From 8a0831f2b9e458d8f1976c27f7865166ad8de6a4 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Wed, 21 Mar 2018 09:11:54 -0600
Subject: Moved pose to linmath to support stronger typing

---
 redist/lintest.c | 97 +++++++++++++++-----------------------------------------
 1 file changed, 26 insertions(+), 71 deletions(-)

(limited to 'redist/lintest.c')

diff --git a/redist/lintest.c b/redist/lintest.c
index 4765e68..4c53da7 100644
--- a/redist/lintest.c
+++ b/redist/lintest.c
@@ -32,72 +32,72 @@ void printFLTA(FLT *a, int length) {
 
 void testInvertPose() {
 
-	FLT rotAroundYOffset[7] = {1, 1, 1, .5, 0, .5, 0};
-	FLT pose_out[7];
+	LinmathPose rotAroundYOffset = {1, 1, 1, .5, 0, .5, 0};
+	LinmathPose pose_out;
 
 	{
-		FLT expected[] = {1, -1, -1, 0.7071068, 0, -0.7071068, 0};
-		InvertPose(pose_out, rotAroundYOffset);
-		ASSERT_FLTA_EQUALS(pose_out, expected, 7);
+		LinmathPose expected = {1, -1, -1, 0.7071068, 0, -0.7071068, 0};
+		InvertPose(&pose_out, &rotAroundYOffset);
+		ASSERT_FLTA_EQUALS(pose_out.Pos, expected.Pos, 7);
 
 		FLT identity[] = {0, 0, 0, 1, 0, 0, 0};
-		ApplyPoseToPose(pose_out, expected, rotAroundYOffset);
-		quatnormalize(&pose_out[3], &pose_out[3]);
-		ASSERT_FLTA_EQUALS(pose_out, identity, 7);
+		ApplyPoseToPose(&pose_out, &expected, &rotAroundYOffset);
+		quatnormalize(pose_out.Rot, pose_out.Rot);
+		ASSERT_FLTA_EQUALS(pose_out.Pos, identity, 7);
 	}
 }
 
 void testApplyPoseToPose() {
-	FLT rotAroundYOffset[7] = {1, 1, 1, 0, 0, 1, 0};
-	FLT pose_out[7];
+	LinmathPose rotAroundYOffset = {1, 1, 1, 0, 0, 1, 0};
+	LinmathPose pose_out;
 
 	{
-		FLT pt[] = {0, 1, 0, 0, 0, 1, 0};
-		FLT expected[] = {1, 2, 1, -1, 0, 0, 0};
-		ApplyPoseToPose(pose_out, rotAroundYOffset, pt);
-		quatnormalize(&pose_out[3], &pose_out[3]);
-		ASSERT_FLTA_EQUALS(pose_out, expected, 7);
+		LinmathPose pt = {0, 1, 0, 0, 0, 1, 0};
+		LinmathPose expected = {1, 2, 1, -1, 0, 0, 0};
+		ApplyPoseToPose(&pose_out, &rotAroundYOffset, &pt);
+		quatnormalize(pose_out.Rot, pose_out.Rot);
+		ASSERT_FLTA_EQUALS(pose_out.Pos, expected.Pos, 7);
 	}
 
 	{
-		FLT pt[] = {0, 1, 0, 0, 1, 0, 0};
-		FLT expected[] = {1, 2, 1, 0, 0, 0, -1};
-		ApplyPoseToPose(pose_out, rotAroundYOffset, pt);
-		ASSERT_FLTA_EQUALS(pose_out, expected, 7);
+		LinmathPose pt = {0, 1, 0, 0, 1, 0, 0};
+		LinmathPose expected = {1, 2, 1, 0, 0, 0, -1};
+		ApplyPoseToPose(&pose_out, &rotAroundYOffset, &pt);
+		ASSERT_FLTA_EQUALS(pose_out.Pos, expected.Pos, 7);
 	}
 }
 
 void testApplyPoseToPoint() {
-	FLT rotAroundY[7] = {0, 0, 0, 0, 0, 1, 0};
+	LinmathPose rotAroundY = {0, 0, 0, 0, 0, 1, 0};
 	FLT pt_out[3];
 
 	{
 		FLT pt[3] = {0, 1, 0};
 		FLT expected[3] = {0, 1, 0};
-		ApplyPoseToPoint(pt_out, rotAroundY, pt);
+		ApplyPoseToPoint(pt_out, &rotAroundY, pt);
 		ASSERT_FLTA_EQUALS(pt_out, expected, 3);
 	}
 
 	{
 		FLT pt[3] = {1, 1, 0};
 		FLT expected[3] = {-1, 1, 0};
-		ApplyPoseToPoint(pt_out, rotAroundY, pt);
+		ApplyPoseToPoint(pt_out, &rotAroundY, pt);
 		ASSERT_FLTA_EQUALS(pt_out, expected, 3);
 	}
 
-	FLT rotAroundYOffset[7] = {1, 1, 1, 0, 0, 1, 0};
+	LinmathPose rotAroundYOffset = {1, 1, 1, 0, 0, 1, 0};
 
 	{
 		FLT pt[3] = {0, 1, 0};
 		FLT expected[3] = {1, 2, 1};
-		ApplyPoseToPoint(pt_out, rotAroundYOffset, pt);
+		ApplyPoseToPoint(pt_out, &rotAroundYOffset, pt);
 		ASSERT_FLTA_EQUALS(pt_out, expected, 3);
 	}
 
 	{
 		FLT pt[3] = {1, 1, 0};
 		FLT expected[3] = {0, 2, 1};
-		ApplyPoseToPoint(pt_out, rotAroundYOffset, pt);
+		ApplyPoseToPoint(pt_out, &rotAroundYOffset, pt);
 		ASSERT_FLTA_EQUALS(pt_out, expected, 3);
 	}
 }
@@ -163,53 +163,8 @@ int main()
 	printf( "%f %f %f\n", PFTHREE( pOut1 ) );
 	printf( "%f %f %f\n", PFTHREE( pOut2 ) );
 */
-	return -1;
-
-#endif
+	return 0;
 
-#if 0
-
-	FLT e[3] = { 1,1,3.14 };
-	FLT q[4];
-	FLT m[16];
-	FLT pt[3] = { 1, 1, 1 };
-
-	q[0] = 0;
-	q[1] = 0;
-	q[2] = 0;
-	q[3] = 1;
-
-	quatrotatevector( pt, q, pt );
-	printf( "%f %f %f\n", PFTHREE( pt ) );
-	printf( "\n" );
-
-	quatfromeuler( q, e );
-	printf( "%f %f %f %f\n\n", PFFOUR( q ) );
-	quattomatrix(m,q);
-	printf( "%f %f %f %f\n", PFFOUR( &m[0] ) );
-	printf( "%f %f %f %f\n", PFFOUR( &m[4] ) );
-	printf( "%f %f %f %f\n", PFFOUR( &m[8] ) );
-	printf( "%f %f %f %f\n\n", PFFOUR( &m[12] ) );
-	quatfrommatrix(q,m );
-	printf( "%f %f %f %f\n\n", PFFOUR( q ) );
-	quattoeuler( e,q );
-	printf( "E: %f %f %f\n", e[0], e[1], e[2] );
-
-
-	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" );
-	q[0] *= -1; //Wow that was easy.
-	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
 	
 }
-- 
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