Added COBBox and renamed SBoundingBox to CAABox

Reorganized code

include/CQuaternion.hpp

@@ -0,0 +1,109 @@
+#ifndef CQUATERNION_HPP
+#define CQUATERNION_HPP
+
+#include "Global.hpp"
+#include "CAxisAngle.hpp"
+#include "CVector3f.hpp"
+#include "CVector4f.hpp"
+#include <math.h>
+#include <Athena/IStreamReader.hpp>
+
+class ZE_ALIGN(16) CQuaternion
+{
+public:
+    ZE_DECLARE_ALIGNED_ALLOCATOR();
+    
+    CQuaternion() : r(1.0f) {}
+    CQuaternion(float r, float x, float y, float z) : r(r), v(x, y, z){}
+    CQuaternion(float x, float y, float z) { fromVector3f(CVector3f(x, y, z)); }
+    CQuaternion(float r, const CVector3f& vec) : r(r), v(vec){}
+    CQuaternion(Athena::io::IStreamReader& input) { r = input.readFloat(); v = CVector3f(input);}
+    CQuaternion(const CVector3f& vec) { fromVector3f(vec); }
+    CQuaternion(const CVector4f& vec)
+          : r(vec.w)
+    {
+#if __SSE__
+        v.mVec128 = vec.mVec128; v.v[3] = 0;
+#else
+        v.x = vec.x; v.y = vec.y; v.z = vec.z;
+#endif
+    }
+
+    virtual ~CQuaternion() {}
+
+    void fromVector3f(const CVector3f& vec);
+
+    CQuaternion& operator=(const CQuaternion& q);
+    CQuaternion operator+(const CQuaternion& q) const;
+    CQuaternion operator-(const CQuaternion& q) const;
+    CQuaternion operator*(const CQuaternion& q) const;
+    CQuaternion operator/(const CQuaternion& q) const;
+    CQuaternion operator*(float scale) const;
+    CQuaternion operator/(float scale) const;
+    CQuaternion operator-() const;
+    const CQuaternion& operator+=(const CQuaternion& q);
+    const CQuaternion& operator-=(const CQuaternion& q);
+    const CQuaternion& operator*=(const CQuaternion& q);
+    const CQuaternion& operator*=(float scale);
+    const CQuaternion& operator/=(float scale);
+    float length() const;
+    float lengthSquared() const;
+    void normalize();
+    CQuaternion normalized() const;
+    void invert();
+    CQuaternion inverse() const;
+
+    /**
+     * @brief Set the rotation using axis angle notation
+     * @param axis The axis to rotate around
+     * @param angle The magnitude of the rotation in radians
+     * @return
+     */
+    static inline CQuaternion fromAxisAngle(const CVector3f& axis, float angle)
+    {
+        return CQuaternion(cosf(angle/2), axis*sinf(angle/2));
+    }
+
+    CAxisAngle toAxisAngle();
+
+    static inline CVector3f rotate(const CQuaternion& rotation, const CVector3f& v)
+    {
+        CQuaternion q = rotation * v;
+        q *= rotation.inverse();
+
+        return q.v;
+    }
+
+    CQuaternion log() const;
+
+    CQuaternion exp() const;
+
+    float dot(const CQuaternion& quat);
+
+    static CQuaternion lerp(CQuaternion& a, CQuaternion& b, double t);
+    static CQuaternion slerp(CQuaternion& a, CQuaternion& b, double t);
+    static CQuaternion nlerp(CQuaternion& a, CQuaternion& b, double t);
+    
+    inline float roll() const
+    {
+        return atan2f(2.0 * (v.x * v.y + r * v.z), r * r + v.x * v.x - v.y * v.y - v.z * v.z);
+    }
+    
+    inline float pitch() const
+    {
+        return atan2f(2.0 * (v.y * v.z + r * v.x), r * r - v.x * v.x - v.y * v.y + v.z * v.z);
+    }
+    
+    inline float yaw() const
+    {
+        return asinf(-2.0 * (v.x * v.z - r * v.y));
+    }
+
+    float r;
+    CVector3f v;
+};
+
+CQuaternion operator+(float lhs, const CQuaternion& rhs);
+CQuaternion operator-(float lhs, const CQuaternion& rhs);
+CQuaternion operator*(float lhs, const CQuaternion& rhs);
+#endif // CQUATERNION_HPP