added tests for Vector Math, modified Makefile, added helper include files

Extras/vectormathlibrary/Makefile

@@ -1,4 +1,5 @@
-# Makefile for testsuite for the PPU SIMD math library
+# Makefile for vector math library.
+#
 #   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
 #   All rights reserved.
 #
@@ -26,103 +27,93 @@
 #   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 #   POSSIBILITY OF SUCH DAMAGE.
 
-TESTS = main_vmtest
+# How to build:
+#
+#   Nothing to do (The all of the library is implemented as inline).
+#
+# How to install:
+#
+#   To install the library:
+#
+#      make ARCH=<ARCHITECTURE> install
+#
+#   where <ARCHITECTURE> must be one of:
+#
+#      ppu (PowerPC)
+#      spu
+#      SSE
+#      scalar (generic)
+#
+#   e.g.) make ARCH=cell install
+#
 
-STATIC_TESTS = $(TESTS)
+topdir = .
-SHARED_TESTS = $(TESTS:=.shared)
+ARCH = scalar
-ALL_TESTS = $(STATIC_TESTS) $(SHARED_TESTS)
 
-INCLUDES_PPU = -I../simdmathlibrary/common -Iother/rs6000
+prefix_spu = /usr/spu
-#ARCH_PPU can also be 64
-ARCH_PPU = 32 
-CROSS_PPU = ppu-
-AR_PPU = $(CROSS_PPU)ar
-CC_PPU = $(CROSS_PPU)gcc
-CXX_PPU = $(CROSS_PPU)g++
-TEST_CMD_PPU =
 
-ARCH_CFLAGS_PPU = -m$(ARCH_PPU) -maltivec -mabi=altivec
+ARCH_DIRS = $(ARCH)
-CFLAGS_PPU = $(INCLUDES_PPU) -O2 -W -Wall $(ARCH_CFLAGS_PPU)
+ARCH_INSTALL= $(ARCH_INSTALL_$(ARCH))
-STATIC_LDFLAGS_PPU = -static
+ARCH_CHECK= $(ARCH_CHECK_$(ARCH))
-SHARED_LDFLAGS_PPU = -Wl,-rpath=..
-LDFLAGS_PPU = $(ARCH_CFLAGS_PPU) -L../simdmathlibrary/ppu -l$(LIB_BASE) -lm -lstdc++
 
-MAKE_DEFS = \
+prefix = $(if $(prefix_$(ARCH)),$(prefix_$(ARCH)),/usr)
-	LIB_BASE='$(LIB_BASE)' \
+DESTDIR =
-	LIB_NAME='$(LIB_NAME)' \
-	STATIC_LIB='$(STATIC_LIB)' \
-	SHARED_LIB='$(SHARED_LIB)' \
-	ARCH_PPU='$(ARCH_PPU)' \
-	ARCH_CFLAGS_PPU='$(ARCH_CFLAGS_PPU)' \
-	CROSS_PPU='$(CROSS_PPU)' \
-	AR_PPU='$(AR_PPU)' \
-	CC_PPU='$(CC_PPU)' \
-	CXX_PPU='$(CXX_PPU)' \
-	TEST_CMD_PPU='$(TEST_CMD_PPU)'
 
-LIB_BASE = simdmath
+COMMON_DIRS = scalar
-LIB_NAME = lib$(LIB_BASE)
-STATIC_LIB = $(LIB_NAME).a
-SHARED_LIB = $(LIB_NAME).so
 
-TEST_CMD = $(TEST_CMD_PPU)
+INSTALL = install
 
-#COMMON_OBJS = testutils.o
+LIB_MAJOR_VERSION = 1
+LIB_MINOR_VERSION = 0
+LIB_RELEASE = 1
+LIB_FULL_VERSION = $(LIB_MAJOR_VERSION).$(LIB_MINOR_VERSION).$(LIB_RELEASE)
 
+LIB_BASE = vectormath
 
-all: $(ALL_TESTS)
+TAR_NAME = $(LIB_BASE)-$(LIB_FULL_VERSION)
+TAR_BALL = $(TAR_NAME).tar.gz
 
+all:
+	@true
 
-$(STATIC_TESTS): %: %.o ../simdmathlibrary/ppu/$(STATIC_LIB) $(COMMON_OBJS)
+install:
-	$(CC_PPU) $*.o $(COMMON_OBJS) $(LDFLAGS_PPU) $(STATIC_LDFLAGS_PPU) -o $@
+	$(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/include/vectormath/c
+	$(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/include/vectormath/cpp
+	$(INSTALL) -m 644 include/vectormath/c/*.h $(DESTDIR)$(prefix)/include/vectormath/c/
+	$(INSTALL) -m 644 include/vectormath/cpp/*.h $(DESTDIR)$(prefix)/include/vectormath/cpp/
+	$(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/include/vectormath/cpp
+	for _d in $(ARCH_DIRS) $(COMMON_DIRS); do \
+		if test -d include/vectormath/$$_d/c; then \
+			$(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/include/vectormath/$$_d/c && \
+			$(INSTALL) -m 644 include/vectormath/$$_d/c/*.h \
+				$(DESTDIR)$(prefix)/include/vectormath/$$_d/c/ || exit 1; \
+		fi; \
+		if test -d include/vectormath/$$_d/cpp; then \
+			$(INSTALL) -m 755 -d $(DESTDIR)$(prefix)/include/vectormath/$$_d/cpp && \
+			$(INSTALL) -m 644 include/vectormath/$$_d/cpp/*.h \
+				$(DESTDIR)$(prefix)/include/vectormath/$$_d/cpp/ || exit 1; \
+		fi; \
+	done
 
-$(SHARED_TESTS): %.shared: %.o ../simdmathlibrary/ppu/$(SHARED_LIB) $(COMMON_OBJS)
+check:
-	$(CC_PPU) $*.o $(COMMON_OBJS) $(LDFLAGS_PPU) $(SHARED_LDFLAGS_PPU) -o $@
+	$(MAKE) -C tests ARCH=$(ARCH) check
 
 clean:
-	rm -f *.o
+	$(MAKE) -C tests clean
-	rm -f $(STATIC_TESTS) $(SHARED_TESTS)
+	-rm -f $(TAR_BALL)
-	rm -f core*
 
-check: $(ALL_TESTS)
+distclean:
-	for test in $(ALL_TESTS); do	\
+	$(MAKE) -C tests distclean
-		echo "TEST $${test}";		\
-		if $(TEST_CMD) ./$${test}; then \
-			pass="$$pass $$test"; \
-		else \
-			fail="$$fail $$test"; \
-		fi \
-	done; \
-	echo; echo "PASS:$$pass"; echo "FAIL:$$fail"; \
-	test -z "$$fail"
-
-static_check:
-	$(MAKE) $(MAKE_DEFS) ALL_TESTS="$(STATIC_TESTS)" check
-
-shared_check:
-	$(MAKE) $(MAKE_DEFS) ALL_TESTS="$(SHARED_TESTS)" check
-
-../$(STATIC_LIB):
-	cd ../;$(MAKE) $(MAKE_DEFS) $(STATIC_LIB)
-
-../$(SHARED_LIB):
-	cd ../;$(MAKE) $(MAKE_DEFS) $(SHARED_LIB)
-
-%.o: %.c  common-test.h testutils.h
-	$(CC_PPU) $(CFLAGS_PPU) -c $<
-
-#----------
-#   C++
-#----------
-%.o: %.C
-	$(CXX_PPU) $(CFLAGS_PPU) -c $<
-
-%.o: %.cpp
-	$(CXX_PPU) $(CFLAGS_PPU) -c $<
-
-%.o: %.cc
-	$(CXX_PPU) $(CFLAGS_PPU) -c $<
-
-%.o: %.cxx
-	$(CXX_PPU) $(CFLAGS_PPU) -c $<
 
+dist:
+	-rm -rf .dist
+	mkdir -p .dist/$(TAR_NAME)
+	find . -name .dist -prune -o \
+		-name .CVS -prune -o -name .svn -prune -o \
+		-name .pc -prune  -o -name patches -prune -o \
+		'(' -name README -o -name LICENSE -o \
+			-name Makefile -o -name '*.[ch]' -o -name '*.cpp' -o \
+			-name '*.pl' -o -name '*.txt' -o -name '*.pdf' -o -name '*.spec' ')' \
+		-print | tar -T - -cf - | tar xf - -C .dist/$(TAR_NAME)
+	tar zcf $(TAR_BALL) -C .dist $(TAR_NAME)
+	-rm -rf .dist

Extras/vectormathlibrary/README

@@ -1,86 +1,13 @@
-			 Vector math library
+Vector Math library for 3-D linear algebra (vector, matrix, quaternion)
+SIMD support for SSE, PowerPC (PPU) and the SPU.
+Also includes generic multi-platform scalar version.
 
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+Open Source under the new BSD license, see LICENSE
 
-* Overview
+Module maintainer: Erwin Coumans
+Feedback and patches:
+http://www.bulletphysics.com/Bullet/phpBB2/viewforum.php?f=18
+Main repository URL:
+http://bullet.svn.sourceforge.net/viewvc/bullet/trunk/Extras/vectormathlibrary
 
-  The Vector math library provides 3-D/4-D vector operations including
-  addition, outer product, multiply by a matrix, etc.
-
-
-* License
-
-  This library is licensed under the terms in the file 'LICENSE' in
-  this directory.
-
-
-* Installing
-
-  To install this library, run following commands:
-
-  - PowerPC with VMX (fully supported)
-
-    $ make ARCH=ppu install
-
-  - SPU (Cell Broadband Engine Synergistic Processor Unit)
-
-    $ make ARCH=spu install
-
-  - x86 with SSE (partially supported)
-
-    $ make ARCH=SSE install
-
-  - Other architectures (partially supported)
-
-    $ make install
-
-
-  By default, files in the library will be placed as below:
-
-  - headers
-  
-    /usr/include/vectormath/c/       (C headers)
-    /usr/include/vectormath/cpp/     (C++ headers)
-
-  - SPU headers
-  
-    /usr/spu/include/vectormath/c/   (C headers)
-    /usr/spu/include/vectormath/cpp/ (C++ headers)
-
-  No shared library, static library nor executable is installed,
-  because all functions in this library are provided as inline
-  functions.
-
-
-* Packaging
-
-  By running following command in this directory, a source tarball
-  'vectormath-<VERSION>.tar.gz' can be created:
-
-    $ make dist
-  
-  You can also create RPM packages by executing the command below with
-  the tarball:
-
-    $ rpmbuild -tb vectormath-1.0.1.tar.gz --target=ppc
-
-  One or two packages, vectormath-devel (and, in addition,
-  spu-vectormath-devel for PowerPC target), will be created.
-
-
-* Usage
-
-  See the documents `doc/*.pdf'.
-
-
-* Contacting the project
-
-  Module maintainer: Erwin Coumans
-
-  Feedback and patches:
-    http://www.bulletphysics.com/Bullet/phpBB2/viewforum.php?f=18
-
-  Main repository URL:
-    http://bullet.svn.sourceforge.net/viewvc/bullet/trunk/Extras/vectormathlibrary
-
----
-EOF

Extras/vectormathlibrary/include/vectormath/SSE/cpp/vectormath_aos.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_CPP_H
+#ifndef _VECTORMATH_AOS_CPP_SSE_H
-#define _VECTORMATH_AOS_CPP_H
+#define _VECTORMATH_AOS_CPP_SSE_H
 
 #include <math.h>
 #include <xmmintrin.h>

Extras/vectormathlibrary/include/vectormath/c/vectormath_aos.h

@@ -0,0 +1,41 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_AOS_C_H
+#define _VECTORMATH_AOS_C_H
+
+#if defined(__SPU__)
+#  include "../spu/c/vectormath_aos.h"
+#elif defined(__ALTIVEC__)
+#  include "../ppu/c/vectormath_aos.h"
+#else
+#  include "../scalar/c/vectormath_aos.h"
+#endif
+
+#endif

Extras/vectormathlibrary/include/vectormath/c/vectormath_aos_v.h

@@ -0,0 +1,41 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_AOS_C_V_H
+#define _VECTORMATH_AOS_C_V_H
+
+#if defined(__SPU__)
+#  include "../spu/c/vectormath_aos_v.h"
+#elif defined(__ALTIVEC__)
+#  include "../ppu/c/vectormath_aos_v.h"
+#else
+#  include "../scalar/c/vectormath_aos_v.h"
+#endif
+
+#endif

Extras/vectormathlibrary/include/vectormath/c/vectormath_soa.h

@@ -0,0 +1,41 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_SOA_C_H
+#define _VECTORMATH_SOA_C_H
+
+#if defined(__SPU__)
+#  include "../spu/c/vectormath_soa.h"
+#elif defined(__ALTIVEC__)
+#  include "../ppu/c/vectormath_soa.h"
+#else
+#  error "Not implemented."
+#endif
+
+#endif

Extras/vectormathlibrary/include/vectormath/c/vectormath_soa_v.h

@@ -0,0 +1,41 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_SOA_C_V_H
+#define _VECTORMATH_SOA_C_V_H
+
+#if defined(__SPU__)
+#  include "../spu/c/vectormath_soa_v.h"
+#elif defined(__ALTIVEC__)
+#  include "../ppu/c/vectormath_soa_v.h"
+#else
+#  error "Not implemented."
+#endif
+
+#endif

Extras/vectormathlibrary/include/vectormath/cpp/vectormath_aos.h

@@ -0,0 +1,43 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_AOS_CPP_H
+#define _VECTORMATH_AOS_CPP_H
+
+#if defined(__SPU__)
+#  include "../spu/cpp/vectormath_aos.h"
+#elif defined(__ALTIVEC__)
+#  include "../ppu/cpp/vectormath_aos.h"
+#elif defined(__SSE__)
+#  include "../SSE/cpp/vectormath_aos.h"
+#else
+#  include "../scalar/cpp/vectormath_aos.h"
+#endif
+
+#endif

Extras/vectormathlibrary/include/vectormath/cpp/vectormath_soa.h

@@ -0,0 +1,41 @@
+/*
+   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+   Redistribution and use in source and binary forms,
+   with or without modification, are permitted provided that the
+   following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Sony Computer Entertainment Inc nor the names
+      of its contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+   POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_SOA_CPP_H
+#define _VECTORMATH_SOA_CPP_H
+
+#if defined(__SPU__)
+#  include "../spu/cpp/vectormath_soa.h"
+#elif defined(__ALTIVEC__)
+#  include "../ppu/cpp/vectormath_soa.h"
+#else
+#  error "Not implemented."
+#endif
+
+#endif

Extras/vectormathlibrary/include/vectormath/ppu/c/vec_aos.h

@@ -30,8 +30,9 @@
 #ifndef _VECTORMATH_VEC_AOS_C_H
 #define _VECTORMATH_VEC_AOS_C_H
 #include <altivec.h>
-#include <vec_types.h>
 #include <simdmath.h>
+#include <stddef.h>
+#include "vec_types.h"
 #ifdef __cplusplus
 extern "C" {
 #endif /* __cplusplus */

Extras/vectormathlibrary/include/vectormath/ppu/c/vec_types.h

@@ -0,0 +1,55 @@
+/* (C) Copyright
+   Sony Computer Entertainment, Inc.,
+   2001,2002,2003,2004,2005,2006,2007.
+
+   This file is free software; you can redistribute it and/or modify it under
+   the terms of the GNU General Public License as published by the Free
+   Software Foundation; either version 2 of the License, or (at your option) 
+   any later version.
+
+   This file is distributed in the hope that it will be useful, but WITHOUT
+   ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+   FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+   for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this file; see the file COPYING.  If not, write to the Free
+   Software Foundation, 51 Franklin Street, Fifth Floor, Boston, MA
+   02110-1301, USA.  */
+
+/* As a special exception, if you include this header file into source files 
+   compiled by GCC, this header file does not by itself cause  the resulting 
+   executable to be covered by the GNU General Public License.  This exception 
+   does not however invalidate any other reasons why the executable file might be 
+   covered by the GNU General Public License.  */ 
+
+/* Single token vector data types for the PowerPC SIMD/Vector Multi-media 
+   eXtension */
+
+#ifndef _VECTORMATH_VEC_TYPES_H_
+#define _VECTORMATH_VEC_TYPES_H_	1
+
+#define qword		__vector unsigned char
+
+#define vec_uchar16	__vector unsigned char
+#define vec_char16	__vector signed char
+#define vec_bchar16	__vector bool char
+
+#define vec_ushort8	__vector unsigned short
+#define vec_short8	__vector signed short
+#define vec_bshort8	__vector bool short
+
+#define vec_pixel8	__vector pixel
+
+#define vec_uint4	__vector unsigned int
+#define vec_int4	__vector signed int
+#define vec_bint4	__vector bool int
+
+#define vec_float4	__vector float
+
+#define vec_ullong2	__vector bool char
+#define vec_llong2	__vector bool short
+
+#define vec_double2	__vector bool int
+
+#endif /* _VECTORMATH_VEC_TYPES_H_ */

Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos.h

@@ -27,13 +27,13 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_C_H
+#ifndef _VECTORMATH_AOS_C_PPU_H
-#define _VECTORMATH_AOS_C_H
+#define _VECTORMATH_AOS_C_PPU_H
 
 #include <math.h>
 #include <altivec.h>
-#include <vec_types.h>
 #include <simdmath.h>
+#include "vec_types.h"
 
 #ifdef _VECTORMATH_DEBUG
 #include <stdio.h>

Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_aos_v.h

@@ -27,11 +27,12 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_C_V_H
+#ifndef _VECTORMATH_AOS_C_V_PPU_H
-#define _VECTORMATH_AOS_C_V_H
+#define _VECTORMATH_AOS_C_V_PPU_H
 
 #include <math.h>
 #include <altivec.h>
+#include "vec_types.h"
 
 #ifdef _VECTORMATH_DEBUG
 #include <stdio.h>

Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_SOA_C_H
+#ifndef _VECTORMATH_SOA_C_PPU_H
-#define _VECTORMATH_SOA_C_H
+#define _VECTORMATH_SOA_C_PPU_H
 
 #include <math.h>
 #include <altivec.h>

Extras/vectormathlibrary/include/vectormath/ppu/c/vectormath_soa_v.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_SOA_C_V_H
+#ifndef _VECTORMATH_SOA_C_V_PPU_H
-#define _VECTORMATH_SOA_C_V_H
+#define _VECTORMATH_SOA_C_V_PPU_H
 
 #include <math.h>
 #include <altivec.h>

Extras/vectormathlibrary/include/vectormath/ppu/cpp/boolInVec.h

@@ -32,7 +32,7 @@
 
 #include <math.h>
 #include <altivec.h>
-#include "vec_types.h"
+#include "../c/vec_types.h"
 #undef bool
 
 namespace Vectormath {

Extras/vectormathlibrary/include/vectormath/ppu/cpp/floatInVec.h

@@ -33,8 +33,8 @@
 #include <math.h>
 #include <altivec.h>
 #include <stddef.h>
-#include "vec_types.h"
+#include <simdmath.h>
-#include "simdmath.h"
+#include "../c/vec_types.h"
 #undef bool
 
 namespace Vectormath {

Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_aos.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_CPP_H
+#ifndef _VECTORMATH_AOS_CPP_PPU_H
-#define _VECTORMATH_AOS_CPP_H
+#define _VECTORMATH_AOS_CPP_PPU_H
 
 #include <math.h>
 #include <altivec.h>

Extras/vectormathlibrary/include/vectormath/ppu/cpp/vectormath_soa.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_SOA_CPP_H
+#ifndef _VECTORMATH_SOA_CPP_PPU_H
-#define _VECTORMATH_SOA_CPP_H
+#define _VECTORMATH_SOA_CPP_PPU_H
 
 #include <math.h>
 #include <altivec.h>

Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_C_H
+#ifndef _VECTORMATH_AOS_C_SCALAR_H
-#define _VECTORMATH_AOS_C_H
+#define _VECTORMATH_AOS_C_SCALAR_H
 
 #include <math.h>
 

Extras/vectormathlibrary/include/vectormath/scalar/c/vectormath_aos_v.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_C_V_H
+#ifndef _VECTORMATH_AOS_C_V_SCALAR_H
-#define _VECTORMATH_AOS_C_V_H
+#define _VECTORMATH_AOS_C_V_SCALAR_H
 
 #include <math.h>
 

Extras/vectormathlibrary/include/vectormath/scalar/cpp/vectormath_aos.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_CPP_H
+#ifndef _VECTORMATH_AOS_CPP_SCALAR_H
-#define _VECTORMATH_AOS_CPP_H
+#define _VECTORMATH_AOS_CPP_SCALAR_H
 
 #include <math.h>
 

Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos.h

@@ -27,13 +27,12 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_C_H
+#ifndef _VECTORMATH_AOS_C_SPU_H
-#define _VECTORMATH_AOS_C_H
+#define _VECTORMATH_AOS_C_SPU_H
 
 #include <math.h>
-#include "spu2vmx.h"
+#include <simdmath.h>
-#include "simdmath.h"
+#include <stdio.h>
-#include "stdio.h"
 
 #ifdef _VECTORMATH_DEBUG
 #endif

Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_aos_v.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_C_V_H
+#ifndef _VECTORMATH_AOS_C_V_SPU_H
-#define _VECTORMATH_AOS_C_V_H
+#define _VECTORMATH_AOS_C_V_SPU_H
 
 #include <math.h>
 #include <spu_intrinsics.h>

Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_SOA_C_H
+#ifndef _VECTORMATH_SOA_C_SPU_H
-#define _VECTORMATH_SOA_C_H
+#define _VECTORMATH_SOA_C_SPU_H
 
 #include <math.h>
 #include <spu_intrinsics.h>

Extras/vectormathlibrary/include/vectormath/spu/c/vectormath_soa_v.h

@@ -27,8 +27,8 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_SOA_C_V_H
+#ifndef _VECTORMATH_SOA_C_V_SPU_H
-#define _VECTORMATH_SOA_C_V_H
+#define _VECTORMATH_SOA_C_V_SPU_H
 
 #include <math.h>
 #include <spu_intrinsics.h>

Extras/vectormathlibrary/include/vectormath/spu/cpp/floatInVec.h

@@ -32,8 +32,7 @@
 
 #include <math.h>
 #include <spu_intrinsics.h>
-#include "spu2vmx.h"
+#include <simdmath.h>
-#include "simdmath.h"
 #undef bool
 
 namespace Vectormath {

Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_aos.h

@@ -27,15 +27,15 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_AOS_CPP_H
+#ifndef _VECTORMATH_AOS_CPP_SPU_H
-#define _VECTORMATH_AOS_CPP_H
+#define _VECTORMATH_AOS_CPP_SPU_H
 
 #include <math.h>
 #include <spu_intrinsics.h>
 #include "floatInVec.h"
 #include "boolInVec.h"
-#include "stdio.h"
 #include "vecidx_aos.h"
+#include <stdio.h>
 
 #ifdef _VECTORMATH_DEBUG
 #endif

Extras/vectormathlibrary/include/vectormath/spu/cpp/vectormath_soa.h

@@ -27,15 +27,15 @@
    POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef _VECTORMATH_SOA_CPP_H
+#ifndef _VECTORMATH_SOA_CPP_SPU_H
-#define _VECTORMATH_SOA_CPP_H
+#define _VECTORMATH_SOA_CPP_SPU_H
 
 #include <math.h>
 #include <spu_intrinsics.h>
 #include "floatInVec.h"
 #include "boolInVec.h"
-#include "stdio.h"
 #include "vectormath_aos.h"
+#include <stdio.h>
 
