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Terathon Math Library

This is a C++ math library containing classes for vectors, matrices, quaternions, and elements of projective geometric algebra. The specific classes are the following:

• Vector2D – A 2D vector (x, y) that extends to four dimensions as (x, y, 0, 0).
• Vector3D – A 3D vector (x, y, z) that extends to four dimensions as (x, y, z, 0).
• Vector4D – A 4D vector (x, y, z, w).
• Point2D – A 2D point (x, y) that extends to four dimensions as (x, y, 0, 1).
• Point3D – A 3D point (x, y, z) that extends to four dimensions as (x, y, z, 1).
• Matrix2D – A 2×2 matrix.
• Matrix3D – A 3×3 matrix.
• Matrix4D – A 4×4 matrix.
• Transform4D – A 4×4 matrix with fourth row always (0, 0, 0, 1).
• Quaternion – A conventional quaternion xi + yj + zk + w.
• Bivector3D – A 3D bivector x e₂₃ + y e₃₁ + z e₁₂.
• Bivector4D – A 4D bivector (line) v_x e₄₁ + v_y e₄₂ + v_z e₄₃ + m_x e₂₃ + m_y e₃₁ + m_z e₁₂.
• Trivector4D – A 4D trivector (plane) x e₂₃₄ + y e₃₁₄ + z e₁₂₄ + w e₃₂₁.
• Motor4D – A 4D motion operator r_x e₄₁ + r_y e₄₂ + r_z e₄₃ + r_w