various improvements

- added quaternions and rewrote all rotations to use them
- added transforms to put all object transforms in a single place
- added Wavefront .obj file parser
- removed frame buffer's abstract class
- improved vectors, matrices, triangles, vertices and vertices data by putting all code in header file
- added vector's operations
- changed from NULL to nullptr
- miscellaneous improvements

1 files changed, 35 insertions, 0 deletions

diff --git a/src/math/tform.h b/src/math/tform.h
new file mode 100644
index 0000000..2d61494
--- /dev/null
+++ b/src/math/tform.h
@@ -0,0 +1,35 @@
+#ifndef MATH_TFORM_H
+#define MATH_TFORM_H
+
+#include "math/vector.h"
+#include "math/mat4.h"
+#include "math/quat.h"
+
+namespace engine::math {
+
+class Transform {
+    public:
+        Vector3 loc;
+        Quaternion rot;
+        Vector3 scale;
+
+        constexpr Transform(Vector3 loc, Quaternion rot, Vector3 scale) : loc{loc}, rot{rot}, scale{scale} {
+        }
+
+        constexpr Transform opposite() const & {
+            return {-loc, rot.conjugate(), 1.f / scale};
+        }
+
+        constexpr Matrix4 to_mat4() const & {
+            return {
+                scale.x * (2.f * (rot.w * rot.w + rot.x * rot.x) - 1.f), scale.y * (2.f * (rot.x * rot.y - rot.w * rot.z)      ), scale.z * (2.f * (rot.x * rot.z + rot.w * rot.y)      ), loc.x,
+                scale.x * (2.f * (rot.x * rot.y + rot.w * rot.z)      ), scale.y * (2.f * (rot.w * rot.w + rot.y * rot.y) - 1.f), scale.z * (2.f * (rot.y * rot.z - rot.w * rot.x)      ), loc.y,
+                scale.x * (2.f * (rot.x * rot.z - rot.w * rot.y)      ), scale.y * (2.f * (rot.y * rot.z + rot.w * rot.x)      ), scale.z * (2.f * (rot.w * rot.w + rot.z * rot.z) - 1.f), loc.z,
+                0.f,                                                     0.f,                                                     0.f,                                                     1.f,
+            };
+        }
+};
+
+}
+
+#endif // MATH_TFORM_H