 #ifdef _VECTORMATH_DEBUG
 #endif

Extras/vectormathlibrary/tests/Makefile

@@ -0,0 +1,135 @@
+# Makefile for vector math library testsuite.
+#
+#   Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+#   All rights reserved.
+#
+#   Redistribution and use in source and binary forms,
+#   with or without modification, are permitted provided that the
+#   following conditions are met:
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#    * Neither the name of the Sony Computer Entertainment Inc nor the names
+#      of its contributors may be used to endorse or promote products derived
+#      from this software without specific prior written permission.
+#
+#   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#   ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+#   LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#   CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#   SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#   INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#   CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#   ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#   POSSIBILITY OF SUCH DAMAGE.
+
+topdir = ..
+
+ARCH = scalar
+
+TESTS_all = \
+	test1_aos_c.elf \
+	test1_soa_c.elf \
+	test2_aos_c.elf \
+	test2_soa_c.elf \
+	test3_aos_c.elf \
+	test3_soa_c.elf \
+	test4_aos_c.elf \
+	test4_soa_c.elf \
+	test1_aos_cpp.elf \
+	test1_soa_cpp.elf \
+	test2_aos_cpp.elf \
+	test2_soa_cpp.elf \
+	test3_aos_cpp.elf \
+	test3_soa_cpp.elf \
+	test4_aos_cpp.elf \
+	test4_soa_cpp.elf
+
+TESTS_ppu = $(TESTS_all)
+ARCH_CFLAGS_ppu = -maltivec -mabi=altivec -I$(SIMDMATH_DIR)/common
+ARCH_LDFLAGS_ppu = -L$(SIMDMATH_DIR)/ppu -lsimdmath -static
+
+TESTS_spu = $(TESTS_all)
+ARCH_CFLAGS_spu = -I$(SIMDMATH_DIR)/common
+ARCH_LDFLAGS_spu = -L$(SIMDMATH_DIR)/spu -lsimdmath
+
+TESTS_SSE = \
+	test1_aos_cpp.elf \
+	test2_aos_cpp.elf \
+	test3_aos_cpp.elf \
+	test4_aos_cpp.elf
+ARCH_CFLAGS_SSE = -msse
+
+TESTS_scalar = \
+	test1_aos_c.elf \
+	test2_aos_c.elf \
+	test3_aos_c.elf \
+	test4_aos_c.elf \
+	test1_aos_cpp.elf \
+	test2_aos_cpp.elf \
+	test3_aos_cpp.elf \
+	test4_aos_cpp.elf
+
+TESTS = $(TESTS_$(ARCH))
+ARCH_CFLAGS = $(ARCH_CFLAGS_$(ARCH))
+ARCH_LDFLAGS = $(ARCH_LDFLAGS_$(ARCH))
+
+SIMDMATH_DIR = $(topdir)/../simdmathlibrary
+
+RESULTS = $(TESTS:.elf=.$(ARCH).out)
+DIFFS = $(RESULTS:.out=.cmp)
+
+CROSS =
+CC = $(CROSS)gcc
+CXX = $(CROSS)g++
+LD = $(CC)
+LDXX = $(CXX)
+
+CFLAGS = -O2 -W -Wall -D_VECTORMATH_DEBUG $(ARCH_CFLAGS)
+LDFLAGS = -lm $(ARCH_LDFLAGS)
+
+C_INCLUDES = -I$(topdir)/include/vectormath/c
+CXX_INCLUDES = -I$(topdir)/include/vectormath/cpp
+
+all: $(TESTS)
+
+check: $(DIFFS)
+
+clean:
+	-rm -f *.elf
+
+distclean: clean
+	-rm -f *.out *.cmp *~
+
+%_c.elf: %_c.c
+	$(CC) $(CFLAGS) $(C_INCLUDES) -o $@ $< $(LDFLAGS)
+
+%_cpp.elf: %_cpp.cpp
+	$(CXX) $(CFLAGS) $(CXX_INCLUDES) -o $@ $< $(LDFLAGS)
+
+%.$(ARCH).out: %.elf
+	./$< > $@
+
+test1_%.cmp: test1_%.out
+	./clean.pl < $< > $<.tmp
+	./compare.pl $<.tmp test1_reference.txt | tee $@
+	rm $<.tmp
+
+test2_%.cmp: test2_%.out
+	./clean.pl < $< > $<.tmp
+	./compare.pl $<.tmp test2_reference.txt | tee $@
+	rm $<.tmp
+
+test3_%.cmp: test3_%.out
+	./clean.pl < $< > $<.tmp
+	./compare.pl $<.tmp test3_reference.txt | tee $@
+	rm $<.tmp
+
+test4_%.cmp: test4_%.out
+	./clean.pl < $< > $<.tmp
+	./compare.pl $<.tmp test4_reference.txt | tee $@
+	rm $<.tmp

Extras/vectormathlibrary/tests/clean.pl

@@ -0,0 +1,109 @@
+#!/usr/bin/perl
+
+#
+#  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms,
+#  with or without modification, are permitted provided that the
+#  following conditions are met:
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of the Sony Computer Entertainment Inc nor the names
+#     of its contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+$lineno = 0;
+
+sub getLine
+{
+   local( $line );
+   
+   $line = <STDIN>;
+
+   while( $line =~ m/^lv2\([^\)]*\)\:$/ )
+   {
+       $line = <STDIN>;
+   }
+
+   $line =~ s/^lv2\([^\)]*\)\: //;
+
+   return $line;
+}
+
+while(($line = <STDIN>) !~ m/__begin__/)
+{
+}
+
+$countSlotLines = 0;
+
+while( $line = &getLine )
+{
+   $lineno++;
+   
+   if ( $line =~ m/__end__/ )
+   {
+      exit;
+   }
+   
+   # if soa print, only save first slot
+
+   if ( $line =~ m/^slot ([1-3])/ )
+   {
+      while ( $line =~ m/^slot [1-3]/ )
+      {
+         # skip all lines for this slot
+
+         for ( $i = 0; $i < $slotLines; $i++ )
+         {
+            $line = &getLine;
+         }
+
+         # get next line
+
+         $line = &getLine;
+      }
+
+      # stop counting slot lines
+
+      $countSlotLines = 0;
+   }
+   elsif ( $countSlotLines )
+   {
+      $slotLines++;
+   }
+
+   if ( $line =~ m/^slot 0\:(.?)/ )
+   {
+      $countSlotLines = 1;
+
+      if ( $1 eq ' ' )
+      {
+         $line =~ s/^slot 0\: //;
+         $slotLines = 0;
+      }
+      else
+      {
+         $line = &getLine;
+         $slotLines = 1;
+      }
+   }
+
+   print $line;
+}

Extras/vectormathlibrary/tests/compare.pl

@@ -0,0 +1,95 @@
+#!/usr/bin/perl
+
+#
+#  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms,
+#  with or without modification, are permitted provided that the
+#  following conditions are met:
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of the Sony Computer Entertainment Inc nor the names
+#     of its contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+$file1 = $ARGV[0];
+$file2 = $ARGV[1];
+
+if (!open(FILE1, "<$file1"))
+{
+    print "Couldn't open $file1\n";
+    exit;
+}
+
+if (!open(FILE2, "<$file2"))
+{
+    print "Couldn't open $file2\n";
+    exit;
+}
+
+print "Comparing $file1 $file2\n";
+
+$lineno1 = 0;
+$lineno2 = 0;
+
+while(($line1 = <FILE1>) && ($line2 = <FILE2>))
+{
+   $lineno1++;
+   $lineno2++;
+   
+   if ( $line1 =~ m/\:$/ )
+   {
+      $line1 = <FILE1>;
+      $lineno1++;
+   }
+   
+   if ( $line2 =~ m/\:$/ )
+   {
+      $line2 = <FILE2>;
+      $lineno2++;
+   }
+
+   $line1 =~ s/^.*\: //g;
+   $line2 =~ s/^.*\: //g;
+
+   @words1 = split(/ /,$line1);
+   @words2 = split(/ /,$line2);
+   
+   for ($i = 0; $i < @words1; $i++)
+   {
+      $word1 = $words1[$i];
+      $word2 = $words2[$i];
+      
+      $word1 =~ s/\s//g;
+      $word2 =~ s/\s//g;
+      
+      if ( $word1 ne $word2 )
+      {
+         $error = abs($word1 - $word2);
+
+         $limit = abs(1e-4 * $word1);
+         
+         if ( $error > $limit && !( abs($word1) < 1e-4 && $error < 1e-4 ) )
+         {
+            print "$lineno1: $word1 $lineno2: $word2\n";
+         }
+      }
+   }
+}

Extras/vectormathlibrary/tests/test.h

@@ -0,0 +1,346 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef _VECTORMATH_TEST_H
+#define _VECTORMATH_TEST_H
+
+#if defined(__SPU__)
+#  define vec_splats_float(v) spu_splats(v)
+#  define vec_mul_float(a, b) spu_mul(a, b)
+#  define vec_add_float(a, b) spu_add(a, b)
+#  define vec_sub_float(a, b) spu_sub(a, b)
+#elif defined(__ALTIVEC__)
+#  define vec_splats_float(v) ((vec_float4){(float)(v),(float)(v),(float)(v),(float)(v)})
+#  define vec_mul_float(a, b) vec_madd(a, b, vec_splats_float(0.0f))
+#  define vec_add_float(a, b) vec_add(a, b)
+#  define vec_sub_float(a, b) vec_sub(a, b)
+#elif defined(__SSE__)
+#  error "Not implemented."
+#else
+#  define _VECTORMATH_SCALAR_TEST
+#endif
+
+float randfloats[1024] = {
+  -0.658343927787421f,0.499803960969928f,-0.807256688752865f,0.740930454054151f,
+  0.154607013590216f,0.571598517679348f,0.38438830691728f,-0.262467460159158f,
+  0.747808153723618f,0.49019019690013f,-0.107908181813777f,-0.292543593813249f,
+  0.465039264005078f,-0.47955599783424f,-0.211412450152245f,0.553579902451233f,
+  0.690070275160572f,0.151576400965553f,0.431077190337326f,-0.833991507852247f,
+  -0.0883497426804851f,-0.780106371638709f,0.0904560476331469f,-0.218626858702649f,
+  0.137170846428894f,0.918132898976751f,0.735438192918274f,-0.673620979495283f,
+  -0.448982146263369f,-0.479277810255866f,0.848189483738331f,-0.12815472579463f,
+  0.578921731104181f,-0.744765966376519f,-0.83558862791913f,0.881284032895692f,
+  -0.948850147493964f,-0.691578137344351f,-0.235635149443688f,-0.690526600666615f,
+  0.0586668362339609f,0.753696982166502f,-0.138777123323202f,-0.472187547315841f,
+  -0.372811001953572f,0.540183371709446f,-0.78521823389179f,0.542084510391291f,
+  0.410391117788897f,-0.562720682584484f,0.523587985711991f,-0.176573908842087f,
+  0.297653645858226f,0.859912509814734f,0.00483713119734119f,0.374881358857735f,
+  -0.127818103705344f,0.21660181589948f,0.153117267270737f,0.265243421428139f,
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+  0.684751731590218f,-0.953277716787511f,0.985770879077755f,0.122219634876117f,
+  0.1721202012071f,-0.388256876288864f,-0.73825752183587f,0.906019401398325f,
+  -0.803381430261645f,-0.74941181755554f,0.0727255174881734f,-0.221605735994771f,
+  -0.564223723915198f,-0.213656403861052f,-0.608162856680174f,0.921170937654253f,
+  0.0847855661657562f,0.417987807384179f,-0.330418934403873f,0.648809934312297f,
+  0.0796460930869003f,0.550628835897015f,-0.92719924470385f,0.877452232036589f,
+  0.559779671355166f,-0.0896538710039181f,0.849093177103803f,-0.747330460544603f,
+  -0.87952842676733f,0.791614152693995f,-0.483542677352212f,0.795053306558017f,
+  -0.246444636768096f,-0.967515102978155f,0.159471890174437f,0.210810164441753f,
+  -0.874227023772981f,-0.0805964482800334f,0.567497201138046f,-0.137743608785641f,
+  -0.710773819308763f,-0.589571113738941f,0.83391847788473f,0.474349423613731f,
+  -0.495444643831966f,-0.415319533683743f,-0.688818445640273f,0.923238489082379f,
+  0.688452278243922f,-0.639758117768224f,0.353458578584501f,-0.352412753977475f,
+  -0.667399029986676f,0.586965778853283f,0.352610916528867f,0.360697015758419f,
+  -0.502839728688848f,-0.539644214882799f,0.365329906944815f,-0.379932106654209f,
+  -0.269280779163601f,0.694895571222645f,0.727823970732565f,0.51105486079409f,
+  -0.761212733299821f,-0.551940664095241f,0.953323471475834f,-0.915964879494524f,
+  0.199091342904332f,0.0392241713497299f,-0.19261671908783f,-0.6074206562147f,
+  0.345256597791838f,0.031516093623793f,0.563117849295644f,-0.0626584858579093f,
+  -0.491887339392029f,-0.758788812866925f,0.265995340863064f,0.23182766277084f,
+  0.069408408971249f,-0.758115582411847f,-0.495213306068685f,-0.941798830898321f,
+  -0.244099121724069f,-0.496495655783264f,0.217102928532306f,-0.958590442403207f,
+  -0.951376141167081f,-0.454184666450089f,0.886300276933433f,0.487002988091731f,
+  0.0249044829036293f,-0.482416930998085f,0.949278378895364f,0.332136035903019f,
+  0.667897336691517f,-0.903192712329542f,0.0759824890853551f,-0.338269985337703f,
+  -0.29518903317139f,-0.768719116695905f,-0.648362986306786f,0.935201134387952f,
+  0.661626711929564f,0.224599917215244f,0.348525351988449f,-0.972641665331466f,
+  0.996220202383405f,-0.72814219793807f,-0.921619408688976f,-0.134878186992026f,
+  0.496907260713279f,0.544992091878385f,0.238303715804555f,-0.924062793629034f,
+  -0.630686074442814f,-0.865452949495847f,-0.222028734920293f,0.171739204767604f,
+  0.997130539607845f,0.918172604643416f,-0.694626556063078f,0.672880204329672f,
+  -0.175982089302543f,-0.876546457819273f,-0.699672836718442f,0.809662568756764f,
+  0.393205100623341f,-0.108144983913576f,-0.486322989569125f,-0.613674712751319f,
+  -0.317080956716971f,0.471134684264513f,-0.30417867085874f,0.696115419091356f,
+  -0.469268432777419f,0.236211281027806f,-0.772378939124543f,0.460249824926805f,
+  -0.654534877200454f,-0.934852798470303f,0.032756384083477f,-0.66677857258658f,
+  0.314980215822125f,-0.289198088561079f,-0.0476688874127049f,0.0583547444711741f,
+  0.941740852748786f,0.774296795413221f,-0.414622097461695f,0.638345821607103f,
+  -0.358465167682304f,-0.700596445490135f,0.374529194857949f,0.45456008092971f,
+  -0.853620900176985f,0.494280579565469f,-0.217619888424174f,0.956186128386705f,
+  0.0389822381652678f,-0.19316201021536f,0.00512085504598048f,-0.0427176575011998f,
+  0.547932129275615f,0.721865358296469f,0.456248153651011f,0.618884232413038f,
+  0.0410425055490649f,-0.0673903257300594f,-0.218781418704999f,0.528492225462415f,
+  -0.0837068514807342f,0.718697939323846f,-0.603328224259776f,0.875509849594366f,
+  -0.0909494938322766f,-0.280637910576161f,-0.645530682341054f,-0.705120660981081f,
+  -0.529475884017096f,0.140296797228785f,-0.0133440668494202f,0.529843637228154f,
+  -0.25828493683013f,0.619866268930593f,0.47419437241583f,0.447278725151833f,
+  0.821711397258731f,-0.617272470973745f,-0.212155578716597f,-0.794533711360103f,
+  -0.762402399229636f,-0.66554198883216f,0.86799064535122f,-0.61415791629922f,
+  0.650236475570502f,0.838917668255732f,-0.658036726366966f,0.79973808497526f,
+  -0.583232188921549f,-0.958456594727579f,-0.670917275207309f,-0.607735262211108f,
+  0.374114548594356f,0.758519548998692f,-0.831818710697753f,-0.606668498198204f,
+  0.461609482669083f,0.676995424711095f,0.338856030176508f,0.5967074997629f,
+  -0.925180531336558f,0.4696830362291f,-0.0384243216844951f,0.649557593176482f,
+  0.502765260428653f,0.513967467262376f,-0.515358199072217f,-0.444119277197828f,
+  -0.230720891612428f,0.348053063903166f,0.335781438011331f,0.567805000835321f,
+  -0.345275268793607f,0.452852845315761f,-0.823034642564643f,-0.629914051647049f,
+  -0.248509141280827f,0.107760047194603f,0.103293698795021f,0.347988561161273f,
+  -0.103424145197316f,0.151822355394586f,-0.272890315097335f,0.940838684544033f,
+  0.174472591496773f,0.741124360281646f,-0.950217097467039f,-0.922017392413252f,
+  0.496955384825533f,-0.588424819191232f,-0.285012984144181f,-0.292976024259858f,
+  0.30303004349728f,0.748249196092075f,-0.565826698130202f,0.973592191086922f,
+  0.598249548946463f,-0.926358493656323f,-0.241048287909827f,0.996364548389252f,
+  -0.0599127959717052f,0.174629249412504f,-0.96587410625029f,0.980693566420129f,
+  -0.696388116912935f,-0.900221651108609f,-0.706671628163384f,0.990309443320101f,
+  -0.585908086908283,0.414355789768166f,0.456957525423029f,-0.308246583228438f,
+};
+
+#ifdef _VECTORMATH_SOA_TEST
+inline float getfloat( vec_float4 val )
+{
+   union { vec_float4 v; float s[4]; } tmp;
+   tmp.v = val;
+   return tmp.s[0];
+}
+
+vec_float4 randfloat()
+{
+   static int randfloat_count = 0;
+   int idx = randfloat_count;
+   vec_float4 tmp = (vec_float4){randfloats[idx],randfloats[idx],randfloats[idx],randfloats[idx]};
+   randfloat_count = (randfloat_count+1) % 1024;
+   return tmp;
+}
+
+#else
+inline float getfloat( float val )
+{
+  return val;
+}
+
+float randfloat()
+{      
+  static int randfloat_count = 0;
+  float tmp = randfloats[randfloat_count];   
+  randfloat_count = (randfloat_count+1) % 1024;
+  return tmp;
+}
+#endif
+
+#ifdef _VECTORMATH_SCALAR_TEST
+#  define scalar_float(v) (v)
+#else
+#  define scalar_float(v) floatInVec(v)
+#endif
+
+#endif

