Upgrade to Newton 3.14 and make it a thirdparty lib

thirdparty/src/newton/dMath/dQuaternion.h

@@ -0,0 +1,109 @@
+/* Copyright (c) <2003-2019> <Newton Game Dynamics>
+* 
+* This software is provided 'as-is', without any express or implied
+* warranty. In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* 
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely
+*/
+
+#ifndef __dQuaternion__
+#define __dQuaternion__
+
+#include "dVector.h"
+class dMatrix;
+
+D_MSC_VECTOR_ALIGNMENT
+class dQuaternion
+{
+	public:
+	dQuaternion (); 
+	dQuaternion (const dMatrix& matrix);
+	//dQuaternion (dFloat w, dFloat x, dFloat y, dFloat z); 
+	dQuaternion (dFloat x, dFloat y, dFloat z, dFloat w); 
+	dQuaternion (const dVector& unit_Axis, dFloat Angle = 0.0f);
+	
+	void Scale (dFloat scale); 
+	void Normalize (); 
+	inline dFloat DotProduct (const dQuaternion& q) const;
+	dQuaternion Inverse () const; 
+
+	dVector RotateVector (const dVector& point) const;
+	dVector UnrotateVector (const dVector& point) const;
+
+    void GetEulerAngles(dVector& euler1, dVector& euler2, dEulerAngleOrder order = m_pitchYawRoll) const;
+	dVector CalcAverageOmega (const dQuaternion &q1, dFloat invdt) const;
+	dQuaternion Slerp (const dQuaternion &q1, dFloat t) const;
+	dQuaternion IntegrateOmega (const dVector& omega, dFloat timestep) const;
+
+	dQuaternion operator* (const dQuaternion &q) const;
+	dQuaternion operator+ (const dQuaternion &q) const; 
+	dQuaternion operator- (const dQuaternion &q) const; 
+
+	dFloat m_x;
+	dFloat m_y;
+	dFloat m_z;
+	dFloat m_w;
+};
+
+inline dQuaternion::dQuaternion () 
+	:m_x(0.0f)
+	,m_y(0.0f)
+	,m_z(0.0f)
+	,m_w(1.0f)
+{
+}
+
+inline dQuaternion::dQuaternion (dFloat x, dFloat y, dFloat z, dFloat w) 
+	:m_x(x)
+	,m_y(y)
+	,m_z(z)
+	,m_w(w)
+{
+}
+
+inline void dQuaternion::Scale (dFloat scale) 
+{
+	m_w *= scale;
+	m_x *= scale;
+	m_y *= scale;
+	m_z *= scale;
+}
+
+inline void dQuaternion::Normalize () 
+{
+	Scale (1.0f / dSqrt (DotProduct (*this)));
+}
+
+inline dFloat dQuaternion::DotProduct (const dQuaternion &q1) const
+{
+	return m_w * q1.m_w + m_x * q1.m_x + m_y * q1.m_y + m_z * q1.m_z;
+}
+
+inline dQuaternion dQuaternion::Inverse () const 
+{
+	return dQuaternion (-m_x, -m_y, -m_z, m_w);
+}
+
+inline dQuaternion dQuaternion::operator+ (const dQuaternion &q) const
+{
+	return dQuaternion (m_x + q.m_x, m_y + q.m_y, m_z + q.m_z, m_w + q.m_w);
+}
+
+inline dQuaternion dQuaternion::operator- (const dQuaternion &B) const
+{
+	return dQuaternion (m_x - B.m_x, m_y - B.m_y, m_z - B.m_z, m_w - B.m_w);
+}
+
+inline dQuaternion dQuaternion::operator* (const dQuaternion &q) const
+{
+	return dQuaternion (q.m_x * m_w + q.m_w * m_x - q.m_z * m_y + q.m_y * m_z, 
+						q.m_y * m_w + q.m_z * m_x + q.m_w * m_y - q.m_x * m_z, 
+						q.m_z * m_w - q.m_y * m_x + q.m_x * m_y + q.m_w * m_z, 
+						q.m_w * m_w - q.m_x * m_x - q.m_y * m_y - q.m_z * m_z); 
+}
+
+#endif 
+