc,XYZ *p);
+float LineFacetd(XYZ p1,XYZ p2,XYZ pa,XYZ pb,XYZ pc,XYZ n, XYZ *p);
+float LineFacetd(XYZ *p1,XYZ *p2,XYZ *pa,XYZ *pb,XYZ *pc,XYZ *n, XYZ *p);
+bool PointInTriangle(Vector *p, Vector normal, float p11, float p12, float p13, float p21, float p22, float p23, float p31, float p32, float p33);
+bool LineFacet(Vector p1,Vector p2,Vector pa,Vector pb,Vector pc,Vector *p);
+void ReflectVector(XYZ *vel, XYZ *n);
+XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang);
+XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang);
+float findDistance(XYZ point1, XYZ point2);
+float findLength(XYZ point1);
+float findLengthfast(XYZ point1);
+float findDistancefast(XYZ point1, XYZ point2);
+float dotproduct(XYZ point1, XYZ point2);
+bool sphere_line_intersection (
+    float x1, float y1 , float z1,
+    float x2, float y2 , float z2,
+    float x3, float y3 , float z3, float r );
+
+#endif
+