Extras/vectormathlibrary/tests/test1_reference.txt

@@ -0,0 +1,680 @@
+set Vector3 with floats: ( 0.465039 -0.479556 -0.211412 )
+set Vector3 with floats: ( 0.553580 0.690070 0.151576 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( 0.431077 -0.833992 -0.088350 -0.780106 )
+set Vector4 with floats: ( 0.090456 -0.218627 0.137171 0.918133 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( 0.735438 -0.673621 -0.448982 )
+set Point3 with floats: ( -0.479278 0.848189 -0.128155 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( 0.578922 -0.744766 -0.835589 0.881284 )
+set Quat with floats: ( -0.948850 -0.691578 -0.235635 -0.690527 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+construct Vector3 with Point3: ( 0.735438 -0.673621 -0.448982 )
+set Vector3 with float: ( 0.058667 0.058667 0.058667 )
+set Vector3 with float: ( 0.753697 0.753697 0.753697 )
+aos type 0: ( 9.000000 10.000000 11.000000 )
+aos type 1: ( 6.000000 7.000000 8.000000 )
+aos type 2: ( 3.000000 4.000000 5.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 )
+select 0: ( 0.753697 0.753697 0.753697 )
+select 1: ( 0.553580 0.690070 0.151576 )
+select 2: ( 0.753697 0.753697 0.753697 )
+select 3: ( 0.553580 0.690070 0.151576 )
+load XYZ array: ( -0.658344 0.499804 -0.807257 )
+xyzx: ( 0.658344 -0.499804 0.807257 -0.740930 )
+yzxy: ( -0.154607 -0.571599 -0.384388 0.262467 )
+zxyz: ( -0.747808 -0.490190 0.107908 0.292544 )
+xyzx: ( 0.658344 -0.499804 0.807257 -0.740930 )
+yzxy: ( -0.154607 -0.571599 -0.384388 0.262467 )
+zxyz: ( -0.747808 -0.490190 0.107908 0.292544 )
+storeXYZ:-1.0 -2.0 -3.0 0.4
+assign to Vector3 from Vector3: ( 0.553580 0.690070 0.151576 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set to x axis: ( 1.000000 0.000000 0.000000 )
+set to y axis: ( 0.000000 1.000000 0.000000 )
+set to z axis: ( 0.000000 0.000000 1.000000 )
+Vector3::set( 0, float ): ( -0.138777 0.000000 1.000000 )
+Vector3::operator [](0): ( -1.001420 0.000000 1.000000 )
+Vector3::setX(): ( 0.410391 0.000000 1.000000 )
+Vector3::set( 1, float ): ( 0.410391 -0.562721 1.000000 )
+Vector3::operator [](1): ( 0.410391 0.544473 1.000000 )
+Vector3::setY(): ( 0.410391 0.374881 1.000000 )
+Vector3::set( 2, float ): ( 0.410391 0.374881 -0.127818 )
+Vector3::operator [](2): ( 0.410391 0.374881 -0.212598 )
+Vector3::setZ(): ( 0.410391 0.374881 -0.723410 )
+Vector3::get( 0 ): 0.410391
+Vector3::operator []( 0 ): 0.410391
+Vector3::getX(): 0.410391
+Vector3::get( 1 ): 0.374881
+Vector3::operator []( 1 ): 0.374881
+Vector3::getY(): 0.374881
+Vector3::get( 2 ): -0.723410
+Vector3::operator []( 2 ): -0.723410
+Vector3::getZ(): -0.723410
+Vector3 + Vector3: ( 0.963971 1.064952 -0.571834 )
+Vector3 - Vector3: ( -0.143189 -0.315189 -0.874987 )
+Vector3 + Point3: ( -0.068887 1.223071 -0.851565 )
+Vector3 * float: ( 0.378185 0.345462 -0.666639 )
+Vector3 / float: ( -0.577000 -0.527074 1.017097 )
+float * Vector3: ( -0.043762 -0.039975 0.077140 )
+Vector3 negate: ( -0.410391 -0.374881 0.723410 )
+mulPerElem( Vector3, Vector3 ): ( 0.227184 0.258694 -0.109652 )
+divPerElem( Vector3, Vector3 ): ( 0.741340 0.543251 -4.772578 )
+Vector3 recip: ( 2.436700 2.667511 -1.382342 )
+Vector3 sqrt: ( 0.640618 0.612276 0.850535 )
+Vector3 rsqrt: ( 1.560993 1.633252 1.175730 )
+Vector3 abs: ( 0.410391 0.374881 0.723410 )
+Vector3 copySign: ( 0.410391 0.374881 0.723410 )
+Vector3 maximum Vector3: ( 0.553580 0.690070 0.151576 )
+Vector3 minimum Vector3: ( 0.410391 0.374881 -0.723410 )
+Vector3 maximum of elements: 0.410391
+Vector3 minimum of elements: -0.723410
+Vector3 sum of elements: 0.061862
+Vector3 dot Vector3: 0.376227
+Vector3 lengthSqr: 0.832279
+Vector3 length: 0.912293
+Vector3 normalized: ( 0.449846 0.410922 -0.792958 )
+Vector3 lerp: ( -0.504755 2.242539 -1.172064 )
+Vector3 slerp: ( -0.308956 -0.503372 0.806947 )
+set Vector3 with floats: ( 0.932526 0.571087 0.610330 )
+set Vector3 with floats: ( 0.142507 -0.434829 0.925102 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( 0.158954 -0.126283 -0.249128 0.846815 )
+set Vector4 with floats: ( -0.942601 0.537720 0.446214 0.181939 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( -0.148223 0.284286 0.493525 )
+set Point3 with floats: ( -0.861963 -0.893410 0.548627 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( 0.407007 -0.757467 -0.393126 -0.850984 )
+set Quat with floats: ( 0.375720 -0.270088 0.458888 -0.610828 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 with Vector3, float: ( 0.932526 0.571087 0.610330 -0.690816 )
+set Vector4 with Vector3: ( 0.932526 0.571087 0.610330 0.000000 )
+set Vector4 with Point3: ( -0.148223 0.284286 0.493525 1.000000 )
+construct Vector4 with Quat: ( 0.407007 -0.757467 -0.393126 -0.850984 )
+set Vector4 with float: ( -0.676415 -0.676415 -0.676415 -0.676415 )
+set Vector4 with float: ( 0.664466 0.664466 0.664466 0.664466 )
+aos type 0: ( 12.000000 13.000000 14.000000 15.000000 )
+aos type 1: ( 8.000000 9.000000 10.000000 11.000000 )
+aos type 2: ( 4.000000 5.000000 6.000000 7.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 3.000000 )
+select 0: ( 0.664466 0.664466 0.664466 0.664466 )
+select 1: ( -0.942601 0.537720 0.446214 0.181939 )
+select 2: ( 0.664466 0.664466 0.664466 0.664466 )
+select 3: ( -0.942601 0.537720 0.446214 0.181939 )
+assign to Vector4 from Vector4: ( -0.942601 0.537720 0.446214 0.181939 )
+set Vector4 xyz: ( 0.932526 0.571087 0.610330 0.181939 )
+get Vector4 xyz: ( 0.932526 0.571087 0.610330 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set to x axis: ( 1.000000 0.000000 0.000000 0.000000 )
+set to y axis: ( 0.000000 1.000000 0.000000 0.000000 )
+set to z axis: ( 0.000000 0.000000 1.000000 0.000000 )
+set to w axis: ( 0.000000 0.000000 0.000000 1.000000 )
+Vector4::set( 0, float ): ( 0.101874 0.000000 0.000000 1.000000 )
+Vector4::operator [](0): ( -0.879952 0.000000 0.000000 1.000000 )
+Vector4::setX(): ( -0.997261 0.000000 0.000000 1.000000 )
+Vector4::set( 1, float ): ( -0.997261 0.172409 0.000000 1.000000 )
+Vector4::operator [](1): ( -0.997261 0.150201 0.000000 1.000000 )
+Vector4::setY(): ( -0.997261 -0.000013 0.000000 1.000000 )
+Vector4::set( 2, float ): ( -0.997261 -0.000013 0.689543 1.000000 )
+Vector4::operator [](2): ( -0.997261 -0.000013 -0.384253 1.000000 )
+Vector4::setZ(): ( -0.997261 -0.000013 -0.801022 1.000000 )
+Vector4::set( 3, float ): ( -0.997261 -0.000013 -0.801022 0.656335 )
+Vector4::operator [](3): ( -0.997261 -0.000013 -0.801022 16.472569 )
+Vector4::setW(): ( -0.997261 -0.000013 -0.801022 0.133022 )
+Vector4::get( 0 ): -0.997261
+Vector4::operator []( 0 ): -0.997261
+Vector4::getX(): -0.997261
+Vector4::get( 1 ): -0.000013
+Vector4::operator []( 1 ): -0.000013
+Vector4::getY(): -0.000013
+Vector4::get( 2 ): -0.801022
+Vector4::operator []( 2 ): -0.801022
+Vector4::getZ(): -0.801022
+Vector4::get( 3 ): 0.133022
+Vector4::operator []( 3 ): 0.133022
+Vector4::getW(): 0.133022
+Vector4 + Vector4: ( -1.939863 0.537707 -0.354808 0.314960 )
+Vector4 - Vector4: ( -0.054660 -0.537733 -1.247235 -0.048917 )
+Vector4 * float: ( 0.052076 0.000001 0.041829 -0.006946 )
+Vector4 / float: ( 6.048177 0.000081 4.858026 -0.806748 )
+float * Vector4: ( -0.299867 -0.000004 -0.240859 0.039998 )
+Vector4 negate: ( 0.997261 0.000013 0.801022 -0.133022 )
+mulPerElem( Vector4, Vector4 ): ( 0.940020 -0.000007 -0.357427 0.024202 )
+divPerElem( Vector4, Vector4 ): ( 1.057989 -0.000025 -1.795154 0.731134 )
+Vector4 recip: ( -1.002746 -75309.887339 -1.248405 7.517576 )
+Vector4 sqrt: ( 0.998630 0.003644 0.894998 0.364721 )
+Vector4 rsqrt: ( 1.001372 274.426483 1.117321 2.741820 )
+Vector4 abs: ( 0.997261 0.000013 0.801022 0.133022 )
+Vector4 copySign: ( -0.997261 0.000013 0.801022 0.133022 )
+Vector4 maximum Vector4: ( -0.942601 0.537720 0.446214 0.181939 )
+Vector4 minimum Vector4: ( -0.997261 -0.000013 -0.801022 0.133022 )
+Vector4 maximum of elements: 0.133022
+Vector4 minimum of elements: -0.997261
+Vector4 sum of elements: -1.665275
+Vector4 dot Vector4: 0.606788
+Vector4 lengthSqr: 1.653861
+Vector4 length: 1.286025
+Vector4 normalized: ( -0.775460 -0.000010 -0.622866 0.103436 )
+Vector4 lerp: ( -0.226675 0.250339 0.113208 0.735255 )
+Vector4 slerp: ( 0.351058 0.199306 -0.276993 0.871958 )
+set Vector3 with floats: ( 0.137637 -0.111879 -0.929543 )
+set Vector3 with floats: ( -0.336303 -0.146740 0.165140 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( -0.823874 0.349776 0.174872 -0.528584 )
+set Vector4 with floats: ( 0.489292 0.916708 0.728511 -0.851140 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( 0.079620 -0.234370 -0.996308 )
+set Point3 with floats: ( 0.433229 -0.892684 -0.957911 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( 0.517122 0.257921 0.862028 0.095881 )
+set Quat with floats: ( -0.171933 -0.214078 -0.604841 -0.383831 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+construct Point3 with Vector3: ( 0.137637 -0.111879 -0.929543 )
+set Point3 with float: ( -0.581500 -0.581500 -0.581500 )
+set Point3 with float: ( 0.222183 0.222183 0.222183 )
+aos type 0: ( 9.000000 10.000000 11.000000 )
+aos type 1: ( 6.000000 7.000000 8.000000 )
+aos type 2: ( 3.000000 4.000000 5.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 )
+select 0: ( 0.222183 0.222183 0.222183 )
+select 1: ( 0.433229 -0.892684 -0.957911 )
+select 2: ( 0.222183 0.222183 0.222183 )
+select 3: ( 0.433229 -0.892684 -0.957911 )
+load XYZ array: ( -0.160082 0.962714 0.737794 )
+xyzx: ( 0.160082 -0.962714 -0.737794 0.071926 )
+yzxy: ( 0.506313 -0.689277 -0.686485 -0.473013 )
+zxyz: ( 0.735610 0.046390 -0.568674 0.004815 )
+xyzx: ( 0.160082 -0.962714 -0.737794 0.071926 )
+yzxy: ( 0.506313 -0.689277 -0.686485 -0.473013 )
+zxyz: ( 0.735610 0.046390 -0.568674 0.004815 )
+storeXYZ:-1.0 -2.0 -3.0 0.4
+assign to Point3 from Point3: ( 0.433229 -0.892684 -0.957911 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+Point3::set( 0, float ): ( -0.256120 0.000000 0.000000 )
+Point3::operator [](0): ( -0.979920 0.000000 0.000000 )
+Point3::setX(): ( -0.046627 0.000000 0.000000 )
+Point3::set( 1, float ): ( -0.046627 -0.716491 0.000000 )
+Point3::operator [](1): ( -0.046627 1.719236 0.000000 )
+Point3::setY(): ( -0.046627 0.508814 0.000000 )
+Point3::set( 2, float ): ( -0.046627 0.508814 -0.238839 )
+Point3::operator [](2): ( -0.046627 0.508814 0.061402 )
+Point3::setZ(): ( -0.046627 0.508814 -0.157280 )
+Point3::get( 0 ): -0.046627
+Point3::operator []( 0 ): -0.046627
+Point3::getX(): -0.046627
+Point3::get( 1 ): 0.508814
+Point3::operator []( 1 ): 0.508814
+Point3::getY(): 0.508814
+Point3::get( 2 ): -0.157280
+Point3::operator []( 2 ): -0.157280
+Point3::getZ(): -0.157280
+Point3 - Point3: ( -0.479856 1.401498 0.800631 )
+Point3 + Vector3: ( -0.382931 0.362074 0.007860 )
+Point3 - Vector3: ( 0.289676 0.655554 -0.322420 )
+mulPerElem( Point3, Point3 ): ( -0.020200 -0.454210 0.150660 )
+divPerElem( Point3, Point3 ): ( -0.107627 -0.569982 0.164191 )
+Point3 recip: ( -21.446777 1.965355 -6.358085 )
+Point3 sqrt: ( 0.215933 0.713312 0.396586 )
+Point3 rsqrt: ( 4.631066 1.401911 2.521524 )
+Point3 abs: ( 0.046627 0.508814 0.157280 )
+Point3 copySign: ( 0.046627 -0.508814 -0.157280 )
+Point3 maximum Point3: ( 0.433229 0.508814 -0.157280 )
+Point3 minimum Point3: ( -0.046627 -0.892684 -0.957911 )
+Point3 maximum of elements: 0.508814
+Point3 minimum of elements: -0.157280
+Point3 sum of elements: 0.304907
+Point projection: -0.084956
+Point distSqrFromOrigin: 0.285803
+Point distFromOrigin: 0.534605
+Point distSqr: 2.835468
+Point dist: 1.683885
+Point3 lerp: ( 0.508235 -0.017312 0.360111 )
+set Vector3 with floats: ( 0.219317 -0.118359 0.413442 )
+set Vector3 with floats: ( -0.567698 0.531358 -0.387226 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( 0.572490 -0.820417 0.797191 0.867178 )
+set Vector4 with floats: ( 0.934764 0.237092 -0.866162 -0.773939 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( 0.261311 -0.851570 0.114814 )
+set Point3 with floats: ( -0.531592 0.223925 0.869105 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( 0.143405 0.148518 -0.071136 -0.758292 )
+set Quat with floats: ( -0.527633 0.997215 0.114440 0.727558 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat with Vector3, float: ( 0.219317 -0.118359 0.413442 -0.425760 )
+construct Quat with Vector4: ( 0.572490 -0.820417 0.797191 0.867178 )
+set Quat with float: ( 0.459888 0.459888 0.459888 0.459888 )
+set Quat with float: ( 0.642516 0.642516 0.642516 0.642516 )
+aos type 0: ( 12.000000 13.000000 14.000000 15.000000 )
+aos type 1: ( 8.000000 9.000000 10.000000 11.000000 )
+aos type 2: ( 4.000000 5.000000 6.000000 7.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 3.000000 )
+select 0: ( 0.642516 0.642516 0.642516 0.642516 )
+select 1: ( -0.527633 0.997215 0.114440 0.727558 )
+select 2: ( 0.642516 0.642516 0.642516 0.642516 )
+select 3: ( -0.527633 0.997215 0.114440 0.727558 )
+assign to Quat from Quat: ( -0.527633 0.997215 0.114440 0.727558 )
+set Quat xyz: ( 0.219317 -0.118359 0.413442 0.727558 )
+get Quat xyz: ( 0.219317 -0.118359 0.413442 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+Quat::set( 0, float ): ( -0.022534 0.000000 0.000000 0.000000 )
+Quat::operator [](0): ( 0.419714 0.000000 0.000000 0.000000 )
+Quat::setX(): ( 0.765986 0.000000 0.000000 0.000000 )
+Quat::set( 1, float ): ( 0.765986 -0.137795 0.000000 0.000000 )
+Quat::operator [](1): ( 0.765986 0.890273 0.000000 0.000000 )
+Quat::setY(): ( 0.765986 -0.553800 0.000000 0.000000 )
+Quat::set( 2, float ): ( 0.765986 -0.553800 -0.014688 0.000000 )
+Quat::operator [](2): ( 0.765986 -0.553800 -0.802660 0.000000 )
+Quat::setZ(): ( 0.765986 -0.553800 0.499529 0.000000 )
+Quat::set( 3, float ): ( 0.765986 -0.553800 0.499529 0.385180 )
+Quat::operator [](3): ( 0.765986 -0.553800 0.499529 -0.150467 )
+Quat::setW(): ( 0.765986 -0.553800 0.499529 0.067637 )
+Quat::get( 0 ): 0.765986
+Quat::operator []( 0 ): 0.765986
+Quat::getX(): 0.765986
+Quat::get( 1 ): -0.553800
+Quat::operator []( 1 ): -0.553800
+Quat::getY(): -0.553800
+Quat::get( 2 ): 0.499529
+Quat::operator []( 2 ): 0.499529
+Quat::getZ(): 0.499529
+Quat::get( 3 ): 0.067637
+Quat::operator []( 3 ): 0.067637
+Quat::getW(): 0.067637
+Quat + Quat: ( 0.238353 0.443416 0.613969 0.795196 )
+Quat - Quat: ( 1.293620 -1.551015 0.385089 -0.659921 )
+Quat * Quat: ( -0.039902 -0.686700 0.842827 0.948461 )
+Quat * float: ( 0.611545 -0.442140 0.398812 0.054000 )
+Quat / float: ( 2.464705 -1.781954 1.607327 0.217635 )
+float * Quat: ( 0.659770 -0.477006 0.430261 0.058258 )
+Quat negate: ( -0.765986 0.553800 -0.499529 -0.067637 )
+Quat dot Quat: -0.850041
+Quat lengthSqr: 1.147533
+Quat length: 1.071229
+Quat normalized: ( 0.715053 -0.516976 0.466313 0.063140 )
+set to identity: ( 0.000000 0.000000 0.000000 1.000000 )
+Quat rotation between vectors: ( -0.152187 -0.131117 0.043194 0.571186 )
+Quat rotation axis angle: ( -0.103250 0.055721 -0.194639 0.882252 )
+Quat rotationX: ( -0.321727 0.000000 0.000000 0.946833 )
+Quat rotationY: ( 0.000000 0.142892 0.000000 0.989738 )
+Quat rotationZ: ( 0.000000 0.000000 0.262912 0.964820 )
+Quat rotate Vector3: ( 0.249044 0.009268 0.413442 )
+Quat conj: ( -0.000000 -0.000000 -0.262912 0.964820 )
+Quat lerp: ( -0.053419 0.446373 0.392075 0.581368 )
+Quat slerp: ( -0.630711 0.472429 0.365730 0.495233 )
+Quat squad: ( 0.119307 -0.523957 -0.534187 -0.652594 )
+set Vector3 with floats: ( 0.531906 0.271995 -0.862601 )
+set Vector3 with floats: ( -0.738694 0.514248 -0.039363 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( 0.429390 -0.769469 0.281336 -0.203301 )
+set Vector4 with floats: ( 0.412586 0.567926 0.410131 -0.462918 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( 0.560953 -0.731715 -0.446158 )
+set Point3 with floats: ( -0.837491 -0.573480 -0.607820 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( 0.238415 0.213445 0.098612 0.135072 )
+set Quat with floats: ( -0.749274 -0.855977 0.765675 -0.693447 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+construct Vector3 with Point3: ( 0.560953 -0.731715 -0.446158 )
+set Vector3 with float: ( 0.131554 0.131554 0.131554 )
+set Vector3 with float: ( -0.366757 -0.366757 -0.366757 )
+aos type 0: ( 9.000000 10.000000 11.000000 )
+aos type 1: ( 6.000000 7.000000 8.000000 )
+aos type 2: ( 3.000000 4.000000 5.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 )
+select 0: ( -0.366757 -0.366757 -0.366757 )
+select 1: ( -0.738694 0.514248 -0.039363 )
+select 2: ( -0.366757 -0.366757 -0.366757 )
+select 3: ( -0.738694 0.514248 -0.039363 )
+load XYZ array: ( -0.913636 0.675222 0.144053 )
+xyzx: ( 0.913636 -0.675222 -0.144053 0.632329 )
+yzxy: ( 0.947120 0.049367 -0.126333 0.664206 )
+zxyz: ( -0.220879 -0.284219 0.387216 -0.913568 )
+xyzx: ( 0.913636 -0.675222 -0.144053 0.632329 )
+yzxy: ( 0.947120 0.049367 -0.126333 0.664206 )
+zxyz: ( -0.220879 -0.284219 0.387216 -0.913568 )
+storeXYZ:-1.0 -2.0 -3.0 0.4
+assign to Vector3 from Vector3: ( -0.738694 0.514248 -0.039363 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set to x axis: ( 1.000000 0.000000 0.000000 )
+set to y axis: ( 0.000000 1.000000 0.000000 )
+set to z axis: ( 0.000000 0.000000 1.000000 )
+Vector3::set( 0, float ): ( -0.330409 0.000000 1.000000 )
+Vector3::operator [](0): ( -1.321680 0.000000 1.000000 )
+Vector3::setX(): ( -0.870739 0.000000 1.000000 )
+Vector3::set( 1, float ): ( -0.870739 0.415605 1.000000 )
+Vector3::operator [](1): ( -0.870739 -0.855146 1.000000 )
+Vector3::setY(): ( -0.870739 0.876855 1.000000 )
+Vector3::set( 2, float ): ( -0.870739 0.876855 0.982846 )
+Vector3::operator [](2): ( -0.870739 0.876855 -0.725814 )
+Vector3::setZ(): ( -0.870739 0.876855 -0.123567 )
+Vector3::get( 0 ): -0.870739
+Vector3::operator []( 0 ): -0.870739
+Vector3::getX(): -0.870739
+Vector3::get( 1 ): 0.876855
+Vector3::operator []( 1 ): 0.876855
+Vector3::getY(): 0.876855
+Vector3::get( 2 ): -0.123567
+Vector3::operator []( 2 ): -0.123567
+Vector3::getZ(): -0.123567
+Vector3 + Vector3: ( -1.609433 1.391104 -0.162930 )
+Vector3 - Vector3: ( -0.132046 0.362607 -0.084203 )
+Vector3 + Point3: ( -1.708231 0.303375 -0.731387 )
+Vector3 * float: ( -0.354427 0.356917 -0.050297 )
+Vector3 / float: ( -6.166518 6.209829 -0.875092 )
+float * Vector3: ( 0.690557 -0.695407 0.097997 )
+Vector3 negate: ( 0.870739 -0.876855 0.123567 )
+mulPerElem( Vector3, Vector3 ): ( 0.643210 0.450921 0.004864 )
+divPerElem( Vector3, Vector3 ): ( 1.178756 1.705119 3.139138 )
+Vector3 recip: ( -1.148449 1.140439 -8.092791 )
+Vector3 sqrt: ( 0.933134 0.936405 0.351521 )
+Vector3 rsqrt: ( 1.071657 1.067914 2.844783 )
+Vector3 abs: ( 0.870739 0.876855 0.123567 )
+Vector3 copySign: ( -0.870739 0.876855 -0.123567 )
+Vector3 maximum Vector3: ( -0.738694 0.876855 -0.039363 )
+Vector3 minimum Vector3: ( -0.870739 0.514248 -0.123567 )
+Vector3 maximum of elements: 0.876855
+Vector3 minimum of elements: -0.870739
+Vector3 sum of elements: -0.117451
+Vector3 dot Vector3: 1.098995
+Vector3 lengthSqr: 1.542330
+Vector3 length: 1.241906
+Vector3 normalized: ( -0.701131 0.706056 -0.099498 )
+Vector3 lerp: ( -0.118997 -0.338092 0.499550 )
+Vector3 slerp: ( -0.899759 -0.236062 -0.367027 )
+set Vector3 with floats: ( 0.060414 -0.867395 -0.702364 )
+set Vector3 with floats: ( -0.182602 -0.832807 0.278191 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( -0.967562 -0.520296 0.160191 -0.677990 )
+set Vector4 with floats: ( -0.470750 -0.846580 -0.705751 -0.825368 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( -0.712890 -0.064487 0.444065 )
+set Point3 with floats: ( -0.045226 0.116544 -0.007285 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( -0.838230 -0.410767 -0.409299 -0.336683 )
+set Quat with floats: ( -0.830700 -0.801729 -0.595153 -0.784672 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 with Vector3, float: ( 0.060414 -0.867395 -0.702364 -0.653655 )
+set Vector4 with Vector3: ( 0.060414 -0.867395 -0.702364 0.000000 )
+set Vector4 with Point3: ( -0.712890 -0.064487 0.444065 1.000000 )
+construct Vector4 with Quat: ( -0.838230 -0.410767 -0.409299 -0.336683 )
+set Vector4 with float: ( 0.670791 0.670791 0.670791 0.670791 )
+set Vector4 with float: ( 0.653571 0.653571 0.653571 0.653571 )
+aos type 0: ( 12.000000 13.000000 14.000000 15.000000 )
+aos type 1: ( 8.000000 9.000000 10.000000 11.000000 )
+aos type 2: ( 4.000000 5.000000 6.000000 7.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 3.000000 )
+select 0: ( 0.653571 0.653571 0.653571 0.653571 )
+select 1: ( -0.470750 -0.846580 -0.705751 -0.825368 )
+select 2: ( 0.653571 0.653571 0.653571 0.653571 )
+select 3: ( -0.470750 -0.846580 -0.705751 -0.825368 )
+assign to Vector4 from Vector4: ( -0.470750 -0.846580 -0.705751 -0.825368 )
+set Vector4 xyz: ( 0.060414 -0.867395 -0.702364 -0.825368 )
+get Vector4 xyz: ( 0.060414 -0.867395 -0.702364 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set to x axis: ( 1.000000 0.000000 0.000000 0.000000 )
+set to y axis: ( 0.000000 1.000000 0.000000 0.000000 )
+set to z axis: ( 0.000000 0.000000 1.000000 0.000000 )
+set to w axis: ( 0.000000 0.000000 0.000000 1.000000 )
+Vector4::set( 0, float ): ( 0.850716 0.000000 0.000000 1.000000 )
+Vector4::operator [](0): ( -0.528836 0.000000 0.000000 1.000000 )
+Vector4::setX(): ( 0.965901 0.000000 0.000000 1.000000 )
+Vector4::set( 1, float ): ( 0.965901 -0.072675 0.000000 1.000000 )
+Vector4::operator [](1): ( 0.965901 0.450700 0.000000 1.000000 )
+Vector4::setY(): ( 0.965901 -0.825793 0.000000 1.000000 )
+Vector4::set( 2, float ): ( 0.965901 -0.825793 0.597719 1.000000 )
+Vector4::operator [](2): ( 0.965901 -0.825793 0.279622 1.000000 )
+Vector4::setZ(): ( 0.965901 -0.825793 -0.884427 1.000000 )
+Vector4::set( 3, float ): ( 0.965901 -0.825793 -0.884427 -0.756791 )
+Vector4::operator [](3): ( 0.965901 -0.825793 -0.884427 -0.685697 )
+Vector4::setW(): ( 0.965901 -0.825793 -0.884427 -0.684626 )
+Vector4::get( 0 ): 0.965901
+Vector4::operator []( 0 ): 0.965901
+Vector4::getX(): 0.965901
+Vector4::get( 1 ): -0.825793
+Vector4::operator []( 1 ): -0.825793
+Vector4::getY(): -0.825793
+Vector4::get( 2 ): -0.884427
+Vector4::operator []( 2 ): -0.884427
+Vector4::getZ(): -0.884427
+Vector4::get( 3 ): -0.684626
+Vector4::operator []( 3 ): -0.684626
+Vector4::getW(): -0.684626
+Vector4 + Vector4: ( 0.495151 -1.672373 -1.590178 -1.509993 )
+Vector4 - Vector4: ( 1.436652 0.020787 -0.178676 0.140742 )
+Vector4 * float: ( -0.960151 0.820877 0.879161 0.680550 )
+Vector4 / float: ( 1.206825 -1.031770 -1.105029 -0.855391 )
+float * Vector4: ( -0.546353 0.467102 0.500267 0.387252 )
+Vector4 negate: ( -0.965901 0.825793 0.884427 0.684626 )
+mulPerElem( Vector4, Vector4 ): ( -0.454698 0.699100 0.624185 0.565068 )
+divPerElem( Vector4, Vector4 ): ( -2.051834 0.975446 1.253172 0.829480 )
+Vector4 recip: ( 1.035302 -1.210957 -1.130676 -1.460652 )
+Vector4 sqrt: ( 0.982803 0.908731 0.940440 0.827421 )
+Vector4 rsqrt: ( 1.017498 1.100435 1.063332 1.208575 )
+Vector4 abs: ( 0.965901 0.825793 0.884427 0.684626 )
+Vector4 copySign: ( -0.965901 -0.825793 -0.884427 -0.684626 )
+Vector4 maximum Vector4: ( 0.965901 -0.825793 -0.705751 -0.684626 )
+Vector4 minimum Vector4: ( -0.470750 -0.846580 -0.884427 -0.825368 )
+Vector4 maximum of elements: 0.965901
+Vector4 minimum of elements: -0.884427
+Vector4 sum of elements: -1.428944
+Vector4 dot Vector4: 1.433654
+Vector4 lengthSqr: 2.865822
+Vector4 length: 1.692874
+Vector4 normalized: ( 0.570569 -0.487805 -0.522441 -0.404416 )
+Vector4 lerp: ( -0.436271 0.676982 0.475175 0.275280 )
+Vector4 slerp: ( -0.493672 0.661673 0.416222 0.381100 )
+set Vector3 with floats: ( -0.287826 0.942655 -0.634432 )
+set Vector3 with floats: ( -0.140438 0.570869 -0.764965 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( 0.067523 -0.514589 0.233091 0.554488 )
+set Vector4 with floats: ( -0.633529 -0.019374 0.869259 -0.369818 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( -0.280690 -0.797209 -0.255233 )
+set Point3 with floats: ( 0.780605 0.789803 0.974262 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( -0.785980 -0.701386 0.871088 0.566743 )
+set Quat with floats: ( 0.752273 -0.476301 -0.747342 0.077386 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+construct Point3 with Vector3: ( -0.287826 0.942655 -0.634432 )
+set Point3 with float: ( -0.305600 -0.305600 -0.305600 )
+set Point3 with float: ( -0.229194 -0.229194 -0.229194 )
+aos type 0: ( 9.000000 10.000000 11.000000 )
+aos type 1: ( 6.000000 7.000000 8.000000 )
+aos type 2: ( 3.000000 4.000000 5.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 )
+select 0: ( -0.229194 -0.229194 -0.229194 )
+select 1: ( 0.780605 0.789803 0.974262 )
+select 2: ( -0.229194 -0.229194 -0.229194 )
+select 3: ( 0.780605 0.789803 0.974262 )
+load XYZ array: ( 0.376026 -0.935045 -0.189804 )
+xyzx: ( -0.376026 0.935045 0.189804 -0.007649 )
+yzxy: ( 0.440298 -0.994796 0.271484 0.259070 )
+zxyz: ( -0.902149 0.836501 -0.229093 -0.586393 )
+xyzx: ( -0.376026 0.935045 0.189804 -0.007649 )
+yzxy: ( 0.440298 -0.994796 0.271484 0.259070 )
+zxyz: ( -0.902149 0.836501 -0.229093 -0.586393 )
+storeXYZ:-1.0 -2.0 -3.0 0.4
+assign to Point3 from Point3: ( 0.780605 0.789803 0.974262 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+Point3::set( 0, float ): ( -0.260009 0.000000 0.000000 )
+Point3::operator [](0): ( 0.017680 0.000000 0.000000 )
+Point3::setX(): ( 0.912886 0.000000 0.000000 )
+Point3::set( 1, float ): ( 0.912886 -0.402380 0.000000 )
+Point3::operator [](1): ( 0.912886 1.043836 0.000000 )
+Point3::setY(): ( 0.912886 0.321576 0.000000 )
+Point3::set( 2, float ): ( 0.912886 0.321576 0.724026 )
+Point3::operator [](2): ( 0.912886 0.321576 -0.074816 )
+Point3::setZ(): ( 0.912886 0.321576 0.137730 )
+Point3::get( 0 ): 0.912886
+Point3::operator []( 0 ): 0.912886
+Point3::getX(): 0.912886
+Point3::get( 1 ): 0.321576
+Point3::operator []( 1 ): 0.321576
+Point3::getY(): 0.321576
+Point3::get( 2 ): 0.137730
+Point3::operator []( 2 ): 0.137730
+Point3::getZ(): 0.137730
+Point3 - Point3: ( 0.132280 -0.468228 -0.836532 )
+Point3 + Vector3: ( 0.772448 0.892445 -0.627235 )
+Point3 - Vector3: ( 1.053323 -0.249293 0.902695 )
+mulPerElem( Point3, Point3 ): ( 0.712603 0.253982 0.134185 )
+divPerElem( Point3, Point3 ): ( 1.169459 0.407159 0.141368 )
+Point3 recip: ( 1.095427 3.109689 7.260596 )
+Point3 sqrt: ( 0.955451 0.567076 0.371120 )
+Point3 rsqrt: ( 1.046627 1.763431 2.694549 )
+Point3 abs: ( 0.912886 0.321576 0.137730 )
+Point3 copySign: ( 0.912886 0.321576 0.137730 )
+Point3 maximum Point3: ( 0.912886 0.789803 0.974262 )
+Point3 minimum Point3: ( 0.780605 0.321576 0.137730 )
+Point3 maximum of elements: 0.912886
+Point3 minimum of elements: 0.137730
+Point3 sum of elements: 1.372191
+Point projection: -0.049984
+Point distSqrFromOrigin: 0.955741
+Point distFromOrigin: 0.977620
+Point distSqr: 0.936521
+Point dist: 0.967740
+Point3 lerp: ( -0.148533 -0.240318 0.263234 )
+set Vector3 with floats: ( -0.950919 -0.196258 -0.599808 )
+set Vector3 with floats: ( -0.794413 -0.927636 -0.187478 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Vector4 with floats: ( -0.113038 0.366120 -0.483786 0.622670 )
+set Vector4 with floats: ( -0.801806 0.295383 0.022005 -0.000678 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Vector4 elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Point3 with floats: ( -0.689334 0.266538 -0.785099 )
+set Point3 with floats: ( -0.572665 0.772760 0.971896 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Point3 elements to zero: ( 0.000000 0.000000 0.000000 )
+set Quat with floats: ( -0.961363 0.723449 -0.758442 -0.733158 )
+set Quat with floats: ( 0.139667 -0.738147 0.727224 0.089921 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+set Quat with Vector3, float: ( -0.950919 -0.196258 -0.599808 -0.113118 )
+construct Quat with Vector4: ( -0.113038 0.366120 -0.483786 0.622670 )
+set Quat with float: ( -0.364554 -0.364554 -0.364554 -0.364554 )
+set Quat with float: ( -0.137645 -0.137645 -0.137645 -0.137645 )
+aos type 0: ( 12.000000 13.000000 14.000000 15.000000 )
+aos type 1: ( 8.000000 9.000000 10.000000 11.000000 )
+aos type 2: ( 4.000000 5.000000 6.000000 7.000000 )
+aos type 3: ( 0.000000 1.000000 2.000000 3.000000 )
+select 0: ( -0.137645 -0.137645 -0.137645 -0.137645 )
+select 1: ( 0.139667 -0.738147 0.727224 0.089921 )
+select 2: ( -0.137645 -0.137645 -0.137645 -0.137645 )
+select 3: ( 0.139667 -0.738147 0.727224 0.089921 )
+assign to Quat from Quat: ( 0.139667 -0.738147 0.727224 0.089921 )
+set Quat xyz: ( -0.950919 -0.196258 -0.599808 0.089921 )
+get Quat xyz: ( -0.950919 -0.196258 -0.599808 )
+set Quat elements to zero: ( 0.000000 0.000000 0.000000 0.000000 )
+Quat::set( 0, float ): ( 0.933847 0.000000 0.000000 0.000000 )
+Quat::operator [](0): ( 2.026584 0.000000 0.000000 0.000000 )
+Quat::setX(): ( -0.069558 0.000000 0.000000 0.000000 )
+Quat::set( 1, float ): ( -0.069558 -0.216369 0.000000 0.000000 )
+Quat::operator [](1): ( -0.069558 -0.152646 0.000000 0.000000 )
+Quat::setY(): ( -0.069558 -0.022250 0.000000 0.000000 )
+Quat::set( 2, float ): ( -0.069558 -0.022250 0.035410 0.000000 )
+Quat::operator [](2): ( -0.069558 -0.022250 1.428823 0.000000 )
+Quat::setZ(): ( -0.069558 -0.022250 0.804061 0.000000 )
+Quat::set( 3, float ): ( -0.069558 -0.022250 0.804061 0.161693 )
+Quat::operator [](3): ( -0.069558 -0.022250 0.804061 -0.332169 )
+Quat::setW(): ( -0.069558 -0.022250 0.804061 -0.586017 )
+Quat::get( 0 ): -0.069558
+Quat::operator []( 0 ): -0.069558
+Quat::getX(): -0.069558
+Quat::get( 1 ): -0.022250
+Quat::operator []( 1 ): -0.022250
+Quat::getY(): -0.022250
+Quat::get( 2 ): 0.804061
+Quat::operator []( 2 ): 0.804061
+Quat::getZ(): 0.804061
+Quat::get( 3 ): -0.586017
+Quat::operator []( 3 ): -0.586017
+Quat::getW(): -0.586017
+Quat + Quat: ( 0.070108 -0.760397 1.531285 -0.496095 )
+Quat - Quat: ( -0.209225 0.715896 0.076837 -0.675938 )
+Quat * Quat: ( 0.489232 0.593451 -0.299411 -0.644137 )
+Quat * float: ( -0.031036 -0.009928 0.358759 -0.261471 )
+Quat / float: ( -0.103711 -0.033175 1.198842 -0.873742 )
+float * Quat: ( 0.021745 0.006956 -0.251360 0.183196 )
+Quat negate: ( 0.069558 0.022250 -0.804061 0.586017 )
+Quat dot Quat: 0.538746
+Quat lengthSqr: 0.995263
+Quat length: 0.997629
+Quat normalized: ( -0.069724 -0.022303 0.805972 -0.587410 )
+set to identity: ( 0.000000 0.000000 0.000000 1.000000 )
+Quat rotation between vectors: ( -0.256621 0.147283 0.358649 1.012405 )
+Quat rotation axis angle: ( 0.163854 0.033817 0.103354 0.985043 )
+Quat rotationX: ( -0.160489 0.000000 0.000000 0.987038 )
+Quat rotationY: ( 0.000000 0.030795 0.000000 0.999526 )
+Quat rotationZ: ( 0.000000 0.000000 0.054406 0.998519 )
+Quat rotate Vector3: ( -0.923966 -0.298415 -0.599808 )
+Quat conj: ( -0.000000 -0.000000 -0.054406 0.998519 )
+Quat lerp: ( -0.860671 -0.101017 0.008389 -0.459099 )
+Quat slerp: ( -0.935192 0.097684 -0.079386 -0.331015 )
+Quat squad: ( -0.208138 -0.281808 0.458751 -0.816585 )
+
+ __end__ 

