static void state_inverse(double *I, const state *s)
{
double T[16], A[16], R[16];
mtranslate(T, s->p);
meuler (A, s->e);
mtranspose(R, A);
mmultiply (I, T, R);
}
static void state_matrix(double *M, const state *s)
{
double T[16], R[16], p[3];
vneg(p, s->p);
mtranslate(T, p);
meuler (R, s->e);
mmultiply (M, R, T);
}
int main(int argc, char *argv[])
{
(void)argc; (void)argv;
#ifdef __SSE__
printf("SSE ");
#endif
#ifdef __SSE2__
printf("SSE2 ");
#endif
#ifdef __SSE3__
printf("SSE3 ");
#endif
#ifdef __SSE4__
printf("SSE4 ");
#endif
#ifdef __SSE4_1__
printf("SSE4.1 ");
#endif
#ifdef __SSE4_2__
printf("SSE4.2 ");
#endif
#ifdef __AVX__
printf("AVX ");
#endif
#ifdef __FMA4__
printf("FMA4 ");
#endif
printf("\n");
printv(vec(1, 2, 3, 4));
printv(vzero());
printm(mzero());
printm(midentity());
vec4 a = { 1, 2, 3, 4 }, b = { 5, 6, 7, 8 };
printv(a);
printv(b);
printf("\nshuffles:\n");
printv(vshuffle(a, a, 0, 1, 2, 3));
printv(vshuffle(a, a, 3, 2, 1, 0));
printv(vshuffle(a, b, 0, 1, 0, 1));
printv(vshuffle(a, b, 2, 3, 2, 3));
printf("\ndot products:\n");
printv(vdot(a, b));
printv(vdot(b, a));
printv(vdot3(a, b));
printv(vdot3(b, a));
//vec4 blendmask = { 1, -1, 1, -1 };
//printv(vblend(x, y, blendmask));
vec4 x = { 1, 0, 0, 0 }, y = { 0, 1, 0, 0 }, z = { 0, 0, 1, 0 }, w = { 0, 0, 0, 1 };
printf("\ncross products:\n");
printv(vcross(x, y));
printv(vcross(y, x));
printv(vcross_scalar(x, y));
printv(vcross_scalar(y, x));
printf("\nquaternion products:\n");
printv(qprod(x, y));
printv(qprod(y, x));
printv(qprod_mad(x, y));
printv(qprod_mad(y, x));
printv(qprod_scalar(x, y));
printv(qprod_scalar(y, x));
printf("\nquaternion conjugates:\n");
printv(qconj(x));
printv(qconj(y));
printv(qconj(z));
printv(qconj(w));
printf("\nmat from quat:\n");
printm(quat_to_mat(w));
printm(quat_to_mat_mmul(w));
printm(quat_to_mat_scalar(w));
vec4 angles = { 0.0, 0.0, 0.0, 0.0 };
printf("\neuler to quaternion:\n");
printv(quat_euler(angles));
printv(quat_euler_scalar(angles));
printv(quat_euler_gems(angles));
printf("\neuler to matrix:\n");
printm(mat_euler(angles));
printm(mat_euler_scalar(angles));
printm(quat_to_mat(quat_euler(angles)));
printf("\nperspective matrix:\n");
printm(mat_perspective_fovy(M_PI/4.0, 16.0/9.0, 0.1, 100.0));
printm(mat_perspective_fovy_inf_z(M_PI/4.0, 16.0/9.0, 0.1));
printm(mat_perspective_fovy_scalar(M_PI/4.0, 16.0/9.0, 0.1, 100.0));
printf("\northogonal matrix:\n");
printm(mat_ortho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0));
printm(mat_ortho(-1.0, 2.0, -1.0, 2.0, -1.0, 2.0));
printf("\ntranslate matrix:\n");
printm(mtranslate(a));
printf("\nscale matrix:\n");
printm(mscale(a));
return 0;
}
