#include "linmath.h"
#include <stdio.h>

int main()
{
#if 1

#define NONTRANSPOSED_DAVE
#ifdef NONTRANSPOSED_DAVE
	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] = {0.195579, 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

	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[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 ) );

	quatrotatevector( pOut1, qLH1, pOut1 );
	quatrotatevector( pOut2, qLH2, pOut2 );

	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];
	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
	
}