Extras/vectormathlibrary/tests/test1_soa_cpp.cpp

@@ -0,0 +1,931 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Soa;
+
+void
+Vector3_methods_test()
+{
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3, e_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4, e_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3, e_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat, e_Quat;
+    Aos::Vector3 aos_Vector3_0, aos_Vector3_1, aos_Vector3_2, aos_Vector3_3;
+    Vector3 soa_Vector3;
+    Aos::Vector4 aos_Vector4_0, aos_Vector4_1, aos_Vector4_2;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4;
+    float xyz4[12] __attribute__ ((aligned(16)));
+    xyz4[0] = getfloat(randfloat());
+    xyz4[1] = getfloat(randfloat());
+    xyz4[2] = getfloat(randfloat());
+    xyz4[3] = getfloat(randfloat());
+    xyz4[4] = getfloat(randfloat());
+    xyz4[5] = getfloat(randfloat());
+    xyz4[6] = getfloat(randfloat());
+    xyz4[7] = getfloat(randfloat());
+    xyz4[8] = getfloat(randfloat());
+    xyz4[9] = getfloat(randfloat());
+    xyz4[10] = getfloat(randfloat());
+    xyz4[11] = getfloat(randfloat());
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    c_Vector3 = Vector3( (vec_float4){0.0f} );
+    d_Vector3 = Vector3( (vec_float4){0.0f} );
+    e_Vector3 = Vector3( (vec_float4){0.0f} );
+    print( c_Vector3, "set Vector3 elements to zero" );
+    print( d_Vector3, "set Vector3 elements to zero" );
+    print( e_Vector3, "set Vector3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    c_Vector4 = Vector4( (vec_float4){0.0f} );
+    d_Vector4 = Vector4( (vec_float4){0.0f} );
+    e_Vector4 = Vector4( (vec_float4){0.0f} );
+    print( c_Vector4, "set Vector4 elements to zero" );
+    print( d_Vector4, "set Vector4 elements to zero" );
+    print( e_Vector4, "set Vector4 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    c_Point3 = Point3( (vec_float4){0.0f} );
+    d_Point3 = Point3( (vec_float4){0.0f} );
+    e_Point3 = Point3( (vec_float4){0.0f} );
+    print( c_Point3, "set Point3 elements to zero" );
+    print( d_Point3, "set Point3 elements to zero" );
+    print( e_Point3, "set Point3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    c_Quat = Quat( (vec_float4){0.0f} );
+    d_Quat = Quat( (vec_float4){0.0f} );
+    e_Quat = Quat( (vec_float4){0.0f} );
+    print( c_Quat, "set Quat elements to zero" );
+    print( d_Quat, "set Quat elements to zero" );
+    print( e_Quat, "set Quat elements to zero" );
+    a_Vector3 = Vector3( a_Point3 );
+    print( a_Vector3, "construct Vector3 with Point3" );
+    a_Vector3 = Vector3( randfloat() );
+    print( a_Vector3, "set Vector3 with float" );
+    a_Vector3 = Vector3( randfloat() );
+    print( a_Vector3, "set Vector3 with float" );
+    aos_Vector3_0 = Aos::Vector3( 0.0f, 1.0f, 2.0f );
+    aos_Vector3_1 = Aos::Vector3( 3.0f, 4.0f, 5.0f );
+    aos_Vector3_2 = Aos::Vector3( 6.0f, 7.0f, 8.0f );
+    aos_Vector3_3 = Aos::Vector3( 9.0f, 10.0f, 11.0f );
+    soa_Vector3 = Vector3( aos_Vector3_0, aos_Vector3_1, aos_Vector3_2, aos_Vector3_3 );
+    soa_Vector3.get4Aos( aos_Vector3_3, aos_Vector3_2, aos_Vector3_1, aos_Vector3_0 );
+    Aos::print( aos_Vector3_0, "aos type 0" );
+    Aos::print( aos_Vector3_1, "aos type 1" );
+    Aos::print( aos_Vector3_2, "aos type 2" );
+    Aos::print( aos_Vector3_3, "aos type 3" );
+    a_Vector3 = select( a_Vector3, b_Vector3, ((vec_uint4){0,0xffffffff,0,0xffffffff}) );
+    a_Vector3.get4Aos( aos_Vector3_0, aos_Vector3_1, aos_Vector3_2, aos_Vector3_3 );
+    Aos::print( aos_Vector3_0, "select 0" );
+    Aos::print( aos_Vector3_1, "select 1" );
+    Aos::print( aos_Vector3_2, "select 2" );
+    Aos::print( aos_Vector3_3, "select 3" );
+    loadXYZArray( a_Vector3, (const vec_float4 *)xyz4 );
+    print( a_Vector3, "load XYZ array" );
+    a_Vector3 = Vector3( ( -Vector3( a_Vector3 ) ) );
+    storeXYZArray( a_Vector3, (vec_float4 *)xyz4 );
+    aos_Vector4_0 = Aos::Vector4( xyz4[0], xyz4[1], xyz4[2], xyz4[3] );
+    aos_Vector4_1 = Aos::Vector4( xyz4[4], xyz4[5], xyz4[6], xyz4[7] );
+    aos_Vector4_2 = Aos::Vector4( xyz4[8], xyz4[9], xyz4[10], xyz4[11] );
+    Aos::print( aos_Vector4_0, "xyzx" );
+    Aos::print( aos_Vector4_1, "yzxy" );
+    Aos::print( aos_Vector4_2, "zxyz" );
+    Aos::print( aos_Vector4_0, "xyzx" );
+    Aos::print( aos_Vector4_1, "yzxy" );
+    Aos::print( aos_Vector4_2, "zxyz" );
+    printf("storeXYZ:-1.0 -2.0 -3.0 0.4\n");
+    a_Vector3 = b_Vector3;
+    print( a_Vector3, "assign to Vector3 from Vector3" );
+    a_Vector3 = Vector3( (vec_float4){0.0f} );
+    print( a_Vector3, "set Vector3 elements to zero" );
+    a_Vector3 = Vector3::xAxis( );
+    print( a_Vector3, "set to x axis" );
+    a_Vector3 = Vector3::yAxis( );
+    print( a_Vector3, "set to y axis" );
+    a_Vector3 = Vector3::zAxis( );
+    print( a_Vector3, "set to z axis" );
+    a_Vector3.setElem( 0, randfloat() );
+    print( a_Vector3, "Vector3::set( 0, float )" );
+    a_Vector3[0] = randfloat();
+    a_Vector3[0] = vec_mul_float( a_Vector3[0], randfloat() );
+    a_Vector3[0] = divf4( a_Vector3[0], randfloat() );
+    a_Vector3[0] = vec_add_float( a_Vector3[0], randfloat() );
+    a_Vector3[0] = vec_sub_float( a_Vector3[0], randfloat() );
+    print( a_Vector3, "Vector3::operator [](0)" );
+    a_Vector3.setX( randfloat() );
+    print( a_Vector3, "Vector3::setX()" );
+    a_Vector3.setElem( 1, randfloat() );
+    print( a_Vector3, "Vector3::set( 1, float )" );
+    a_Vector3[1] = randfloat();
+    a_Vector3[1] = vec_mul_float( a_Vector3[1], randfloat() );
+    a_Vector3[1] = divf4( a_Vector3[1], randfloat() );
+    a_Vector3[1] = vec_add_float( a_Vector3[1], randfloat() );
+    a_Vector3[1] = vec_sub_float( a_Vector3[1], randfloat() );
+    print( a_Vector3, "Vector3::operator [](1)" );
+    a_Vector3.setY( randfloat() );
+    print( a_Vector3, "Vector3::setY()" );
+    a_Vector3.setElem( 2, randfloat() );
+    print( a_Vector3, "Vector3::set( 2, float )" );
+    a_Vector3[2] = randfloat();
+    a_Vector3[2] = vec_mul_float( a_Vector3[2], randfloat() );
+    a_Vector3[2] = divf4( a_Vector3[2], randfloat() );
+    a_Vector3[2] = vec_add_float( a_Vector3[2], randfloat() );
+    a_Vector3[2] = vec_sub_float( a_Vector3[2], randfloat() );
+    print( a_Vector3, "Vector3::operator [](2)" );
+    a_Vector3.setZ( randfloat() );
+    print( a_Vector3, "Vector3::setZ()" );
+    printf("Vector3::get( 0 ): %f\n", getfloat(a_Vector3.getElem( 0 )) );
+    printf("Vector3::operator []( 0 ): %f\n", getfloat((vec_float4)a_Vector3[0]) );
+    printf("Vector3::getX(): %f\n", getfloat(a_Vector3.getX( )) );
+    printf("Vector3::get( 1 ): %f\n", getfloat(a_Vector3.getElem( 1 )) );
+    printf("Vector3::operator []( 1 ): %f\n", getfloat((vec_float4)a_Vector3[1]) );
+    printf("Vector3::getY(): %f\n", getfloat(a_Vector3.getY( )) );
+    printf("Vector3::get( 2 ): %f\n", getfloat(a_Vector3.getElem( 2 )) );
+    printf("Vector3::operator []( 2 ): %f\n", getfloat((vec_float4)a_Vector3[2]) );
+    printf("Vector3::getZ(): %f\n", getfloat(a_Vector3.getZ( )) );
+    print( ( a_Vector3 + b_Vector3 ), "Vector3 + Vector3" );
+    print( ( a_Vector3 - b_Vector3 ), "Vector3 - Vector3" );
+    print( ( a_Vector3 + b_Point3 ), "Vector3 + Point3" );
+    print( ( a_Vector3 * randfloat() ), "Vector3 * float" );
+    print( ( a_Vector3 / randfloat() ), "Vector3 / float" );
+    print( ( randfloat() * a_Vector3 ), "float * Vector3" );
+    print( ( -a_Vector3 ), "Vector3 negate" );
+    print( mulPerElem( a_Vector3, b_Vector3 ), "mulPerElem( Vector3, Vector3 )" );
+    print( divPerElem( a_Vector3, b_Vector3 ), "divPerElem( Vector3, Vector3 )" );
+    print( recipPerElem( a_Vector3 ), "Vector3 recip" );
+    print( sqrtPerElem( absPerElem( a_Vector3 ) ), "Vector3 sqrt" );
+    print( rsqrtPerElem( absPerElem( a_Vector3 ) ), "Vector3 rsqrt" );
+    print( absPerElem( a_Vector3 ), "Vector3 abs" );
+    print( copySignPerElem( a_Vector3, b_Vector3 ), "Vector3 copySign" );
+    print( maxPerElem( a_Vector3, b_Vector3 ), "Vector3 maximum Vector3" );
+    print( minPerElem( a_Vector3, b_Vector3 ), "Vector3 minimum Vector3" );
+    printf("Vector3 maximum of elements: %f\n", getfloat(maxElem( a_Vector3 )));
+    printf("Vector3 minimum of elements: %f\n", getfloat(minElem( a_Vector3 )));
+    printf("Vector3 sum of elements: %f\n", getfloat(sum( a_Vector3 )));
+    printf("Vector3 dot Vector3: %f\n", getfloat(dot( a_Vector3, b_Vector3 )));
+    printf("Vector3 lengthSqr: %f\n", getfloat(lengthSqr( a_Vector3 )));
+    printf("Vector3 length: %f\n", getfloat(length( a_Vector3 )));
+    print( normalize( a_Vector3 ), "Vector3 normalized" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    e_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    b_Vector3 = normalize( b_Vector3 );
+    c_Vector3 = normalize( c_Vector3 );
+    d_Vector3 = normalize( d_Vector3 );
+    e_Vector3 = normalize( e_Vector3 );
+    a_Vector3 = lerp( randfloat(), b_Vector3, c_Vector3 );
+    print( a_Vector3, "Vector3 lerp" );
+    a_Vector3 = slerp( randfloat(), b_Vector3, c_Vector3 );
+    print( a_Vector3, "Vector3 slerp" );
+}
+
+void
+Vector4_methods_test()
+{
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3, e_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4, e_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3, e_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat, e_Quat;
+    Aos::Vector4 aos_Vector4_0, aos_Vector4_1, aos_Vector4_2, aos_Vector4_3;
+    Vector4 soa_Vector4;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    c_Vector3 = Vector3( (vec_float4){0.0f} );
+    d_Vector3 = Vector3( (vec_float4){0.0f} );
+    e_Vector3 = Vector3( (vec_float4){0.0f} );
+    print( c_Vector3, "set Vector3 elements to zero" );
+    print( d_Vector3, "set Vector3 elements to zero" );
+    print( e_Vector3, "set Vector3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    c_Vector4 = Vector4( (vec_float4){0.0f} );
+    d_Vector4 = Vector4( (vec_float4){0.0f} );
+    e_Vector4 = Vector4( (vec_float4){0.0f} );
+    print( c_Vector4, "set Vector4 elements to zero" );
+    print( d_Vector4, "set Vector4 elements to zero" );
+    print( e_Vector4, "set Vector4 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    c_Point3 = Point3( (vec_float4){0.0f} );
+    d_Point3 = Point3( (vec_float4){0.0f} );
+    e_Point3 = Point3( (vec_float4){0.0f} );
+    print( c_Point3, "set Point3 elements to zero" );
+    print( d_Point3, "set Point3 elements to zero" );
+    print( e_Point3, "set Point3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    c_Quat = Quat( (vec_float4){0.0f} );
+    d_Quat = Quat( (vec_float4){0.0f} );
+    e_Quat = Quat( (vec_float4){0.0f} );
+    print( c_Quat, "set Quat elements to zero" );
+    print( d_Quat, "set Quat elements to zero" );
+    print( e_Quat, "set Quat elements to zero" );
+    a_Vector4 = Vector4( a_Vector3, randfloat() );
+    print( a_Vector4, "set Vector4 with Vector3, float" );
+    a_Vector4 = Vector4( a_Vector3 );
+    print( a_Vector4, "set Vector4 with Vector3" );
+    a_Vector4 = Vector4( a_Point3 );
+    print( a_Vector4, "set Vector4 with Point3" );
+    a_Vector4 = Vector4( a_Quat );
+    print( a_Vector4, "construct Vector4 with Quat" );
+    a_Vector4 = Vector4( randfloat() );
+    print( a_Vector4, "set Vector4 with float" );
+    a_Vector4 = Vector4( randfloat() );
+    print( a_Vector4, "set Vector4 with float" );
+    aos_Vector4_0 = Aos::Vector4( 0.0f, 1.0f, 2.0f, 3.0f );
+    aos_Vector4_1 = Aos::Vector4( 4.0f, 5.0f, 6.0f, 7.0f );
+    aos_Vector4_2 = Aos::Vector4( 8.0f, 9.0f, 10.0f, 11.0f );
+    aos_Vector4_3 = Aos::Vector4( 12.0f, 13.0f, 14.0f, 15.0f );
+    soa_Vector4 = Vector4( aos_Vector4_0, aos_Vector4_1, aos_Vector4_2, aos_Vector4_3 );
+    soa_Vector4.get4Aos( aos_Vector4_3, aos_Vector4_2, aos_Vector4_1, aos_Vector4_0 );
+    Aos::print( aos_Vector4_0, "aos type 0" );
+    Aos::print( aos_Vector4_1, "aos type 1" );
+    Aos::print( aos_Vector4_2, "aos type 2" );
+    Aos::print( aos_Vector4_3, "aos type 3" );
+    a_Vector4 = select( a_Vector4, b_Vector4, ((vec_uint4){0,0xffffffff,0,0xffffffff}) );
+    a_Vector4.get4Aos( aos_Vector4_0, aos_Vector4_1, aos_Vector4_2, aos_Vector4_3 );
+    Aos::print( aos_Vector4_0, "select 0" );
+    Aos::print( aos_Vector4_1, "select 1" );
+    Aos::print( aos_Vector4_2, "select 2" );
+    Aos::print( aos_Vector4_3, "select 3" );
+    a_Vector4 = b_Vector4;
+    print( a_Vector4, "assign to Vector4 from Vector4" );
+    a_Vector4.setXYZ( a_Vector3 );
+    print( a_Vector4, "set Vector4 xyz" );
+    print( a_Vector4.getXYZ( ), "get Vector4 xyz" );
+    a_Vector4 = Vector4( (vec_float4){0.0f} );
+    print( a_Vector4, "set Vector4 elements to zero" );
+    a_Vector4 = Vector4::xAxis( );
+    print( a_Vector4, "set to x axis" );
+    a_Vector4 = Vector4::yAxis( );
+    print( a_Vector4, "set to y axis" );
+    a_Vector4 = Vector4::zAxis( );
+    print( a_Vector4, "set to z axis" );
+    a_Vector4 = Vector4::wAxis( );
+    print( a_Vector4, "set to w axis" );
+    a_Vector4.setElem( 0, randfloat() );
+    print( a_Vector4, "Vector4::set( 0, float )" );
+    a_Vector4[0] = randfloat();
+    a_Vector4[0] = vec_mul_float( a_Vector4[0], randfloat() );
+    a_Vector4[0] = divf4( a_Vector4[0], randfloat() );
+    a_Vector4[0] = vec_add_float( a_Vector4[0], randfloat() );
+    a_Vector4[0] = vec_sub_float( a_Vector4[0], randfloat() );
+    print( a_Vector4, "Vector4::operator [](0)" );
+    a_Vector4.setX( randfloat() );
+    print( a_Vector4, "Vector4::setX()" );
+    a_Vector4.setElem( 1, randfloat() );
+    print( a_Vector4, "Vector4::set( 1, float )" );
+    a_Vector4[1] = randfloat();
+    a_Vector4[1] = vec_mul_float( a_Vector4[1], randfloat() );
+    a_Vector4[1] = divf4( a_Vector4[1], randfloat() );
+    a_Vector4[1] = vec_add_float( a_Vector4[1], randfloat() );
+    a_Vector4[1] = vec_sub_float( a_Vector4[1], randfloat() );
+    print( a_Vector4, "Vector4::operator [](1)" );
+    a_Vector4.setY( randfloat() );
+    print( a_Vector4, "Vector4::setY()" );
+    a_Vector4.setElem( 2, randfloat() );
+    print( a_Vector4, "Vector4::set( 2, float )" );
+    a_Vector4[2] = randfloat();
+    a_Vector4[2] = vec_mul_float( a_Vector4[2], randfloat() );
+    a_Vector4[2] = divf4( a_Vector4[2], randfloat() );
+    a_Vector4[2] = vec_add_float( a_Vector4[2], randfloat() );
+    a_Vector4[2] = vec_sub_float( a_Vector4[2], randfloat() );
+    print( a_Vector4, "Vector4::operator [](2)" );
+    a_Vector4.setZ( randfloat() );
+    print( a_Vector4, "Vector4::setZ()" );
+    a_Vector4.setElem( 3, randfloat() );
+    print( a_Vector4, "Vector4::set( 3, float )" );
+    a_Vector4[3] = randfloat();
+    a_Vector4[3] = vec_mul_float( a_Vector4[3], randfloat() );
+    a_Vector4[3] = divf4( a_Vector4[3], randfloat() );
+    a_Vector4[3] = vec_add_float( a_Vector4[3], randfloat() );
+    a_Vector4[3] = vec_sub_float( a_Vector4[3], randfloat() );
+    print( a_Vector4, "Vector4::operator [](3)" );
+    a_Vector4.setW( randfloat() );
+    print( a_Vector4, "Vector4::setW()" );
+    printf("Vector4::get( 0 ): %f\n", getfloat(a_Vector4.getElem( 0 )) );
+    printf("Vector4::operator []( 0 ): %f\n", getfloat((vec_float4)a_Vector4[0]) );
+    printf("Vector4::getX(): %f\n", getfloat(a_Vector4.getX( )) );
+    printf("Vector4::get( 1 ): %f\n", getfloat(a_Vector4.getElem( 1 )) );
+    printf("Vector4::operator []( 1 ): %f\n", getfloat((vec_float4)a_Vector4[1]) );
+    printf("Vector4::getY(): %f\n", getfloat(a_Vector4.getY( )) );
+    printf("Vector4::get( 2 ): %f\n", getfloat(a_Vector4.getElem( 2 )) );
+    printf("Vector4::operator []( 2 ): %f\n", getfloat((vec_float4)a_Vector4[2]) );
+    printf("Vector4::getZ(): %f\n", getfloat(a_Vector4.getZ( )) );
+    printf("Vector4::get( 3 ): %f\n", getfloat(a_Vector4.getElem( 3 )) );
+    printf("Vector4::operator []( 3 ): %f\n", getfloat((vec_float4)a_Vector4[3]) );
+    printf("Vector4::getW(): %f\n", getfloat(a_Vector4.getW( )) );
+    print( ( a_Vector4 + b_Vector4 ), "Vector4 + Vector4" );
+    print( ( a_Vector4 - b_Vector4 ), "Vector4 - Vector4" );
+    print( ( a_Vector4 * randfloat() ), "Vector4 * float" );
+    print( ( a_Vector4 / randfloat() ), "Vector4 / float" );
+    print( ( randfloat() * a_Vector4 ), "float * Vector4" );
+    print( ( -a_Vector4 ), "Vector4 negate" );
+    print( mulPerElem( a_Vector4, b_Vector4 ), "mulPerElem( Vector4, Vector4 )" );
+    print( divPerElem( a_Vector4, b_Vector4 ), "divPerElem( Vector4, Vector4 )" );
+    print( recipPerElem( a_Vector4 ), "Vector4 recip" );
+    print( sqrtPerElem( absPerElem( a_Vector4 ) ), "Vector4 sqrt" );
+    print( rsqrtPerElem( absPerElem( a_Vector4 ) ), "Vector4 rsqrt" );
+    print( absPerElem( a_Vector4 ), "Vector4 abs" );
+    print( copySignPerElem( a_Vector4, b_Vector4 ), "Vector4 copySign" );
+    print( maxPerElem( a_Vector4, b_Vector4 ), "Vector4 maximum Vector4" );
+    print( minPerElem( a_Vector4, b_Vector4 ), "Vector4 minimum Vector4" );
+    printf("Vector4 maximum of elements: %f\n", getfloat(maxElem( a_Vector4 )));
+    printf("Vector4 minimum of elements: %f\n", getfloat(minElem( a_Vector4 )));
