update with another test.

3 files changed, 71 insertions, 3 deletions

diff --git a/redist/linmath.c b/redist/linmath.c
index 37d8e7a..41fa18f 100644
--- a/redist/linmath.c
+++ b/redist/linmath.c
@@ -516,3 +516,27 @@ void matrix44copy(FLT * mout, const FLT * minm )
 	memcpy( mout, minm, sizeof( FLT ) * 16 );
 }
 
+void matrix44transpose(FLT * mout, const FLT * minm )
+{
+	mout[0] = minm[0];
+	mout[1] = minm[4];
+	mout[2] = minm[8];
+	mout[3] = minm[12];
+
+	mout[4] = minm[1];
+	mout[5] = minm[5];
+	mout[6] = minm[9];
+	mout[7] = minm[13];
+
+	mout[8] = minm[2];
+	mout[9] = minm[6];
+	mout[10] = minm[10];
+	mout[11] = minm[14];
+
+	mout[12] = minm[3];
+	mout[13] = minm[7];
+	mout[14] = minm[11];
+	mout[15] = minm[15];
+
+}
+
diff --git a/redist/linmath.h b/redist/linmath.h
index aeaca46..66a38ed 100644
--- a/redist/linmath.h
+++ b/redist/linmath.h
@@ -110,7 +110,7 @@ Matrix3x3 inverseM33(const Matrix3x3 mat);
 
 
 void matrix44copy(FLT * mout, const FLT * minm );
-
+void matrix44transpose(FLT * mout, const FLT * minm );
 
 
 #endif
diff --git a/redist/lintest.c b/redist/lintest.c
index a767670..933d2e5 100644
--- a/redist/lintest.c
+++ b/redist/lintest.c
@@ -3,7 +3,51 @@
 
 int main()
 {
-	
+
+#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 pLH2[3] = {0.120546, 3.252532, -0.098940};
+	FLT qLH2[4] = {-0.220026, 0.460836, 0.328534, 0.794534 };
+	FLT pNLH2[3] = {-0.183505, 3.356293, 0.695688, };
+	FLT qNLH2[4] = {-0.237438, 0.405213, 0.270438, 0.840410 };
+#else
+
+	FLT pLH1[3] = {-0.321299, 3.130532, -0.786460};
+	FLT qLH1[4] = {0.794180, 0.336117, -0.485668, -0.142934};
+	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] = {0.153580, 3.251673, -0.190491};
+	FLT qLH2[4] = {0.217017, 0.482214, 0.306568, 0.791448 };
+	FLT pNLH2[3] = {-0.175330, 3.351943, 0.669623 };
+	FLT qNLH2[4] = {0.257241, 0.394159, 0.292555, 0.832392 };
+#endif
+
+	FLT pOut1[3];
+	FLT pOut2[3];
+
+//	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 ) );
+
+	quatrotatevector( pOut1, qLH1, pOut1 );
+	quatrotatevector( pOut2, qLH2, pOut2 );
+
+	printf( "%f %f %f\n", PFTHREE( pOut1 ) );
+	printf( "%f %f %f\n", PFTHREE( pOut2 ) );
+
+	return -1;
+
+/*
 	FLT e[3] = { 1,1,3.14 };
 	FLT q[4];
 	FLT m[16];
@@ -39,7 +83,7 @@ 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 );