Update to posers, etc... Still not working.

1 files changed, 27 insertions, 9 deletions

diff --git a/redist/lintest.c b/redist/lintest.c
index 933d2e5..fa5a9d7 100644
--- a/redist/lintest.c
+++ b/redist/lintest.c
@@ -3,15 +3,18 @@
 
 int main()
 {
+#if 1
 
+#define NONTRANSPOSED_DAVE
 #ifdef NONTRANSPOSED_DAVE
-	FLT pLH1[3] = {-0.275796, 3.105430, -0.868643};
-	FLT qLH1[4] = {0.803743, -0.347009, 0.475276, 0.087718};
-	FLT pNLH1[3] = { 0.122180, 2.772487, -1.511608 };  //1M +x
-	FLT qNLH1[4] = { 0.796702, -0.389329, 0.457024, -0.069414 };
+	FLT pLH1[3] = {-0.396888, 3.182945, -0.568622};
+	FLT qLH1[4] = {0.668640, -0.576296, 0.103727, -0.458305};
+	FLT pNLH1[3] = { 0.113572, 2.791495, -1.495652 };  //1M +x
+	FLT qNLH1[4] = { 0.807419, 0.372818, -0.451339, 0.073308 };
+
 
-	FLT pLH2[3] = {0.120546, 3.252532, -0.098940};
-	FLT qLH2[4] = {-0.220026, 0.460836, 0.328534, 0.794534 };
+	FLT pLH2[3] = {0.195579, 3.193770, -0.424473};
+	FLT qLH2[4] = {0.401849, 0.104771, 0.580441, 0.700449};
 	FLT pNLH2[3] = {-0.183505, 3.356293, 0.695688, };
 	FLT qNLH2[4] = {-0.237438, 0.405213, 0.270438, 0.840410 };
 #else
@@ -30,12 +33,23 @@ int main()
 	FLT pOut1[3];
 	FLT pOut2[3];
 
+	qLH1[0] *= -1;
+	qLH2[0] *= -1;
+
+	quatrotatevector( pOut1, qLH1, pLH1 );
+	quatrotatevector( pOut2, qLH2, pLH2 );
+
+	printf( "%f %f %f\n", PFTHREE( pOut1 ) );
+	printf( "%f %f %f\n", PFTHREE( pOut2 ) );
+
 //	qLH1[1]*=-1;
 //	qLH2[0]*=-1;
 
+/*
 	sub3d( pOut1, pLH1, pNLH1 );
 	sub3d( pOut2, pLH2, pNLH2 );
 
+
 	printf( "%f %f %f\n", PFTHREE( pOut1 ) );
 	printf( "%f %f %f\n", PFTHREE( pOut2 ) );
 
@@ -44,10 +58,13 @@ int main()
 
 	printf( "%f %f %f\n", PFTHREE( pOut1 ) );
 	printf( "%f %f %f\n", PFTHREE( pOut2 ) );
-
+*/
 	return -1;
 
-/*
+#endif
+
+#if 0
+
 	FLT e[3] = { 1,1,3.14 };
 	FLT q[4];
 	FLT m[16];
@@ -76,6 +93,7 @@ int main()
 
 
 	FLT pfromlh[3] = { 0, 1, 0 };
+	FLT p[3] = { 0, 1, 0 };
 	quatrotatevector( p, q, p );
 	printf( "%f %f %f\n", PFTHREE( p ) );
 	printf( "Flipping rotation\n" );
@@ -83,12 +101,12 @@ int main()
 	quatrotatevector( p, q, p );
 	printf( "%f %f %f\n", PFTHREE( p ) );
 
-*/
 	//Try setting up a pose.
 //	FLT mypose[7] = { 0, 0, 10, q[0], q[1], q[2], q[3] );
 //	ApplyPoseToPoint( FLT * pout, const FLT * pin, const FLT * pose );
 //void InvertPose( FLT * poseout, const FLT * pose );
 	
+#endif
 	
 }