+    printf("Vector4 sum of elements: %f\n", getfloat(sum( a_Vector4 )));
+    printf("Vector4 dot Vector4: %f\n", getfloat(dot( a_Vector4, b_Vector4 )));
+    printf("Vector4 lengthSqr: %f\n", getfloat(lengthSqr( a_Vector4 )));
+    printf("Vector4 length: %f\n", getfloat(length( a_Vector4 )));
+    print( normalize( a_Vector4 ), "Vector4 normalized" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    e_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    b_Vector4 = normalize( b_Vector4 );
+    c_Vector4 = normalize( c_Vector4 );
+    d_Vector4 = normalize( d_Vector4 );
+    e_Vector4 = normalize( e_Vector4 );
+    a_Vector4 = lerp( randfloat(), b_Vector4, c_Vector4 );
+    print( a_Vector4, "Vector4 lerp" );
+    a_Vector4 = slerp( randfloat(), b_Vector4, c_Vector4 );
+    print( a_Vector4, "Vector4 slerp" );
+}
+
+void
+Point3_methods_test()
+{
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3, e_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4, e_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3, e_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat, e_Quat;
+    Aos::Point3 aos_Point3_0, aos_Point3_1, aos_Point3_2, aos_Point3_3;
+    Point3 soa_Point3;
+    Aos::Vector4 aos_Vector4_0, aos_Vector4_1, aos_Vector4_2;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4;
+    float xyz4[12] __attribute__ ((aligned(16)));
+    xyz4[0] = getfloat(randfloat());
+    xyz4[1] = getfloat(randfloat());
+    xyz4[2] = getfloat(randfloat());
+    xyz4[3] = getfloat(randfloat());
+    xyz4[4] = getfloat(randfloat());
+    xyz4[5] = getfloat(randfloat());
+    xyz4[6] = getfloat(randfloat());
+    xyz4[7] = getfloat(randfloat());
+    xyz4[8] = getfloat(randfloat());
+    xyz4[9] = getfloat(randfloat());
+    xyz4[10] = getfloat(randfloat());
+    xyz4[11] = getfloat(randfloat());
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    c_Vector3 = Vector3( (vec_float4){0.0f} );
+    d_Vector3 = Vector3( (vec_float4){0.0f} );
+    e_Vector3 = Vector3( (vec_float4){0.0f} );
+    print( c_Vector3, "set Vector3 elements to zero" );
+    print( d_Vector3, "set Vector3 elements to zero" );
+    print( e_Vector3, "set Vector3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    c_Vector4 = Vector4( (vec_float4){0.0f} );
+    d_Vector4 = Vector4( (vec_float4){0.0f} );
+    e_Vector4 = Vector4( (vec_float4){0.0f} );
+    print( c_Vector4, "set Vector4 elements to zero" );
+    print( d_Vector4, "set Vector4 elements to zero" );
+    print( e_Vector4, "set Vector4 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    c_Point3 = Point3( (vec_float4){0.0f} );
+    d_Point3 = Point3( (vec_float4){0.0f} );
+    e_Point3 = Point3( (vec_float4){0.0f} );
+    print( c_Point3, "set Point3 elements to zero" );
+    print( d_Point3, "set Point3 elements to zero" );
+    print( e_Point3, "set Point3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    c_Quat = Quat( (vec_float4){0.0f} );
+    d_Quat = Quat( (vec_float4){0.0f} );
+    e_Quat = Quat( (vec_float4){0.0f} );
+    print( c_Quat, "set Quat elements to zero" );
+    print( d_Quat, "set Quat elements to zero" );
+    print( e_Quat, "set Quat elements to zero" );
+    a_Point3 = Point3( a_Vector3 );
+    print( a_Point3, "construct Point3 with Vector3" );
+    a_Point3 = Point3( randfloat() );
+    print( a_Point3, "set Point3 with float" );
+    a_Point3 = Point3( randfloat() );
+    print( a_Point3, "set Point3 with float" );
+    aos_Point3_0 = Aos::Point3( 0.0f, 1.0f, 2.0f );
+    aos_Point3_1 = Aos::Point3( 3.0f, 4.0f, 5.0f );
+    aos_Point3_2 = Aos::Point3( 6.0f, 7.0f, 8.0f );
+    aos_Point3_3 = Aos::Point3( 9.0f, 10.0f, 11.0f );
+    soa_Point3 = Point3( aos_Point3_0, aos_Point3_1, aos_Point3_2, aos_Point3_3 );
+    soa_Point3.get4Aos( aos_Point3_3, aos_Point3_2, aos_Point3_1, aos_Point3_0 );
+    Aos::print( aos_Point3_0, "aos type 0" );
+    Aos::print( aos_Point3_1, "aos type 1" );
+    Aos::print( aos_Point3_2, "aos type 2" );
+    Aos::print( aos_Point3_3, "aos type 3" );
+    a_Point3 = select( a_Point3, b_Point3, ((vec_uint4){0,0xffffffff,0,0xffffffff}) );
+    a_Point3.get4Aos( aos_Point3_0, aos_Point3_1, aos_Point3_2, aos_Point3_3 );
+    Aos::print( aos_Point3_0, "select 0" );
+    Aos::print( aos_Point3_1, "select 1" );
+    Aos::print( aos_Point3_2, "select 2" );
+    Aos::print( aos_Point3_3, "select 3" );
+    loadXYZArray( a_Point3, (const vec_float4 *)xyz4 );
+    print( a_Point3, "load XYZ array" );
+    a_Point3 = Point3( ( -Vector3( a_Point3 ) ) );
+    storeXYZArray( a_Point3, (vec_float4 *)xyz4 );
+    aos_Vector4_0 = Aos::Vector4( xyz4[0], xyz4[1], xyz4[2], xyz4[3] );
+    aos_Vector4_1 = Aos::Vector4( xyz4[4], xyz4[5], xyz4[6], xyz4[7] );
+    aos_Vector4_2 = Aos::Vector4( xyz4[8], xyz4[9], xyz4[10], xyz4[11] );
+    Aos::print( aos_Vector4_0, "xyzx" );
+    Aos::print( aos_Vector4_1, "yzxy" );
+    Aos::print( aos_Vector4_2, "zxyz" );
+    Aos::print( aos_Vector4_0, "xyzx" );
+    Aos::print( aos_Vector4_1, "yzxy" );
+    Aos::print( aos_Vector4_2, "zxyz" );
+    printf("storeXYZ:-1.0 -2.0 -3.0 0.4\n");
+    a_Point3 = b_Point3;
+    print( a_Point3, "assign to Point3 from Point3" );
+    a_Point3 = Point3( (vec_float4){0.0f} );
+    print( a_Point3, "set Point3 elements to zero" );
+    a_Point3.setElem( 0, randfloat() );
+    print( a_Point3, "Point3::set( 0, float )" );
+    a_Point3[0] = randfloat();
+    a_Point3[0] = vec_mul_float( a_Point3[0], randfloat() );
+    a_Point3[0] = divf4( a_Point3[0], randfloat() );
+    a_Point3[0] = vec_add_float( a_Point3[0], randfloat() );
+    a_Point3[0] = vec_sub_float( a_Point3[0], randfloat() );
+    print( a_Point3, "Point3::operator [](0)" );
+    a_Point3.setX( randfloat() );
+    print( a_Point3, "Point3::setX()" );
+    a_Point3.setElem( 1, randfloat() );
+    print( a_Point3, "Point3::set( 1, float )" );
+    a_Point3[1] = randfloat();
+    a_Point3[1] = vec_mul_float( a_Point3[1], randfloat() );
+    a_Point3[1] = divf4( a_Point3[1], randfloat() );
+    a_Point3[1] = vec_add_float( a_Point3[1], randfloat() );
+    a_Point3[1] = vec_sub_float( a_Point3[1], randfloat() );
+    print( a_Point3, "Point3::operator [](1)" );
+    a_Point3.setY( randfloat() );
+    print( a_Point3, "Point3::setY()" );
+    a_Point3.setElem( 2, randfloat() );
+    print( a_Point3, "Point3::set( 2, float )" );
+    a_Point3[2] = randfloat();
+    a_Point3[2] = vec_mul_float( a_Point3[2], randfloat() );
+    a_Point3[2] = divf4( a_Point3[2], randfloat() );
+    a_Point3[2] = vec_add_float( a_Point3[2], randfloat() );
+    a_Point3[2] = vec_sub_float( a_Point3[2], randfloat() );
+    print( a_Point3, "Point3::operator [](2)" );
+    a_Point3.setZ( randfloat() );
+    print( a_Point3, "Point3::setZ()" );
+    printf("Point3::get( 0 ): %f\n", getfloat(a_Point3.getElem( 0 )) );
+    printf("Point3::operator []( 0 ): %f\n", getfloat((vec_float4)a_Point3[0]) );
+    printf("Point3::getX(): %f\n", getfloat(a_Point3.getX( )) );
+    printf("Point3::get( 1 ): %f\n", getfloat(a_Point3.getElem( 1 )) );
+    printf("Point3::operator []( 1 ): %f\n", getfloat((vec_float4)a_Point3[1]) );
+    printf("Point3::getY(): %f\n", getfloat(a_Point3.getY( )) );
+    printf("Point3::get( 2 ): %f\n", getfloat(a_Point3.getElem( 2 )) );
+    printf("Point3::operator []( 2 ): %f\n", getfloat((vec_float4)a_Point3[2]) );
+    printf("Point3::getZ(): %f\n", getfloat(a_Point3.getZ( )) );
+    print( ( a_Point3 - b_Point3 ), "Point3 - Point3" );
+    print( ( a_Point3 + b_Vector3 ), "Point3 + Vector3" );
+    print( ( a_Point3 - b_Vector3 ), "Point3 - Vector3" );
+    print( mulPerElem( a_Point3, b_Point3 ), "mulPerElem( Point3, Point3 )" );
+    print( divPerElem( a_Point3, b_Point3 ), "divPerElem( Point3, Point3 )" );
+    print( recipPerElem( a_Point3 ), "Point3 recip" );
+    print( sqrtPerElem( absPerElem( a_Point3 ) ), "Point3 sqrt" );
+    print( rsqrtPerElem( absPerElem( a_Point3 ) ), "Point3 rsqrt" );
+    print( absPerElem( a_Point3 ), "Point3 abs" );
+    print( copySignPerElem( a_Point3, b_Point3 ), "Point3 copySign" );
+    print( maxPerElem( a_Point3, b_Point3 ), "Point3 maximum Point3" );
+    print( minPerElem( a_Point3, b_Point3 ), "Point3 minimum Point3" );
+    printf("Point3 maximum of elements: %f\n", getfloat(maxElem( a_Point3 )));
+    printf("Point3 minimum of elements: %f\n", getfloat(minElem( a_Point3 )));
+    printf("Point3 sum of elements: %f\n", getfloat(sum( a_Point3 )));
+    printf("Point projection: %f\n", getfloat(projection( a_Point3, b_Vector3 )));
+    printf("Point distSqrFromOrigin: %f\n", getfloat(distSqrFromOrigin( a_Point3 )) );
+    printf("Point distFromOrigin: %f\n", getfloat(distFromOrigin( a_Point3 )) );
+    printf("Point distSqr: %f\n", getfloat(distSqr( a_Point3, b_Point3 )) );
+    printf("Point dist: %f\n", getfloat(dist( a_Point3, b_Point3 )) );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    e_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    a_Point3 = lerp( randfloat(), b_Point3, c_Point3 );
+    print( a_Point3, "Point3 lerp" );
+}
+
+void
+Quat_methods_test()
+{
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3, e_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4, e_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3, e_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat, e_Quat;
+    Aos::Quat aos_Quat_0, aos_Quat_1, aos_Quat_2, aos_Quat_3;
+    Quat soa_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    c_Vector3 = Vector3( (vec_float4){0.0f} );
+    d_Vector3 = Vector3( (vec_float4){0.0f} );
+    e_Vector3 = Vector3( (vec_float4){0.0f} );
+    print( c_Vector3, "set Vector3 elements to zero" );
+    print( d_Vector3, "set Vector3 elements to zero" );
+    print( e_Vector3, "set Vector3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    c_Vector4 = Vector4( (vec_float4){0.0f} );
+    d_Vector4 = Vector4( (vec_float4){0.0f} );
+    e_Vector4 = Vector4( (vec_float4){0.0f} );
+    print( c_Vector4, "set Vector4 elements to zero" );
+    print( d_Vector4, "set Vector4 elements to zero" );
+    print( e_Vector4, "set Vector4 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    b_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    c_Point3 = Point3( (vec_float4){0.0f} );
+    d_Point3 = Point3( (vec_float4){0.0f} );
+    e_Point3 = Point3( (vec_float4){0.0f} );
+    print( c_Point3, "set Point3 elements to zero" );
+    print( d_Point3, "set Point3 elements to zero" );
+    print( e_Point3, "set Point3 elements to zero" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    c_Quat = Quat( (vec_float4){0.0f} );
+    d_Quat = Quat( (vec_float4){0.0f} );
+    e_Quat = Quat( (vec_float4){0.0f} );
+    print( c_Quat, "set Quat elements to zero" );
+    print( d_Quat, "set Quat elements to zero" );
+    print( e_Quat, "set Quat elements to zero" );
+    a_Quat = Quat( a_Vector3, randfloat() );
+    print( a_Quat, "set Quat with Vector3, float" );
+    a_Quat = Quat( a_Vector4 );
+    print( a_Quat, "construct Quat with Vector4" );
+    a_Quat = Quat( randfloat() );
+    print( a_Quat, "set Quat with float" );
+    a_Quat = Quat( randfloat() );
+    print( a_Quat, "set Quat with float" );
+    aos_Quat_0 = Aos::Quat( 0.0f, 1.0f, 2.0f, 3.0f );
+    aos_Quat_1 = Aos::Quat( 4.0f, 5.0f, 6.0f, 7.0f );
+    aos_Quat_2 = Aos::Quat( 8.0f, 9.0f, 10.0f, 11.0f );
+    aos_Quat_3 = Aos::Quat( 12.0f, 13.0f, 14.0f, 15.0f );
+    soa_Quat = Quat( aos_Quat_0, aos_Quat_1, aos_Quat_2, aos_Quat_3 );
+    soa_Quat.get4Aos( aos_Quat_3, aos_Quat_2, aos_Quat_1, aos_Quat_0 );
+    Aos::print( aos_Quat_0, "aos type 0" );
+    Aos::print( aos_Quat_1, "aos type 1" );
+    Aos::print( aos_Quat_2, "aos type 2" );
+    Aos::print( aos_Quat_3, "aos type 3" );
+    a_Quat = select( a_Quat, b_Quat, ((vec_uint4){0,0xffffffff,0,0xffffffff}) );
+    a_Quat.get4Aos( aos_Quat_0, aos_Quat_1, aos_Quat_2, aos_Quat_3 );
+    Aos::print( aos_Quat_0, "select 0" );
+    Aos::print( aos_Quat_1, "select 1" );
+    Aos::print( aos_Quat_2, "select 2" );
+    Aos::print( aos_Quat_3, "select 3" );
+    a_Quat = b_Quat;
+    print( a_Quat, "assign to Quat from Quat" );
+    a_Quat.setXYZ( a_Vector3 );
+    print( a_Quat, "set Quat xyz" );
+    print( a_Quat.getXYZ( ), "get Quat xyz" );
+    a_Quat = Quat( (vec_float4){0.0f} );
+    print( a_Quat, "set Quat elements to zero" );
+    a_Quat.setElem( 0, randfloat() );
+    print( a_Quat, "Quat::set( 0, float )" );
+    a_Quat[0] = randfloat();
+    a_Quat[0] = vec_mul_float( a_Quat[0], randfloat() );
+    a_Quat[0] = divf4( a_Quat[0], randfloat() );
+    a_Quat[0] = vec_add_float( a_Quat[0], randfloat() );
+    a_Quat[0] = vec_sub_float( a_Quat[0], randfloat() );
+    print( a_Quat, "Quat::operator [](0)" );
+    a_Quat.setX( randfloat() );
+    print( a_Quat, "Quat::setX()" );
+    a_Quat.setElem( 1, randfloat() );
+    print( a_Quat, "Quat::set( 1, float )" );
+    a_Quat[1] = randfloat();
+    a_Quat[1] = vec_mul_float( a_Quat[1], randfloat() );
+    a_Quat[1] = divf4( a_Quat[1], randfloat() );
+    a_Quat[1] = vec_add_float( a_Quat[1], randfloat() );
+    a_Quat[1] = vec_sub_float( a_Quat[1], randfloat() );
+    print( a_Quat, "Quat::operator [](1)" );
+    a_Quat.setY( randfloat() );
+    print( a_Quat, "Quat::setY()" );
+    a_Quat.setElem( 2, randfloat() );
+    print( a_Quat, "Quat::set( 2, float )" );
+    a_Quat[2] = randfloat();
+    a_Quat[2] = vec_mul_float( a_Quat[2], randfloat() );
+    a_Quat[2] = divf4( a_Quat[2], randfloat() );
+    a_Quat[2] = vec_add_float( a_Quat[2], randfloat() );
+    a_Quat[2] = vec_sub_float( a_Quat[2], randfloat() );
+    print( a_Quat, "Quat::operator [](2)" );
+    a_Quat.setZ( randfloat() );
+    print( a_Quat, "Quat::setZ()" );
+    a_Quat.setElem( 3, randfloat() );
+    print( a_Quat, "Quat::set( 3, float )" );
+    a_Quat[3] = randfloat();
+    a_Quat[3] = vec_mul_float( a_Quat[3], randfloat() );
+    a_Quat[3] = divf4( a_Quat[3], randfloat() );
+    a_Quat[3] = vec_add_float( a_Quat[3], randfloat() );
+    a_Quat[3] = vec_sub_float( a_Quat[3], randfloat() );
+    print( a_Quat, "Quat::operator [](3)" );
+    a_Quat.setW( randfloat() );
+    print( a_Quat, "Quat::setW()" );
+    printf("Quat::get( 0 ): %f\n", getfloat(a_Quat.getElem( 0 )) );
+    printf("Quat::operator []( 0 ): %f\n", getfloat((vec_float4)a_Quat[0]) );
+    printf("Quat::getX(): %f\n", getfloat(a_Quat.getX( )) );
+    printf("Quat::get( 1 ): %f\n", getfloat(a_Quat.getElem( 1 )) );
+    printf("Quat::operator []( 1 ): %f\n", getfloat((vec_float4)a_Quat[1]) );
+    printf("Quat::getY(): %f\n", getfloat(a_Quat.getY( )) );
+    printf("Quat::get( 2 ): %f\n", getfloat(a_Quat.getElem( 2 )) );
+    printf("Quat::operator []( 2 ): %f\n", getfloat((vec_float4)a_Quat[2]) );
+    printf("Quat::getZ(): %f\n", getfloat(a_Quat.getZ( )) );
+    printf("Quat::get( 3 ): %f\n", getfloat(a_Quat.getElem( 3 )) );
+    printf("Quat::operator []( 3 ): %f\n", getfloat((vec_float4)a_Quat[3]) );
+    printf("Quat::getW(): %f\n", getfloat(a_Quat.getW( )) );
+    print( ( a_Quat + b_Quat ), "Quat + Quat" );
+    print( ( a_Quat - b_Quat ), "Quat - Quat" );
+    print( ( a_Quat * b_Quat ), "Quat * Quat" );
+    print( ( a_Quat * randfloat() ), "Quat * float" );
+    print( ( a_Quat / randfloat() ), "Quat / float" );
+    print( ( randfloat() * a_Quat ), "float * Quat" );
+    print( ( -a_Quat ), "Quat negate" );
+    printf("Quat dot Quat: %f\n", getfloat(dot( a_Quat, b_Quat )));
+    printf("Quat lengthSqr: %f\n", getfloat(norm( a_Quat )));
+    printf("Quat length: %f\n", getfloat(length( a_Quat )));
+    print( normalize( a_Quat ), "Quat normalized" );
+    a_Quat = Quat::identity( );
+    print( a_Quat, "set to identity" );
+    a_Quat = Quat::rotation( a_Vector3, b_Vector3 );
+    print( a_Quat, "Quat rotation between vectors" );
+    a_Quat = Quat::rotation( randfloat(), a_Vector3 );
+    print( a_Quat, "Quat rotation axis angle" );
+    a_Quat = Quat::rotationX( randfloat() );
+    print( a_Quat, "Quat rotationX" );
+    a_Quat = Quat::rotationY( randfloat() );
+    print( a_Quat, "Quat rotationY" );
+    a_Quat = Quat::rotationZ( randfloat() );
+    print( a_Quat, "Quat rotationZ" );
+    print( rotate( a_Quat, a_Vector3 ), "Quat rotate Vector3" );
+    print( conj( a_Quat ), "Quat conj" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    b_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    e_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    b_Quat = normalize( b_Quat );
+    c_Quat = normalize( c_Quat );
+    d_Quat = normalize( d_Quat );
+    e_Quat = normalize( e_Quat );
+    a_Quat = lerp( randfloat(), b_Quat, c_Quat );
+    print( a_Quat, "Quat lerp" );
+    a_Quat = slerp( randfloat(), b_Quat, c_Quat );
+    print( a_Quat, "Quat slerp" );
+    a_Quat = squad( randfloat(), b_Quat, c_Quat, d_Quat, e_Quat );
+    print( a_Quat, "Quat squad" );
+}
+
+int main()
+{
+    printf("\n __begin__ \n");
+    for ( iteration = 0; iteration < 2; iteration++ ) {
+        Vector3_methods_test();
+        Vector4_methods_test();
+        Point3_methods_test();
+        Quat_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test2_aos_c.c

