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#include "linmath.h"
#include <stdio.h>
int main()
{
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 p[3] = { 0, 0, 1 };
printf( "%f %f %f\n", PFTHREE( p ) );
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 );
}
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