Moved hamilton tools to compat so they can be used more widely

1 files changed, 27 insertions, 0 deletions

diff --git a/compat/hamilton-tools.h b/compat/hamilton-tools.h
new file mode 100644
index 00000000..2e288225
--- /dev/null
+++ b/compat/hamilton-tools.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "compat/math.hpp"
+constexpr double TO_RAD = (M_PI / 180);
+constexpr double TO_DEG = (180 / M_PI);
+constexpr double EPSILON = 1e-30;
+
+struct tVector
+{
+    double v[3];
+    tVector(double X = 0, double Y = 0, double Z = 0) {v[0]=X; v[1]=Y; v[2]=Z;}
+    tVector(double V[]) {v[0]=V[0]; v[1]=V[1]; v[2]=V[2];}
+};
+
+struct tQuat
+{
+    double x, y, z, w;
+    tQuat(double X = 0, double Y = 0, double Z = 0, double W = 1)
+        {x = X; y = Y; z = Z; w = W;}
+};
+
+double  VectorDistance(const double v1[], const tVector v2);
+tVector Lerp          (const tVector s, const double d[], const double alpha);
+tQuat   QuatFromYPR   (const double YPR[]);
+double  AngleBetween  (const tQuat S, const tQuat D);
+tQuat   Slerp         (const tQuat S, const tQuat D, const double alpha);
+void    QuatToYPR     (const tQuat Q, double YPR[]);