@@ -0,0 +1,852 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_AOS_TEST
+
+#include "vectormath_aos.h"
+#include "test.h"
+
+int iteration = 0;
+
+void
+Matrix3_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7;
+    VmathQuat tmpQ_0;
+    VmathVector3 tmpV3_8, tmpV3_9, tmpV3_10, tmpV3_11, tmpV3_12, tmpV3_13, tmpV3_14, tmpV3_15, tmpV3_16, tmpV3_17, tmpV3_18, tmpV3_19, tmpV3_20, tmpV3_21;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathQNormalize( &tmpQ_0, &a_Quat );
+    vmathM3MakeFromQ( &a_Matrix3, &tmpQ_0 );
+    vmathM3Prints( &a_Matrix3, "construct Matrix3 with Quat" );
+    vmathQMakeFromM3( &a_Quat, &a_Matrix3 );
+    vmathQPrints( &a_Quat, "construct Quat with Matrix3" );
+    vmathM3Copy( &a_Matrix3, &b_Matrix3 );
+    vmathM3Prints( &a_Matrix3, "assign to Matrix3 from Matrix3" );
+    vmathM3MakeFromScalar( &a_Matrix3, randfloat() );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 with float" );
+    vmathM3MakeFromScalar( &a_Matrix3, randfloat() );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 with float" );
+    vmathM3MakeFromScalar( &a_Matrix3, 0.0f );
+    vmathM3Prints( &a_Matrix3, "set elements to zero" );
+    vmathM3MakeIdentity( &a_Matrix3 );
+    vmathM3Prints( &a_Matrix3, "set to identity" );
+    vmathM3MakeRotationX( &a_Matrix3, randfloat() );
+    vmathM3Prints( &a_Matrix3, "set to rotationX" );
+    vmathM3MakeRotationY( &a_Matrix3, randfloat() );
+    vmathM3Prints( &a_Matrix3, "set to rotationY" );
+    vmathM3MakeRotationZ( &a_Matrix3, randfloat() );
+    vmathM3Prints( &a_Matrix3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &tmpV3_8, rndflt3, rndflt2, rndflt1 );
+    vmathM3MakeRotationZYX( &a_Matrix3, &tmpV3_8 );
+    vmathM3Prints( &a_Matrix3, "set to rotation from Z,Y,X angles" );
+    vmathV3Normalize( &tmpV3_9, &a_Vector3 );
+    vmathM3MakeRotationAxis( &a_Matrix3, randfloat(), &tmpV3_9 );
+    vmathM3Prints( &a_Matrix3, "set to rotation from axis angle" );
+    vmathM3SetCol0( &a_Matrix3, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set col 0" );
+    vmathM3SetCol1( &a_Matrix3, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set col 1" );
+    vmathM3SetCol2( &a_Matrix3, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set col 2" );
+    vmathM3GetCol0( &tmpV3_10, &a_Matrix3 );
+    vmathV3Prints( &tmpV3_10, "Matrix3 get col 0" );
+    vmathM3GetCol1( &tmpV3_11, &a_Matrix3 );
+    vmathV3Prints( &tmpV3_11, "Matrix3 get col 1" );
+    vmathM3GetCol2( &tmpV3_12, &a_Matrix3 );
+    vmathV3Prints( &tmpV3_12, "Matrix3 get col 2" );
+    vmathM3SetCol( &a_Matrix3, 0, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set col 0" );
+    vmathM3SetCol( &a_Matrix3, 1, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set col 1" );
+    vmathM3SetCol( &a_Matrix3, 2, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set col 2" );
+    vmathM3GetCol( &tmpV3_13, &a_Matrix3, 0 );
+    vmathV3Prints( &tmpV3_13, "Matrix3 get col 0" );
+    vmathM3GetCol( &tmpV3_14, &a_Matrix3, 1 );
+    vmathV3Prints( &tmpV3_14, "Matrix3 get col 1" );
+    vmathM3GetCol( &tmpV3_15, &a_Matrix3, 2 );
+    vmathV3Prints( &tmpV3_15, "Matrix3 get col 2" );
+    vmathM3SetRow( &a_Matrix3, 0, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set row 0" );
+    vmathM3SetRow( &a_Matrix3, 1, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set row 1" );
+    vmathM3SetRow( &a_Matrix3, 2, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set row 2" );
+    vmathM3GetRow( &tmpV3_16, &a_Matrix3, 0 );
+    vmathV3Prints( &tmpV3_16, "Matrix3 get row 0" );
+    vmathM3GetRow( &tmpV3_17, &a_Matrix3, 1 );
+    vmathV3Prints( &tmpV3_17, "Matrix3 get row 1" );
+    vmathM3GetRow( &tmpV3_18, &a_Matrix3, 2 );
+    vmathV3Prints( &tmpV3_18, "Matrix3 get row 2" );
+    vmathM3SetCol( &a_Matrix3, 0, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set " );
+    vmathM3SetCol( &a_Matrix3, 1, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set " );
+    vmathM3SetCol( &a_Matrix3, 2, &a_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set " );
+    vmathM3GetCol( &tmpV3_19, &a_Matrix3, 0 );
+    vmathV3Prints( &tmpV3_19, "get " );
+    vmathM3GetCol( &tmpV3_20, &a_Matrix3, 1 );
+    vmathV3Prints( &tmpV3_20, "get " );
+    vmathM3GetCol( &tmpV3_21, &a_Matrix3, 2 );
+    vmathV3Prints( &tmpV3_21, "get " );
+    vmathM3SetElem( &a_Matrix3, 0, 0, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 0, 1, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 0, 2, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 1, 0, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 1, 1, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 1, 2, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 2, 0, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 2, 1, randfloat() );
+    vmathM3SetElem( &a_Matrix3, 2, 2, randfloat() );
+    vmathM3Prints( &a_Matrix3, "Matrix3 set elements" );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 0, 0 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 0, 1 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 0, 2 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 1, 0 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 1, 1 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 1, 2 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 2, 0 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 2, 1 )) );
+    printf("%f\n", getfloat(vmathM3GetElem( &a_Matrix3, 2, 2 )) );
+}
+
+void
+Matrix4_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8, tmpV3_9;
+    VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3, tmpV4_4, tmpV4_5, tmpV4_6, tmpV4_7, tmpV4_8, tmpV4_9, tmpV4_10, tmpV4_11, tmpV4_12, tmpV4_13, tmpV4_14, tmpV4_15;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathM4MakeFromT3( &a_Matrix4, &a_Transform3 );
+    vmathM4Prints( &a_Matrix4, "construct Matrix4 with Transform3" );
+    vmathM4MakeFromM3V3( &a_Matrix4, &a_Matrix3, &a_Vector3 );
+    vmathM4Prints( &a_Matrix4, "construct Matrix4 with Matrix3 and Vector3" );
+    vmathM4MakeFromQV3( &a_Matrix4, &a_Quat, &a_Vector3 );
+    vmathM4Prints( &a_Matrix4, "construct Matrix4 with Quat and Vector3" );
+    vmathM4Copy( &a_Matrix4, &b_Matrix4 );
+    vmathM4Prints( &a_Matrix4, "assign to Matrix4 from Matrix4" );
+    vmathM4MakeFromScalar( &a_Matrix4, randfloat() );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 with float" );
+    vmathM4MakeFromScalar( &a_Matrix4, randfloat() );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 with float" );
+    vmathM4MakeFromScalar( &a_Matrix4, 0.0f );
+    vmathM4Prints( &a_Matrix4, "set elements to zero" );
+    vmathM4MakeIdentity( &a_Matrix4 );
+    vmathM4Prints( &a_Matrix4, "set to identity" );
+    vmathM4MakeRotationX( &a_Matrix4, randfloat() );
+    vmathM4Prints( &a_Matrix4, "set to rotationX" );
+    vmathM4MakeRotationY( &a_Matrix4, randfloat() );
+    vmathM4Prints( &a_Matrix4, "set to rotationY" );
+    vmathM4MakeRotationZ( &a_Matrix4, randfloat() );
+    vmathM4Prints( &a_Matrix4, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &tmpV3_8, rndflt3, rndflt2, rndflt1 );
+    vmathM4MakeRotationZYX( &a_Matrix4, &tmpV3_8 );
+    vmathM4Prints( &a_Matrix4, "set to rotation from Z,Y,X angles" );
+    vmathV3Normalize( &tmpV3_9, &a_Vector3 );
+    vmathM4MakeRotationAxis( &a_Matrix4, randfloat(), &tmpV3_9 );
+    vmathM4Prints( &a_Matrix4, "set to rotation from axis angle" );
+    vmathM4MakeTranslation( &a_Matrix4, &a_Vector3 );
+    vmathM4Prints( &a_Matrix4, "set to translation" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathM4MakePerspective( &a_Matrix4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathM4Prints( &a_Matrix4, "set to perspective matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathM4MakeFrustum( &a_Matrix4, rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    vmathM4Prints( &a_Matrix4, "set to frustum matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathM4MakeOrthographic( &a_Matrix4, rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    vmathM4Prints( &a_Matrix4, "set to orthographic matrix" );
+    vmathM4MakeLookAt( &a_Matrix4, &a_Point3, &b_Point3, &a_Vector3 );
+    vmathM4Prints( &a_Matrix4, "set to look-at matrix" );
+    vmathM4SetCol0( &a_Matrix4, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 0" );
+    vmathM4SetCol1( &a_Matrix4, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 1" );
+    vmathM4SetCol2( &a_Matrix4, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 2" );
+    vmathM4SetCol3( &a_Matrix4, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 3" );
+    vmathM4GetCol0( &tmpV4_0, &a_Matrix4 );
+    vmathV4Prints( &tmpV4_0, "Matrix4 get col 0" );
+    vmathM4GetCol1( &tmpV4_1, &a_Matrix4 );
+    vmathV4Prints( &tmpV4_1, "Matrix4 get col 1" );
+    vmathM4GetCol2( &tmpV4_2, &a_Matrix4 );
+    vmathV4Prints( &tmpV4_2, "Matrix4 get col 2" );
+    vmathM4GetCol3( &tmpV4_3, &a_Matrix4 );
+    vmathV4Prints( &tmpV4_3, "Matrix4 get col 3" );
+    vmathM4SetCol( &a_Matrix4, 0, &b_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 0" );
+    vmathM4SetCol( &a_Matrix4, 1, &b_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 1" );
+    vmathM4SetCol( &a_Matrix4, 2, &b_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 2" );
+    vmathM4SetCol( &a_Matrix4, 3, &b_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set col 3" );
+    vmathM4GetCol( &tmpV4_4, &a_Matrix4, 0 );
+    vmathV4Prints( &tmpV4_4, "Matrix4 get col 0" );
+    vmathM4GetCol( &tmpV4_5, &a_Matrix4, 1 );
+    vmathV4Prints( &tmpV4_5, "Matrix4 get col 1" );
+    vmathM4GetCol( &tmpV4_6, &a_Matrix4, 2 );
+    vmathV4Prints( &tmpV4_6, "Matrix4 get col 2" );
+    vmathM4GetCol( &tmpV4_7, &a_Matrix4, 3 );
+    vmathV4Prints( &tmpV4_7, "Matrix4 get col 3" );
+    vmathM4SetRow( &a_Matrix4, 0, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set row 0" );
+    vmathM4SetRow( &a_Matrix4, 1, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set row 1" );
+    vmathM4SetRow( &a_Matrix4, 2, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set row 2" );
+    vmathM4SetRow( &a_Matrix4, 3, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set row 3" );
+    vmathM4GetRow( &tmpV4_8, &a_Matrix4, 0 );
+    vmathV4Prints( &tmpV4_8, "Matrix4 get row 0" );
+    vmathM4GetRow( &tmpV4_9, &a_Matrix4, 1 );
+    vmathV4Prints( &tmpV4_9, "Matrix4 get row 1" );
+    vmathM4GetRow( &tmpV4_10, &a_Matrix4, 2 );
+    vmathV4Prints( &tmpV4_10, "Matrix4 get row 2" );
+    vmathM4GetRow( &tmpV4_11, &a_Matrix4, 3 );
+    vmathV4Prints( &tmpV4_11, "Matrix4 get row 3" );
+    vmathM4SetCol( &a_Matrix4, 0, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set " );
+    vmathM4SetCol( &a_Matrix4, 1, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set " );
+    vmathM4SetCol( &a_Matrix4, 2, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set " );
+    vmathM4SetCol( &a_Matrix4, 3, &a_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set " );
+    vmathM4GetCol( &tmpV4_12, &a_Matrix4, 0 );
+    vmathV4Prints( &tmpV4_12, "get " );
+    vmathM4GetCol( &tmpV4_13, &a_Matrix4, 1 );
+    vmathV4Prints( &tmpV4_13, "get " );
+    vmathM4GetCol( &tmpV4_14, &a_Matrix4, 2 );
+    vmathV4Prints( &tmpV4_14, "get " );
+    vmathM4GetCol( &tmpV4_15, &a_Matrix4, 3 );
+    vmathV4Prints( &tmpV4_15, "get " );
+    vmathM4SetElem( &a_Matrix4, 0, 0, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 0, 1, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 0, 2, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 0, 3, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 1, 0, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 1, 1, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 1, 2, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 1, 3, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 2, 0, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 2, 1, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 2, 2, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 2, 3, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 3, 0, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 3, 1, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 3, 2, randfloat() );
+    vmathM4SetElem( &a_Matrix4, 3, 3, randfloat() );
+    vmathM4Prints( &a_Matrix4, "Matrix4 set elements" );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 0, 0 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 0, 1 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 0, 2 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 0, 3 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 1, 0 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 1, 1 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 1, 2 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 1, 3 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 2, 0 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 2, 1 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 2, 2 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 2, 3 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 3, 0 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 3, 1 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 3, 2 )) );
+    printf("%f\n", getfloat(vmathM4GetElem( &a_Matrix4, 3, 3 )) );
+}
+
+void
+Transform3_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8, tmpV3_9, tmpV3_10, tmpV3_11, tmpV3_12, tmpV3_13, tmpV3_14, tmpV3_15, tmpV3_16, tmpV3_17;
+    VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2;
+    VmathVector3 tmpV3_18, tmpV3_19, tmpV3_20, tmpV3_21;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathT3MakeFromM3V3( &a_Transform3, &a_Matrix3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "construct Transform3 with Matrix3 and Vector3" );
+    vmathT3MakeFromQV3( &a_Transform3, &a_Quat, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "construct Transform3 with Quat and Vector3" );
+    vmathT3Copy( &a_Transform3, &b_Transform3 );
+    vmathT3Prints( &a_Transform3, "assign to Transform3 from Transform3" );
+    vmathT3MakeFromScalar( &a_Transform3, randfloat() );
+    vmathT3Prints( &a_Transform3, "set Transform3 with float" );
+    vmathT3MakeFromScalar( &a_Transform3, randfloat() );
+    vmathT3Prints( &a_Transform3, "set Transform3 with float" );
+    vmathT3MakeFromScalar( &a_Transform3, 0.0f );
+    vmathT3Prints( &a_Transform3, "set elements to zero" );
+    vmathT3MakeIdentity( &a_Transform3 );
+    vmathT3Prints( &a_Transform3, "set to identity" );
+    vmathT3MakeRotationX( &a_Transform3, randfloat() );
+    vmathT3Prints( &a_Transform3, "set to rotationX" );
+    vmathT3MakeRotationY( &a_Transform3, randfloat() );
+    vmathT3Prints( &a_Transform3, "set to rotationY" );
+    vmathT3MakeRotationZ( &a_Transform3, randfloat() );
+    vmathT3Prints( &a_Transform3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &tmpV3_8, rndflt3, rndflt2, rndflt1 );
+    vmathT3MakeRotationZYX( &a_Transform3, &tmpV3_8 );
+    vmathT3Prints( &a_Transform3, "set to rotation from Z,Y,X angles" );
+    vmathV3Normalize( &tmpV3_9, &a_Vector3 );
+    vmathT3MakeRotationAxis( &a_Transform3, randfloat(), &tmpV3_9 );
+    vmathT3Prints( &a_Transform3, "set to rotation from axis angle" );
+    vmathT3MakeTranslation( &a_Transform3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "set to translation" );
+    vmathT3SetCol0( &a_Transform3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 0" );
+    vmathT3SetCol1( &a_Transform3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 1" );
+    vmathT3SetCol2( &a_Transform3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 2" );
+    vmathT3SetCol3( &a_Transform3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 3" );
+    vmathT3GetCol0( &tmpV3_10, &a_Transform3 );
+    vmathV3Prints( &tmpV3_10, "Transform3 get col 0" );
+    vmathT3GetCol1( &tmpV3_11, &a_Transform3 );
+    vmathV3Prints( &tmpV3_11, "Transform3 get col 1" );
+    vmathT3GetCol2( &tmpV3_12, &a_Transform3 );
+    vmathV3Prints( &tmpV3_12, "Transform3 get col 2" );
+    vmathT3GetCol3( &tmpV3_13, &a_Transform3 );
+    vmathV3Prints( &tmpV3_13, "Transform3 get col 3" );
+    vmathT3SetCol( &a_Transform3, 0, &b_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 0" );
+    vmathT3SetCol( &a_Transform3, 1, &b_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 1" );
+    vmathT3SetCol( &a_Transform3, 2, &b_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 2" );
+    vmathT3SetCol( &a_Transform3, 3, &b_Vector3 );
+    vmathT3Prints( &a_Transform3, "Transform3 set col 3" );
+    vmathT3GetCol( &tmpV3_14, &a_Transform3, 0 );
+    vmathV3Prints( &tmpV3_14, "Transform3 get col 0" );
+    vmathT3GetCol( &tmpV3_15, &a_Transform3, 1 );
+    vmathV3Prints( &tmpV3_15, "Transform3 get col 1" );
+    vmathT3GetCol( &tmpV3_16, &a_Transform3, 2 );
+    vmathV3Prints( &tmpV3_16, "Transform3 get col 2" );
+    vmathT3GetCol( &tmpV3_17, &a_Transform3, 3 );
+    vmathV3Prints( &tmpV3_17, "Transform3 get col 3" );
+    vmathT3SetRow( &a_Transform3, 0, &a_Vector4 );
+    vmathT3Prints( &a_Transform3, "Transform3 set row 0" );
+    vmathT3SetRow( &a_Transform3, 1, &a_Vector4 );
+    vmathT3Prints( &a_Transform3, "Transform3 set row 1" );
+    vmathT3SetRow( &a_Transform3, 2, &a_Vector4 );
+    vmathT3Prints( &a_Transform3, "Transform3 set row 2" );
+    vmathT3GetRow( &tmpV4_0, &a_Transform3, 0 );
+    vmathV4Prints( &tmpV4_0, "Transform3 get row 0" );
+    vmathT3GetRow( &tmpV4_1, &a_Transform3, 1 );
+    vmathV4Prints( &tmpV4_1, "Transform3 get row 1" );
+    vmathT3GetRow( &tmpV4_2, &a_Transform3, 2 );
+    vmathV4Prints( &tmpV4_2, "Transform3 get row 2" );
+    vmathT3SetCol( &a_Transform3, 0, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "set " );
+    vmathT3SetCol( &a_Transform3, 1, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "set " );
+    vmathT3SetCol( &a_Transform3, 2, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "set " );
+    vmathT3SetCol( &a_Transform3, 3, &a_Vector3 );
+    vmathT3Prints( &a_Transform3, "set " );
+    vmathT3GetCol( &tmpV3_18, &a_Transform3, 0 );
+    vmathV3Prints( &tmpV3_18, "get " );
+    vmathT3GetCol( &tmpV3_19, &a_Transform3, 1 );
+    vmathV3Prints( &tmpV3_19, "get " );
+    vmathT3GetCol( &tmpV3_20, &a_Transform3, 2 );
+    vmathV3Prints( &tmpV3_20, "get " );
+    vmathT3GetCol( &tmpV3_21, &a_Transform3, 3 );
+    vmathV3Prints( &tmpV3_21, "get " );
+    vmathT3SetElem( &a_Transform3, 0, 0, randfloat() );
+    vmathT3SetElem( &a_Transform3, 0, 1, randfloat() );
+    vmathT3SetElem( &a_Transform3, 0, 2, randfloat() );
+    vmathT3SetElem( &a_Transform3, 1, 0, randfloat() );
+    vmathT3SetElem( &a_Transform3, 1, 1, randfloat() );
+    vmathT3SetElem( &a_Transform3, 1, 2, randfloat() );
+    vmathT3SetElem( &a_Transform3, 2, 0, randfloat() );
+    vmathT3SetElem( &a_Transform3, 2, 1, randfloat() );
+    vmathT3SetElem( &a_Transform3, 2, 2, randfloat() );
+    vmathT3SetElem( &a_Transform3, 3, 0, randfloat() );
+    vmathT3SetElem( &a_Transform3, 3, 1, randfloat() );
+    vmathT3SetElem( &a_Transform3, 3, 2, randfloat() );
+    vmathT3Prints( &a_Transform3, "Transform3 set elements" );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 0, 0 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 0, 1 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 0, 2 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 1, 0 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 1, 1 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 1, 2 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 2, 0 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 2, 1 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 2, 2 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 3, 0 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 3, 1 )) );
+    printf("%f\n", getfloat(vmathT3GetElem( &a_Transform3, 3, 2 )) );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test2_aos_cpp.cpp

@@ -0,0 +1,784 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_AOS_TEST
+
+#include "vectormath_aos.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Aos;
+
+void
+Matrix3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    a_Matrix3 = Matrix3( normalize( a_Quat ) );
+    print( a_Matrix3, "construct Matrix3 with Quat" );
+    a_Quat = Quat( a_Matrix3 );
+    print( a_Quat, "construct Quat with Matrix3" );
+    a_Matrix3 = b_Matrix3;
+    print( a_Matrix3, "assign to Matrix3 from Matrix3" );
+    a_Matrix3 = Matrix3( randfloat() );
+    print( a_Matrix3, "set Matrix3 with float" );
+    a_Matrix3 = Matrix3( scalar_float(randfloat()) );
+    print( a_Matrix3, "set Matrix3 with float" );
+    a_Matrix3 = Matrix3( 0.0f );
+    print( a_Matrix3, "set elements to zero" );
+    a_Matrix3 = Matrix3::identity( );
+    print( a_Matrix3, "set to identity" );
+    a_Matrix3 = Matrix3::rotationX( randfloat() );
+    print( a_Matrix3, "set to rotationX" );
+    a_Matrix3 = Matrix3::rotationY( randfloat() );
+    print( a_Matrix3, "set to rotationY" );
+    a_Matrix3 = Matrix3::rotationZ( randfloat() );
+    print( a_Matrix3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Matrix3 = Matrix3::rotationZYX( Vector3( rndflt3, rndflt2, rndflt1 ) );
+    print( a_Matrix3, "set to rotation from Z,Y,X angles" );
+    a_Matrix3 = Matrix3::rotation( randfloat(), normalize( a_Vector3 ) );
+    print( a_Matrix3, "set to rotation from axis angle" );
+    a_Matrix3.setCol0( a_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 0" );
+    a_Matrix3.setCol1( a_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 1" );
+    a_Matrix3.setCol2( a_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 2" );
+    print( a_Matrix3.getCol0( ), "Matrix3 get col 0" );
+    print( a_Matrix3.getCol1( ), "Matrix3 get col 1" );
+    print( a_Matrix3.getCol2( ), "Matrix3 get col 2" );
+    a_Matrix3.setCol( 0, b_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 0" );
+    a_Matrix3.setCol( 1, b_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 1" );
+    a_Matrix3.setCol( 2, b_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 2" );
+    print( a_Matrix3.getCol( 0 ), "Matrix3 get col 0" );
+    print( a_Matrix3.getCol( 1 ), "Matrix3 get col 1" );
+    print( a_Matrix3.getCol( 2 ), "Matrix3 get col 2" );
+    a_Matrix3.setRow( 0, a_Vector3 );
+    print( a_Matrix3, "Matrix3 set row 0" );
+    a_Matrix3.setRow( 1, a_Vector3 );
+    print( a_Matrix3, "Matrix3 set row 1" );
+    a_Matrix3.setRow( 2, a_Vector3 );
+    print( a_Matrix3, "Matrix3 set row 2" );
+    print( a_Matrix3.getRow( 0 ), "Matrix3 get row 0" );
+    print( a_Matrix3.getRow( 1 ), "Matrix3 get row 1" );
+    print( a_Matrix3.getRow( 2 ), "Matrix3 get row 2" );
+    a_Matrix3[0] = a_Vector3;
+    print( a_Matrix3, "set Matrix3[0]" );
+    a_Matrix3[1] = a_Vector3;
+    print( a_Matrix3, "set Matrix3[1]" );
+    a_Matrix3[2] = a_Vector3;
+    print( a_Matrix3, "set Matrix3[2]" );
+    a_Matrix3[0] = a_Vector3;
+    print( a_Matrix3[0], "get Matrix3[0]" );
+    a_Matrix3[1] = a_Vector3;
+    print( a_Matrix3[1], "get Matrix3[1]" );
+    a_Matrix3[2] = a_Vector3;
+    print( a_Matrix3[2], "get Matrix3[2]" );
+    a_Matrix3.setElem( 0, 0, randfloat() );
+    a_Matrix3.setElem( 0, 1, randfloat() );
+    a_Matrix3.setElem( 0, 2, randfloat() );
+    a_Matrix3.setElem( 1, 0, randfloat() );
+    a_Matrix3.setElem( 1, 1, randfloat() );
+    a_Matrix3.setElem( 1, 2, randfloat() );
+    a_Matrix3.setElem( 2, 0, randfloat() );
+    a_Matrix3.setElem( 2, 1, randfloat() );
+    a_Matrix3.setElem( 2, 2, randfloat() );
+    print( a_Matrix3, "Matrix3 set elements" );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 0, 0 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 0, 1 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 0, 2 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 1, 0 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 1, 1 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 1, 2 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 2, 0 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 2, 1 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 2, 2 )) );
+}
+
+void
+Matrix4_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    a_Matrix4 = Matrix4( a_Transform3 );
+    print( a_Matrix4, "construct Matrix4 with Transform3" );
+    a_Matrix4 = Matrix4( a_Matrix3, a_Vector3 );
+    print( a_Matrix4, "construct Matrix4 with Matrix3 and Vector3" );
+    a_Matrix4 = Matrix4( a_Quat, a_Vector3 );
+    print( a_Matrix4, "construct Matrix4 with Quat and Vector3" );
+    a_Matrix4 = b_Matrix4;
+    print( a_Matrix4, "assign to Matrix4 from Matrix4" );
+    a_Matrix4 = Matrix4( randfloat() );
+    print( a_Matrix4, "set Matrix4 with float" );
+    a_Matrix4 = Matrix4( scalar_float(randfloat()) );
+    print( a_Matrix4, "set Matrix4 with float" );
+    a_Matrix4 = Matrix4( 0.0f );
+    print( a_Matrix4, "set elements to zero" );
+    a_Matrix4 = Matrix4::identity( );
+    print( a_Matrix4, "set to identity" );
+    a_Matrix4 = Matrix4::rotationX( randfloat() );
+    print( a_Matrix4, "set to rotationX" );
+    a_Matrix4 = Matrix4::rotationY( randfloat() );
+    print( a_Matrix4, "set to rotationY" );
+    a_Matrix4 = Matrix4::rotationZ( randfloat() );
+    print( a_Matrix4, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Matrix4 = Matrix4::rotationZYX( Vector3( rndflt3, rndflt2, rndflt1 ) );
+    print( a_Matrix4, "set to rotation from Z,Y,X angles" );
+    a_Matrix4 = Matrix4::rotation( randfloat(), normalize( a_Vector3 ) );
+    print( a_Matrix4, "set to rotation from axis angle" );
+    a_Matrix4 = Matrix4::translation( a_Vector3 );
+    print( a_Matrix4, "set to translation" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Matrix4 = Matrix4::perspective( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Matrix4, "set to perspective matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    a_Matrix4 = Matrix4::frustum( rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    print( a_Matrix4, "set to frustum matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    a_Matrix4 = Matrix4::orthographic( rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    print( a_Matrix4, "set to orthographic matrix" );
+    a_Matrix4 = Matrix4::lookAt( a_Point3, b_Point3, a_Vector3 );
+    print( a_Matrix4, "set to look-at matrix" );
+    a_Matrix4.setCol0( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 0" );
+    a_Matrix4.setCol1( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 1" );
+    a_Matrix4.setCol2( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 2" );
+    a_Matrix4.setCol3( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 3" );
+    print( a_Matrix4.getCol0( ), "Matrix4 get col 0" );
+    print( a_Matrix4.getCol1( ), "Matrix4 get col 1" );
+    print( a_Matrix4.getCol2( ), "Matrix4 get col 2" );
+    print( a_Matrix4.getCol3( ), "Matrix4 get col 3" );
+    a_Matrix4.setCol( 0, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 0" );
+    a_Matrix4.setCol( 1, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 1" );
+    a_Matrix4.setCol( 2, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 2" );
+    a_Matrix4.setCol( 3, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 3" );
+    print( a_Matrix4.getCol( 0 ), "Matrix4 get col 0" );
+    print( a_Matrix4.getCol( 1 ), "Matrix4 get col 1" );
+    print( a_Matrix4.getCol( 2 ), "Matrix4 get col 2" );
+    print( a_Matrix4.getCol( 3 ), "Matrix4 get col 3" );
+    a_Matrix4.setRow( 0, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 0" );
+    a_Matrix4.setRow( 1, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 1" );
+    a_Matrix4.setRow( 2, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 2" );
+    a_Matrix4.setRow( 3, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 3" );
+    print( a_Matrix4.getRow( 0 ), "Matrix4 get row 0" );
+    print( a_Matrix4.getRow( 1 ), "Matrix4 get row 1" );
+    print( a_Matrix4.getRow( 2 ), "Matrix4 get row 2" );
+    print( a_Matrix4.getRow( 3 ), "Matrix4 get row 3" );
+    a_Matrix4[0] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[0]" );
+    a_Matrix4[1] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[1]" );
+    a_Matrix4[2] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[2]" );
+    a_Matrix4[3] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[3]" );
+    a_Matrix4[0] = a_Vector4;
+    print( a_Matrix4[0], "get Matrix4[0]" );
+    a_Matrix4[1] = a_Vector4;
+    print( a_Matrix4[1], "get Matrix4[1]" );
+    a_Matrix4[2] = a_Vector4;
+    print( a_Matrix4[2], "get Matrix4[2]" );
+    a_Matrix4[3] = a_Vector4;
+    print( a_Matrix4[3], "get Matrix4[3]" );
+    a_Matrix4.setElem( 0, 0, randfloat() );
+    a_Matrix4.setElem( 0, 1, randfloat() );
+    a_Matrix4.setElem( 0, 2, randfloat() );
+    a_Matrix4.setElem( 0, 3, randfloat() );
+    a_Matrix4.setElem( 1, 0, randfloat() );
+    a_Matrix4.setElem( 1, 1, randfloat() );
+    a_Matrix4.setElem( 1, 2, randfloat() );
+    a_Matrix4.setElem( 1, 3, randfloat() );
+    a_Matrix4.setElem( 2, 0, randfloat() );
+    a_Matrix4.setElem( 2, 1, randfloat() );
+    a_Matrix4.setElem( 2, 2, randfloat() );
+    a_Matrix4.setElem( 2, 3, randfloat() );
+    a_Matrix4.setElem( 3, 0, randfloat() );
+    a_Matrix4.setElem( 3, 1, randfloat() );
+    a_Matrix4.setElem( 3, 2, randfloat() );
+    a_Matrix4.setElem( 3, 3, randfloat() );
+    print( a_Matrix4, "Matrix4 set elements" );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 3 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 3 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 3 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 3 )) );
+}
+
+void
+Transform3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    a_Transform3 = Transform3( a_Matrix3, a_Vector3 );
+    print( a_Transform3, "construct Transform3 with Matrix3 and Vector3" );
+    a_Transform3 = Transform3( a_Quat, a_Vector3 );
+    print( a_Transform3, "construct Transform3 with Quat and Vector3" );
+    a_Transform3 = b_Transform3;
+    print( a_Transform3, "assign to Transform3 from Transform3" );
+    a_Transform3 = Transform3( randfloat() );
+    print( a_Transform3, "set Transform3 with float" );
+    a_Transform3 = Transform3( scalar_float(randfloat()) );
+    print( a_Transform3, "set Transform3 with float" );
+    a_Transform3 = Transform3( 0.0f );
+    print( a_Transform3, "set elements to zero" );
+    a_Transform3 = Transform3::identity( );
+    print( a_Transform3, "set to identity" );
+    a_Transform3 = Transform3::rotationX( randfloat() );
+    print( a_Transform3, "set to rotationX" );
+    a_Transform3 = Transform3::rotationY( randfloat() );
+    print( a_Transform3, "set to rotationY" );
+    a_Transform3 = Transform3::rotationZ( randfloat() );
+    print( a_Transform3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Transform3 = Transform3::rotationZYX( Vector3( rndflt3, rndflt2, rndflt1 ) );
+    print( a_Transform3, "set to rotation from Z,Y,X angles" );
+    a_Transform3 = Transform3::rotation( randfloat(), normalize( a_Vector3 ) );
+    print( a_Transform3, "set to rotation from axis angle" );
+    a_Transform3 = Transform3::translation( a_Vector3 );
+    print( a_Transform3, "set to translation" );
+    a_Transform3.setCol0( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 0" );
+    a_Transform3.setCol1( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 1" );
+    a_Transform3.setCol2( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 2" );
+    a_Transform3.setCol3( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 3" );
+    print( a_Transform3.getCol0( ), "Transform3 get col 0" );
+    print( a_Transform3.getCol1( ), "Transform3 get col 1" );
+    print( a_Transform3.getCol2( ), "Transform3 get col 2" );
+    print( a_Transform3.getCol3( ), "Transform3 get col 3" );
+    a_Transform3.setCol( 0, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 0" );
+    a_Transform3.setCol( 1, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 1" );
+    a_Transform3.setCol( 2, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 2" );
+    a_Transform3.setCol( 3, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 3" );
+    print( a_Transform3.getCol( 0 ), "Transform3 get col 0" );
+    print( a_Transform3.getCol( 1 ), "Transform3 get col 1" );
+    print( a_Transform3.getCol( 2 ), "Transform3 get col 2" );
+    print( a_Transform3.getCol( 3 ), "Transform3 get col 3" );
+    a_Transform3.setRow( 0, a_Vector4 );
+    print( a_Transform3, "Transform3 set row 0" );
+    a_Transform3.setRow( 1, a_Vector4 );
+    print( a_Transform3, "Transform3 set row 1" );
+    a_Transform3.setRow( 2, a_Vector4 );
+    print( a_Transform3, "Transform3 set row 2" );
+    print( a_Transform3.getRow( 0 ), "Transform3 get row 0" );
+    print( a_Transform3.getRow( 1 ), "Transform3 get row 1" );
+    print( a_Transform3.getRow( 2 ), "Transform3 get row 2" );
+    a_Transform3[0] = a_Vector3;
+    print( a_Transform3, "set Transform3[0]" );
+    a_Transform3[1] = a_Vector3;
+    print( a_Transform3, "set Transform3[1]" );
+    a_Transform3[2] = a_Vector3;
+    print( a_Transform3, "set Transform3[2]" );
+    a_Transform3[3] = a_Vector3;
+    print( a_Transform3, "set Transform3[3]" );
+    a_Transform3[0] = a_Vector3;
+    print( a_Transform3[0], "get Transform3[0]" );
+    a_Transform3[1] = a_Vector3;
+    print( a_Transform3[1], "get Transform3[1]" );
+    a_Transform3[2] = a_Vector3;
+    print( a_Transform3[2], "get Transform3[2]" );
+    a_Transform3[3] = a_Vector3;
+    print( a_Transform3[3], "get Transform3[3]" );
+    a_Transform3.setElem( 0, 0, randfloat() );
+    a_Transform3.setElem( 0, 1, randfloat() );
+    a_Transform3.setElem( 0, 2, randfloat() );
+    a_Transform3.setElem( 1, 0, randfloat() );
+    a_Transform3.setElem( 1, 1, randfloat() );
+    a_Transform3.setElem( 1, 2, randfloat() );
+    a_Transform3.setElem( 2, 0, randfloat() );
+    a_Transform3.setElem( 2, 1, randfloat() );
+    a_Transform3.setElem( 2, 2, randfloat() );
+    a_Transform3.setElem( 3, 0, randfloat() );
+    a_Transform3.setElem( 3, 1, randfloat() );
+    a_Transform3.setElem( 3, 2, randfloat() );
+    print( a_Transform3, "Transform3 set elements" );
+    printf("%f\n", getfloat(a_Transform3.getElem( 0, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 0, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 0, 2 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 1, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 1, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 1, 2 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 2, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 2, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 2, 2 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 3, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 3, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 3, 2 )) );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test2_soa_c.c

@@ -0,0 +1,760 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+void
+Matrix3_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat, tmpQ_0;
+    VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8, tmpV3_9, tmpV3_10, tmpV3_11, tmpV3_12, tmpV3_13;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaQNormalize( &tmpQ_0, &a_Quat );
+    vmathSoaM3MakeFromQ( &a_Matrix3, &tmpQ_0 );
+    vmathSoaM3Prints( &a_Matrix3, "construct Matrix3 with Quat" );
+    vmathSoaQMakeFromM3( &a_Quat, &a_Matrix3 );
+    vmathSoaQPrints( &a_Quat, "construct Quat with Matrix3" );
+    vmathSoaM3Copy( &a_Matrix3, &b_Matrix3 );
+    vmathSoaM3Prints( &a_Matrix3, "assign to Matrix3 from Matrix3" );
+    vmathSoaM3MakeFromScalar( &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 with float" );
+    vmathSoaM3MakeFromScalar( &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 with float" );
+    vmathSoaM3MakeFromScalar( &a_Matrix3, (vec_float4){0.0f} );
+    vmathSoaM3Prints( &a_Matrix3, "set elements to zero" );
+    vmathSoaM3MakeIdentity( &a_Matrix3 );
+    vmathSoaM3Prints( &a_Matrix3, "set to identity" );
+    vmathSoaM3MakeRotationX( &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &a_Matrix3, "set to rotationX" );
+    vmathSoaM3MakeRotationY( &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &a_Matrix3, "set to rotationY" );
+    vmathSoaM3MakeRotationZ( &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &a_Matrix3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &tmpV3_0, rndflt3, rndflt2, rndflt1 );
+    vmathSoaM3MakeRotationZYX( &a_Matrix3, &tmpV3_0 );
+    vmathSoaM3Prints( &a_Matrix3, "set to rotation from Z,Y,X angles" );
+    vmathSoaV3Normalize( &tmpV3_1, &a_Vector3 );
+    vmathSoaM3MakeRotationAxis( &a_Matrix3, randfloat(), &tmpV3_1 );
+    vmathSoaM3Prints( &a_Matrix3, "set to rotation from axis angle" );
+    vmathSoaM3SetCol0( &a_Matrix3, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set col 0" );
+    vmathSoaM3SetCol1( &a_Matrix3, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set col 1" );
+    vmathSoaM3SetCol2( &a_Matrix3, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set col 2" );
+    vmathSoaM3GetCol0( &tmpV3_2, &a_Matrix3 );
+    vmathSoaV3Prints( &tmpV3_2, "Matrix3 get col 0" );
+    vmathSoaM3GetCol1( &tmpV3_3, &a_Matrix3 );
+    vmathSoaV3Prints( &tmpV3_3, "Matrix3 get col 1" );
+    vmathSoaM3GetCol2( &tmpV3_4, &a_Matrix3 );
+    vmathSoaV3Prints( &tmpV3_4, "Matrix3 get col 2" );
+    vmathSoaM3SetCol( &a_Matrix3, 0, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set col 0" );
+    vmathSoaM3SetCol( &a_Matrix3, 1, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set col 1" );
+    vmathSoaM3SetCol( &a_Matrix3, 2, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set col 2" );
+    vmathSoaM3GetCol( &tmpV3_5, &a_Matrix3, 0 );
+    vmathSoaV3Prints( &tmpV3_5, "Matrix3 get col 0" );
+    vmathSoaM3GetCol( &tmpV3_6, &a_Matrix3, 1 );
+    vmathSoaV3Prints( &tmpV3_6, "Matrix3 get col 1" );
+    vmathSoaM3GetCol( &tmpV3_7, &a_Matrix3, 2 );
+    vmathSoaV3Prints( &tmpV3_7, "Matrix3 get col 2" );
+    vmathSoaM3SetRow( &a_Matrix3, 0, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set row 0" );
+    vmathSoaM3SetRow( &a_Matrix3, 1, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set row 1" );
+    vmathSoaM3SetRow( &a_Matrix3, 2, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set row 2" );
+    vmathSoaM3GetRow( &tmpV3_8, &a_Matrix3, 0 );
+    vmathSoaV3Prints( &tmpV3_8, "Matrix3 get row 0" );
+    vmathSoaM3GetRow( &tmpV3_9, &a_Matrix3, 1 );
+    vmathSoaV3Prints( &tmpV3_9, "Matrix3 get row 1" );
+    vmathSoaM3GetRow( &tmpV3_10, &a_Matrix3, 2 );
+    vmathSoaV3Prints( &tmpV3_10, "Matrix3 get row 2" );
+    vmathSoaM3SetCol( &a_Matrix3, 0, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set " );
+    vmathSoaM3SetCol( &a_Matrix3, 1, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set " );
+    vmathSoaM3SetCol( &a_Matrix3, 2, &a_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set " );
+    vmathSoaM3GetCol( &tmpV3_11, &a_Matrix3, 0 );
+    vmathSoaV3Prints( &tmpV3_11, "get " );
+    vmathSoaM3GetCol( &tmpV3_12, &a_Matrix3, 1 );
+    vmathSoaV3Prints( &tmpV3_12, "get " );
+    vmathSoaM3GetCol( &tmpV3_13, &a_Matrix3, 2 );
+    vmathSoaV3Prints( &tmpV3_13, "get " );
+    vmathSoaM3SetElem( &a_Matrix3, 0, 0, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 0, 1, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 0, 2, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 1, 0, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 1, 1, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 1, 2, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 2, 0, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 2, 1, randfloat() );
+    vmathSoaM3SetElem( &a_Matrix3, 2, 2, randfloat() );
+    vmathSoaM3Prints( &a_Matrix3, "Matrix3 set elements" );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 0, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 0, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 0, 2 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 1, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 1, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 1, 2 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 2, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 2, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM3GetElem( &a_Matrix3, 2, 2 )) );
+}
+
+void
+Matrix4_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector3 tmpV3_0, tmpV3_1;
+    VmathSoaVector4 tmpV4_0, tmpV4_1, tmpV4_2, tmpV4_3, tmpV4_4, tmpV4_5, tmpV4_6, tmpV4_7, tmpV4_8, tmpV4_9, tmpV4_10, tmpV4_11, tmpV4_12, tmpV4_13, tmpV4_14, tmpV4_15;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaM4MakeFromT3( &a_Matrix4, &a_Transform3 );
+    vmathSoaM4Prints( &a_Matrix4, "construct Matrix4 with Transform3" );
+    vmathSoaM4MakeFromM3V3( &a_Matrix4, &a_Matrix3, &a_Vector3 );
+    vmathSoaM4Prints( &a_Matrix4, "construct Matrix4 with Matrix3 and Vector3" );
+    vmathSoaM4MakeFromQV3( &a_Matrix4, &a_Quat, &a_Vector3 );
+    vmathSoaM4Prints( &a_Matrix4, "construct Matrix4 with Quat and Vector3" );
+    vmathSoaM4Copy( &a_Matrix4, &b_Matrix4 );
+    vmathSoaM4Prints( &a_Matrix4, "assign to Matrix4 from Matrix4" );
+    vmathSoaM4MakeFromScalar( &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 with float" );
+    vmathSoaM4MakeFromScalar( &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 with float" );
+    vmathSoaM4MakeFromScalar( &a_Matrix4, (vec_float4){0.0f} );
+    vmathSoaM4Prints( &a_Matrix4, "set elements to zero" );
+    vmathSoaM4MakeIdentity( &a_Matrix4 );
+    vmathSoaM4Prints( &a_Matrix4, "set to identity" );
+    vmathSoaM4MakeRotationX( &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &a_Matrix4, "set to rotationX" );
+    vmathSoaM4MakeRotationY( &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &a_Matrix4, "set to rotationY" );
+    vmathSoaM4MakeRotationZ( &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &a_Matrix4, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &tmpV3_0, rndflt3, rndflt2, rndflt1 );
+    vmathSoaM4MakeRotationZYX( &a_Matrix4, &tmpV3_0 );
+    vmathSoaM4Prints( &a_Matrix4, "set to rotation from Z,Y,X angles" );
+    vmathSoaV3Normalize( &tmpV3_1, &a_Vector3 );
+    vmathSoaM4MakeRotationAxis( &a_Matrix4, randfloat(), &tmpV3_1 );
+    vmathSoaM4Prints( &a_Matrix4, "set to rotation from axis angle" );
+    vmathSoaM4MakeTranslation( &a_Matrix4, &a_Vector3 );
+    vmathSoaM4Prints( &a_Matrix4, "set to translation" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaM4MakePerspective( &a_Matrix4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaM4Prints( &a_Matrix4, "set to perspective matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaM4MakeFrustum( &a_Matrix4, rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    vmathSoaM4Prints( &a_Matrix4, "set to frustum matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaM4MakeOrthographic( &a_Matrix4, rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    vmathSoaM4Prints( &a_Matrix4, "set to orthographic matrix" );
+    vmathSoaM4MakeLookAt( &a_Matrix4, &a_Point3, &b_Point3, &a_Vector3 );
+    vmathSoaM4Prints( &a_Matrix4, "set to look-at matrix" );
+    vmathSoaM4SetCol0( &a_Matrix4, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 0" );
+    vmathSoaM4SetCol1( &a_Matrix4, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 1" );
+    vmathSoaM4SetCol2( &a_Matrix4, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 2" );
+    vmathSoaM4SetCol3( &a_Matrix4, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 3" );
+    vmathSoaM4GetCol0( &tmpV4_0, &a_Matrix4 );
+    vmathSoaV4Prints( &tmpV4_0, "Matrix4 get col 0" );
+    vmathSoaM4GetCol1( &tmpV4_1, &a_Matrix4 );
+    vmathSoaV4Prints( &tmpV4_1, "Matrix4 get col 1" );
+    vmathSoaM4GetCol2( &tmpV4_2, &a_Matrix4 );
+    vmathSoaV4Prints( &tmpV4_2, "Matrix4 get col 2" );
+    vmathSoaM4GetCol3( &tmpV4_3, &a_Matrix4 );
+    vmathSoaV4Prints( &tmpV4_3, "Matrix4 get col 3" );
+    vmathSoaM4SetCol( &a_Matrix4, 0, &b_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 0" );
+    vmathSoaM4SetCol( &a_Matrix4, 1, &b_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 1" );
+    vmathSoaM4SetCol( &a_Matrix4, 2, &b_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 2" );
+    vmathSoaM4SetCol( &a_Matrix4, 3, &b_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set col 3" );
+    vmathSoaM4GetCol( &tmpV4_4, &a_Matrix4, 0 );
+    vmathSoaV4Prints( &tmpV4_4, "Matrix4 get col 0" );
+    vmathSoaM4GetCol( &tmpV4_5, &a_Matrix4, 1 );
+    vmathSoaV4Prints( &tmpV4_5, "Matrix4 get col 1" );
+    vmathSoaM4GetCol( &tmpV4_6, &a_Matrix4, 2 );
+    vmathSoaV4Prints( &tmpV4_6, "Matrix4 get col 2" );
+    vmathSoaM4GetCol( &tmpV4_7, &a_Matrix4, 3 );
+    vmathSoaV4Prints( &tmpV4_7, "Matrix4 get col 3" );
+    vmathSoaM4SetRow( &a_Matrix4, 0, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set row 0" );
+    vmathSoaM4SetRow( &a_Matrix4, 1, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set row 1" );
+    vmathSoaM4SetRow( &a_Matrix4, 2, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set row 2" );
+    vmathSoaM4SetRow( &a_Matrix4, 3, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set row 3" );
+    vmathSoaM4GetRow( &tmpV4_8, &a_Matrix4, 0 );
+    vmathSoaV4Prints( &tmpV4_8, "Matrix4 get row 0" );
+    vmathSoaM4GetRow( &tmpV4_9, &a_Matrix4, 1 );
+    vmathSoaV4Prints( &tmpV4_9, "Matrix4 get row 1" );
+    vmathSoaM4GetRow( &tmpV4_10, &a_Matrix4, 2 );
+    vmathSoaV4Prints( &tmpV4_10, "Matrix4 get row 2" );
+    vmathSoaM4GetRow( &tmpV4_11, &a_Matrix4, 3 );
+    vmathSoaV4Prints( &tmpV4_11, "Matrix4 get row 3" );
+    vmathSoaM4SetCol( &a_Matrix4, 0, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set " );
+    vmathSoaM4SetCol( &a_Matrix4, 1, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set " );
+    vmathSoaM4SetCol( &a_Matrix4, 2, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set " );
+    vmathSoaM4SetCol( &a_Matrix4, 3, &a_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set " );
+    vmathSoaM4GetCol( &tmpV4_12, &a_Matrix4, 0 );
+    vmathSoaV4Prints( &tmpV4_12, "get " );
+    vmathSoaM4GetCol( &tmpV4_13, &a_Matrix4, 1 );
+    vmathSoaV4Prints( &tmpV4_13, "get " );
+    vmathSoaM4GetCol( &tmpV4_14, &a_Matrix4, 2 );
+    vmathSoaV4Prints( &tmpV4_14, "get " );
+    vmathSoaM4GetCol( &tmpV4_15, &a_Matrix4, 3 );
+    vmathSoaV4Prints( &tmpV4_15, "get " );
+    vmathSoaM4SetElem( &a_Matrix4, 0, 0, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 0, 1, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 0, 2, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 0, 3, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 1, 0, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 1, 1, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 1, 2, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 1, 3, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 2, 0, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 2, 1, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 2, 2, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 2, 3, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 3, 0, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 3, 1, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 3, 2, randfloat() );
+    vmathSoaM4SetElem( &a_Matrix4, 3, 3, randfloat() );
+    vmathSoaM4Prints( &a_Matrix4, "Matrix4 set elements" );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 0, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 0, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 0, 2 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 0, 3 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 1, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 1, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 1, 2 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 1, 3 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 2, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 2, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 2, 2 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 2, 3 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 3, 0 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 3, 1 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 3, 2 )) );
+    printf("%f\n", getfloat(vmathSoaM4GetElem( &a_Matrix4, 3, 3 )) );
+}
+
+void
+Transform3_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8, tmpV3_9;
+    VmathSoaVector4 tmpV4_0, tmpV4_1, tmpV4_2;
+    VmathSoaVector3 tmpV3_10, tmpV3_11, tmpV3_12, tmpV3_13;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaT3MakeFromM3V3( &a_Transform3, &a_Matrix3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "construct Transform3 with Matrix3 and Vector3" );
+    vmathSoaT3MakeFromQV3( &a_Transform3, &a_Quat, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "construct Transform3 with Quat and Vector3" );
+    vmathSoaT3Copy( &a_Transform3, &b_Transform3 );
+    vmathSoaT3Prints( &a_Transform3, "assign to Transform3 from Transform3" );
+    vmathSoaT3MakeFromScalar( &a_Transform3, randfloat() );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 with float" );
+    vmathSoaT3MakeFromScalar( &a_Transform3, randfloat() );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 with float" );
+    vmathSoaT3MakeFromScalar( &a_Transform3, (vec_float4){0.0f} );
+    vmathSoaT3Prints( &a_Transform3, "set elements to zero" );
+    vmathSoaT3MakeIdentity( &a_Transform3 );
+    vmathSoaT3Prints( &a_Transform3, "set to identity" );
+    vmathSoaT3MakeRotationX( &a_Transform3, randfloat() );
+    vmathSoaT3Prints( &a_Transform3, "set to rotationX" );
+    vmathSoaT3MakeRotationY( &a_Transform3, randfloat() );
+    vmathSoaT3Prints( &a_Transform3, "set to rotationY" );
+    vmathSoaT3MakeRotationZ( &a_Transform3, randfloat() );
+    vmathSoaT3Prints( &a_Transform3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &tmpV3_0, rndflt3, rndflt2, rndflt1 );
+    vmathSoaT3MakeRotationZYX( &a_Transform3, &tmpV3_0 );
+    vmathSoaT3Prints( &a_Transform3, "set to rotation from Z,Y,X angles" );
+    vmathSoaV3Normalize( &tmpV3_1, &a_Vector3 );
+    vmathSoaT3MakeRotationAxis( &a_Transform3, randfloat(), &tmpV3_1 );
+    vmathSoaT3Prints( &a_Transform3, "set to rotation from axis angle" );
+    vmathSoaT3MakeTranslation( &a_Transform3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set to translation" );
+    vmathSoaT3SetCol0( &a_Transform3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 0" );
+    vmathSoaT3SetCol1( &a_Transform3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 1" );
+    vmathSoaT3SetCol2( &a_Transform3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 2" );
+    vmathSoaT3SetCol3( &a_Transform3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 3" );
+    vmathSoaT3GetCol0( &tmpV3_2, &a_Transform3 );
+    vmathSoaV3Prints( &tmpV3_2, "Transform3 get col 0" );
+    vmathSoaT3GetCol1( &tmpV3_3, &a_Transform3 );
+    vmathSoaV3Prints( &tmpV3_3, "Transform3 get col 1" );
+    vmathSoaT3GetCol2( &tmpV3_4, &a_Transform3 );
+    vmathSoaV3Prints( &tmpV3_4, "Transform3 get col 2" );
+    vmathSoaT3GetCol3( &tmpV3_5, &a_Transform3 );
+    vmathSoaV3Prints( &tmpV3_5, "Transform3 get col 3" );
+    vmathSoaT3SetCol( &a_Transform3, 0, &b_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 0" );
+    vmathSoaT3SetCol( &a_Transform3, 1, &b_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 1" );
+    vmathSoaT3SetCol( &a_Transform3, 2, &b_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 2" );
+    vmathSoaT3SetCol( &a_Transform3, 3, &b_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set col 3" );
+    vmathSoaT3GetCol( &tmpV3_6, &a_Transform3, 0 );
+    vmathSoaV3Prints( &tmpV3_6, "Transform3 get col 0" );
+    vmathSoaT3GetCol( &tmpV3_7, &a_Transform3, 1 );
+    vmathSoaV3Prints( &tmpV3_7, "Transform3 get col 1" );
+    vmathSoaT3GetCol( &tmpV3_8, &a_Transform3, 2 );
+    vmathSoaV3Prints( &tmpV3_8, "Transform3 get col 2" );
+    vmathSoaT3GetCol( &tmpV3_9, &a_Transform3, 3 );
+    vmathSoaV3Prints( &tmpV3_9, "Transform3 get col 3" );
+    vmathSoaT3SetRow( &a_Transform3, 0, &a_Vector4 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set row 0" );
+    vmathSoaT3SetRow( &a_Transform3, 1, &a_Vector4 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set row 1" );
+    vmathSoaT3SetRow( &a_Transform3, 2, &a_Vector4 );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set row 2" );
+    vmathSoaT3GetRow( &tmpV4_0, &a_Transform3, 0 );
+    vmathSoaV4Prints( &tmpV4_0, "Transform3 get row 0" );
+    vmathSoaT3GetRow( &tmpV4_1, &a_Transform3, 1 );
+    vmathSoaV4Prints( &tmpV4_1, "Transform3 get row 1" );
+    vmathSoaT3GetRow( &tmpV4_2, &a_Transform3, 2 );
+    vmathSoaV4Prints( &tmpV4_2, "Transform3 get row 2" );
+    vmathSoaT3SetCol( &a_Transform3, 0, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set " );
+    vmathSoaT3SetCol( &a_Transform3, 1, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set " );
+    vmathSoaT3SetCol( &a_Transform3, 2, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set " );
+    vmathSoaT3SetCol( &a_Transform3, 3, &a_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set " );
+    vmathSoaT3GetCol( &tmpV3_10, &a_Transform3, 0 );
+    vmathSoaV3Prints( &tmpV3_10, "get " );
+    vmathSoaT3GetCol( &tmpV3_11, &a_Transform3, 1 );
+    vmathSoaV3Prints( &tmpV3_11, "get " );
+    vmathSoaT3GetCol( &tmpV3_12, &a_Transform3, 2 );
+    vmathSoaV3Prints( &tmpV3_12, "get " );
+    vmathSoaT3GetCol( &tmpV3_13, &a_Transform3, 3 );
+    vmathSoaV3Prints( &tmpV3_13, "get " );
+    vmathSoaT3SetElem( &a_Transform3, 0, 0, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 0, 1, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 0, 2, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 1, 0, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 1, 1, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 1, 2, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 2, 0, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 2, 1, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 2, 2, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 3, 0, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 3, 1, randfloat() );
+    vmathSoaT3SetElem( &a_Transform3, 3, 2, randfloat() );
+    vmathSoaT3Prints( &a_Transform3, "Transform3 set elements" );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 0, 0 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 0, 1 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 0, 2 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 1, 0 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 1, 1 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 1, 2 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 2, 0 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 2, 1 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 2, 2 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 3, 0 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 3, 1 )) );
+    printf("%f\n", getfloat(vmathSoaT3GetElem( &a_Transform3, 3, 2 )) );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test2_soa_cpp.cpp

@@ -0,0 +1,718 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Soa;
+
+void
+Matrix3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    a_Matrix3 = Matrix3( normalize( a_Quat ) );
+    print( a_Matrix3, "construct Matrix3 with Quat" );
+    a_Quat = Quat( a_Matrix3 );
+    print( a_Quat, "construct Quat with Matrix3" );
+    a_Matrix3 = b_Matrix3;
+    print( a_Matrix3, "assign to Matrix3 from Matrix3" );
+    a_Matrix3 = Matrix3( randfloat() );
+    print( a_Matrix3, "set Matrix3 with float" );
+    a_Matrix3 = Matrix3( randfloat() );
+    print( a_Matrix3, "set Matrix3 with float" );
+    a_Matrix3 = Matrix3( (vec_float4){0.0f} );
+    print( a_Matrix3, "set elements to zero" );
+    a_Matrix3 = Matrix3::identity( );
+    print( a_Matrix3, "set to identity" );
+    a_Matrix3 = Matrix3::rotationX( randfloat() );
+    print( a_Matrix3, "set to rotationX" );
+    a_Matrix3 = Matrix3::rotationY( randfloat() );
+    print( a_Matrix3, "set to rotationY" );
+    a_Matrix3 = Matrix3::rotationZ( randfloat() );
+    print( a_Matrix3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Matrix3 = Matrix3::rotationZYX( Vector3( rndflt3, rndflt2, rndflt1 ) );
+    print( a_Matrix3, "set to rotation from Z,Y,X angles" );
+    a_Matrix3 = Matrix3::rotation( randfloat(), normalize( a_Vector3 ) );
+    print( a_Matrix3, "set to rotation from axis angle" );
+    a_Matrix3.setCol0( a_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 0" );
+    a_Matrix3.setCol1( a_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 1" );
+    a_Matrix3.setCol2( a_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 2" );
+    print( a_Matrix3.getCol0( ), "Matrix3 get col 0" );
+    print( a_Matrix3.getCol1( ), "Matrix3 get col 1" );
+    print( a_Matrix3.getCol2( ), "Matrix3 get col 2" );
+    a_Matrix3.setCol( 0, b_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 0" );
+    a_Matrix3.setCol( 1, b_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 1" );
+    a_Matrix3.setCol( 2, b_Vector3 );
+    print( a_Matrix3, "Matrix3 set col 2" );
+    print( a_Matrix3.getCol( 0 ), "Matrix3 get col 0" );
+    print( a_Matrix3.getCol( 1 ), "Matrix3 get col 1" );
+    print( a_Matrix3.getCol( 2 ), "Matrix3 get col 2" );
+    a_Matrix3.setRow( 0, a_Vector3 );
+    print( a_Matrix3, "Matrix3 set row 0" );
+    a_Matrix3.setRow( 1, a_Vector3 );
+    print( a_Matrix3, "Matrix3 set row 1" );
+    a_Matrix3.setRow( 2, a_Vector3 );
+    print( a_Matrix3, "Matrix3 set row 2" );
+    print( a_Matrix3.getRow( 0 ), "Matrix3 get row 0" );
+    print( a_Matrix3.getRow( 1 ), "Matrix3 get row 1" );
+    print( a_Matrix3.getRow( 2 ), "Matrix3 get row 2" );
+    a_Matrix3[0] = a_Vector3;
+    print( a_Matrix3, "set Matrix3[0]" );
+    a_Matrix3[1] = a_Vector3;
+    print( a_Matrix3, "set Matrix3[1]" );
+    a_Matrix3[2] = a_Vector3;
+    print( a_Matrix3, "set Matrix3[2]" );
+    a_Matrix3[0] = a_Vector3;
+    print( a_Matrix3[0], "get Matrix3[0]" );
+    a_Matrix3[1] = a_Vector3;
+    print( a_Matrix3[1], "get Matrix3[1]" );
+    a_Matrix3[2] = a_Vector3;
+    print( a_Matrix3[2], "get Matrix3[2]" );
+    a_Matrix3.setElem( 0, 0, randfloat() );
+    a_Matrix3.setElem( 0, 1, randfloat() );
+    a_Matrix3.setElem( 0, 2, randfloat() );
+    a_Matrix3.setElem( 1, 0, randfloat() );
+    a_Matrix3.setElem( 1, 1, randfloat() );
+    a_Matrix3.setElem( 1, 2, randfloat() );
+    a_Matrix3.setElem( 2, 0, randfloat() );
+    a_Matrix3.setElem( 2, 1, randfloat() );
+    a_Matrix3.setElem( 2, 2, randfloat() );
+    print( a_Matrix3, "Matrix3 set elements" );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 0, 0 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 0, 1 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 0, 2 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 1, 0 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 1, 1 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 1, 2 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 2, 0 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 2, 1 )) );
+    printf("%f\n", getfloat(a_Matrix3.getElem( 2, 2 )) );
+}
+
+void
+Matrix4_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    a_Matrix4 = Matrix4( a_Transform3 );
+    print( a_Matrix4, "construct Matrix4 with Transform3" );
+    a_Matrix4 = Matrix4( a_Matrix3, a_Vector3 );
+    print( a_Matrix4, "construct Matrix4 with Matrix3 and Vector3" );
+    a_Matrix4 = Matrix4( a_Quat, a_Vector3 );
+    print( a_Matrix4, "construct Matrix4 with Quat and Vector3" );
+    a_Matrix4 = b_Matrix4;
+    print( a_Matrix4, "assign to Matrix4 from Matrix4" );
+    a_Matrix4 = Matrix4( randfloat() );
+    print( a_Matrix4, "set Matrix4 with float" );
+    a_Matrix4 = Matrix4( randfloat() );
+    print( a_Matrix4, "set Matrix4 with float" );
+    a_Matrix4 = Matrix4( (vec_float4){0.0f} );
+    print( a_Matrix4, "set elements to zero" );
+    a_Matrix4 = Matrix4::identity( );
+    print( a_Matrix4, "set to identity" );
+    a_Matrix4 = Matrix4::rotationX( randfloat() );
+    print( a_Matrix4, "set to rotationX" );
+    a_Matrix4 = Matrix4::rotationY( randfloat() );
+    print( a_Matrix4, "set to rotationY" );
+    a_Matrix4 = Matrix4::rotationZ( randfloat() );
+    print( a_Matrix4, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Matrix4 = Matrix4::rotationZYX( Vector3( rndflt3, rndflt2, rndflt1 ) );
+    print( a_Matrix4, "set to rotation from Z,Y,X angles" );
+    a_Matrix4 = Matrix4::rotation( randfloat(), normalize( a_Vector3 ) );
+    print( a_Matrix4, "set to rotation from axis angle" );
+    a_Matrix4 = Matrix4::translation( a_Vector3 );
+    print( a_Matrix4, "set to translation" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Matrix4 = Matrix4::perspective( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Matrix4, "set to perspective matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    a_Matrix4 = Matrix4::frustum( rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    print( a_Matrix4, "set to frustum matrix" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    a_Matrix4 = Matrix4::orthographic( rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6 );
+    print( a_Matrix4, "set to orthographic matrix" );
+    a_Matrix4 = Matrix4::lookAt( a_Point3, b_Point3, a_Vector3 );
+    print( a_Matrix4, "set to look-at matrix" );
+    a_Matrix4.setCol0( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 0" );
+    a_Matrix4.setCol1( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 1" );
+    a_Matrix4.setCol2( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 2" );
+    a_Matrix4.setCol3( a_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 3" );
+    print( a_Matrix4.getCol0( ), "Matrix4 get col 0" );
+    print( a_Matrix4.getCol1( ), "Matrix4 get col 1" );
+    print( a_Matrix4.getCol2( ), "Matrix4 get col 2" );
+    print( a_Matrix4.getCol3( ), "Matrix4 get col 3" );
+    a_Matrix4.setCol( 0, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 0" );
+    a_Matrix4.setCol( 1, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 1" );
+    a_Matrix4.setCol( 2, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 2" );
+    a_Matrix4.setCol( 3, b_Vector4 );
+    print( a_Matrix4, "Matrix4 set col 3" );
+    print( a_Matrix4.getCol( 0 ), "Matrix4 get col 0" );
+    print( a_Matrix4.getCol( 1 ), "Matrix4 get col 1" );
+    print( a_Matrix4.getCol( 2 ), "Matrix4 get col 2" );
+    print( a_Matrix4.getCol( 3 ), "Matrix4 get col 3" );
+    a_Matrix4.setRow( 0, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 0" );
+    a_Matrix4.setRow( 1, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 1" );
+    a_Matrix4.setRow( 2, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 2" );
+    a_Matrix4.setRow( 3, a_Vector4 );
+    print( a_Matrix4, "Matrix4 set row 3" );
+    print( a_Matrix4.getRow( 0 ), "Matrix4 get row 0" );
+    print( a_Matrix4.getRow( 1 ), "Matrix4 get row 1" );
+    print( a_Matrix4.getRow( 2 ), "Matrix4 get row 2" );
+    print( a_Matrix4.getRow( 3 ), "Matrix4 get row 3" );
+    a_Matrix4[0] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[0]" );
+    a_Matrix4[1] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[1]" );
+    a_Matrix4[2] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[2]" );
+    a_Matrix4[3] = a_Vector4;
+    print( a_Matrix4, "set Matrix4[3]" );
+    a_Matrix4[0] = a_Vector4;
+    print( a_Matrix4[0], "get Matrix4[0]" );
+    a_Matrix4[1] = a_Vector4;
+    print( a_Matrix4[1], "get Matrix4[1]" );
+    a_Matrix4[2] = a_Vector4;
+    print( a_Matrix4[2], "get Matrix4[2]" );
+    a_Matrix4[3] = a_Vector4;
+    print( a_Matrix4[3], "get Matrix4[3]" );
+    a_Matrix4.setElem( 0, 0, randfloat() );
+    a_Matrix4.setElem( 0, 1, randfloat() );
+    a_Matrix4.setElem( 0, 2, randfloat() );
+    a_Matrix4.setElem( 0, 3, randfloat() );
+    a_Matrix4.setElem( 1, 0, randfloat() );
+    a_Matrix4.setElem( 1, 1, randfloat() );
+    a_Matrix4.setElem( 1, 2, randfloat() );
+    a_Matrix4.setElem( 1, 3, randfloat() );
+    a_Matrix4.setElem( 2, 0, randfloat() );
+    a_Matrix4.setElem( 2, 1, randfloat() );
+    a_Matrix4.setElem( 2, 2, randfloat() );
+    a_Matrix4.setElem( 2, 3, randfloat() );
+    a_Matrix4.setElem( 3, 0, randfloat() );
+    a_Matrix4.setElem( 3, 1, randfloat() );
+    a_Matrix4.setElem( 3, 2, randfloat() );
+    a_Matrix4.setElem( 3, 3, randfloat() );
+    print( a_Matrix4, "Matrix4 set elements" );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 0, 3 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 1, 3 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 2, 3 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 0 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 1 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 2 )) );
+    printf("%f\n", getfloat(a_Matrix4.getElem( 3, 3 )) );
+}
+
+void
+Transform3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    a_Transform3 = Transform3( a_Matrix3, a_Vector3 );
+    print( a_Transform3, "construct Transform3 with Matrix3 and Vector3" );
+    a_Transform3 = Transform3( a_Quat, a_Vector3 );
+    print( a_Transform3, "construct Transform3 with Quat and Vector3" );
+    a_Transform3 = b_Transform3;
+    print( a_Transform3, "assign to Transform3 from Transform3" );
+    a_Transform3 = Transform3( randfloat() );
+    print( a_Transform3, "set Transform3 with float" );
+    a_Transform3 = Transform3( randfloat() );
+    print( a_Transform3, "set Transform3 with float" );
+    a_Transform3 = Transform3( (vec_float4){0.0f} );
+    print( a_Transform3, "set elements to zero" );
+    a_Transform3 = Transform3::identity( );
+    print( a_Transform3, "set to identity" );
+    a_Transform3 = Transform3::rotationX( randfloat() );
+    print( a_Transform3, "set to rotationX" );
+    a_Transform3 = Transform3::rotationY( randfloat() );
+    print( a_Transform3, "set to rotationY" );
+    a_Transform3 = Transform3::rotationZ( randfloat() );
+    print( a_Transform3, "set to rotationZ" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Transform3 = Transform3::rotationZYX( Vector3( rndflt3, rndflt2, rndflt1 ) );
+    print( a_Transform3, "set to rotation from Z,Y,X angles" );
+    a_Transform3 = Transform3::rotation( randfloat(), normalize( a_Vector3 ) );
+    print( a_Transform3, "set to rotation from axis angle" );
+    a_Transform3 = Transform3::translation( a_Vector3 );
+    print( a_Transform3, "set to translation" );
+    a_Transform3.setCol0( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 0" );
+    a_Transform3.setCol1( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 1" );
+    a_Transform3.setCol2( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 2" );
+    a_Transform3.setCol3( a_Vector3 );
+    print( a_Transform3, "Transform3 set col 3" );
+    print( a_Transform3.getCol0( ), "Transform3 get col 0" );
+    print( a_Transform3.getCol1( ), "Transform3 get col 1" );
+    print( a_Transform3.getCol2( ), "Transform3 get col 2" );
+    print( a_Transform3.getCol3( ), "Transform3 get col 3" );
+    a_Transform3.setCol( 0, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 0" );
+    a_Transform3.setCol( 1, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 1" );
+    a_Transform3.setCol( 2, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 2" );
+    a_Transform3.setCol( 3, b_Vector3 );
+    print( a_Transform3, "Transform3 set col 3" );
+    print( a_Transform3.getCol( 0 ), "Transform3 get col 0" );
+    print( a_Transform3.getCol( 1 ), "Transform3 get col 1" );
+    print( a_Transform3.getCol( 2 ), "Transform3 get col 2" );
+    print( a_Transform3.getCol( 3 ), "Transform3 get col 3" );
+    a_Transform3.setRow( 0, a_Vector4 );
+    print( a_Transform3, "Transform3 set row 0" );
+    a_Transform3.setRow( 1, a_Vector4 );
+    print( a_Transform3, "Transform3 set row 1" );
+    a_Transform3.setRow( 2, a_Vector4 );
+    print( a_Transform3, "Transform3 set row 2" );
+    print( a_Transform3.getRow( 0 ), "Transform3 get row 0" );
+    print( a_Transform3.getRow( 1 ), "Transform3 get row 1" );
+    print( a_Transform3.getRow( 2 ), "Transform3 get row 2" );
+    a_Transform3[0] = a_Vector3;
+    print( a_Transform3, "set Transform3[0]" );
+    a_Transform3[1] = a_Vector3;
+    print( a_Transform3, "set Transform3[1]" );
+    a_Transform3[2] = a_Vector3;
+    print( a_Transform3, "set Transform3[2]" );
+    a_Transform3[3] = a_Vector3;
+    print( a_Transform3, "set Transform3[3]" );
+    a_Transform3[0] = a_Vector3;
+    print( a_Transform3[0], "get Transform3[0]" );
+    a_Transform3[1] = a_Vector3;
+    print( a_Transform3[1], "get Transform3[1]" );
+    a_Transform3[2] = a_Vector3;
+    print( a_Transform3[2], "get Transform3[2]" );
+    a_Transform3[3] = a_Vector3;
+    print( a_Transform3[3], "get Transform3[3]" );
+    a_Transform3.setElem( 0, 0, randfloat() );
+    a_Transform3.setElem( 0, 1, randfloat() );
+    a_Transform3.setElem( 0, 2, randfloat() );
+    a_Transform3.setElem( 1, 0, randfloat() );
+    a_Transform3.setElem( 1, 1, randfloat() );
+    a_Transform3.setElem( 1, 2, randfloat() );
+    a_Transform3.setElem( 2, 0, randfloat() );
+    a_Transform3.setElem( 2, 1, randfloat() );
+    a_Transform3.setElem( 2, 2, randfloat() );
+    a_Transform3.setElem( 3, 0, randfloat() );
+    a_Transform3.setElem( 3, 1, randfloat() );
+    a_Transform3.setElem( 3, 2, randfloat() );
+    print( a_Transform3, "Transform3 set elements" );
+    printf("%f\n", getfloat(a_Transform3.getElem( 0, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 0, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 0, 2 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 1, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 1, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 1, 2 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 2, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 2, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 2, 2 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 3, 0 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 3, 1 )) );
+    printf("%f\n", getfloat(a_Transform3.getElem( 3, 2 )) );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test3_aos_c.c

@@ -0,0 +1,524 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_AOS_TEST
+
+#include "vectormath_aos.h"
+#include "test.h"
+
+int iteration = 0;
+
+void
+Matrix3_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathMatrix3 tmpM3_0, tmpM3_1, tmpM3_2, tmpM3_3, tmpM3_4, tmpM3_5;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathM3Add( &tmpM3_0, &a_Matrix3, &b_Matrix3 );
+    vmathM3Prints( &tmpM3_0, "Matrix3 + Matrix3" );
+    vmathM3Sub( &tmpM3_1, &a_Matrix3, &b_Matrix3 );
+    vmathM3Prints( &tmpM3_1, "Matrix3 - Matrix3" );
+    vmathM3Neg( &tmpM3_2, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_2, "-Matrix3" );
+    vmathM3ScalarMul( &tmpM3_3, &a_Matrix3, randfloat() );
+    vmathM3Prints( &tmpM3_3, "Matrix3 * float" );
+    vmathM3ScalarMul( &tmpM3_4, &a_Matrix3, randfloat() );
+    vmathM3Prints( &tmpM3_4, "float * Matrix3" );
+    vmathM3MulV3( &tmpV3_8, &a_Matrix3, &a_Vector3 );
+    vmathV3Prints( &tmpV3_8, "Matrix3 * Vector3" );
+    vmathM3Mul( &tmpM3_5, &a_Matrix3, &b_Matrix3 );
+    vmathM3Prints( &tmpM3_5, "Matrix3 * Matrix3" );
+}
+
+void
+Matrix4_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathMatrix4 tmpM4_0, tmpM4_1, tmpM4_2, tmpM4_3, tmpM4_4, tmpM4_5, tmpM4_6;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7;
+    VmathVector4 tmpV4_0, tmpV4_1, tmpV4_2;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathM4Add( &tmpM4_0, &a_Matrix4, &b_Matrix4 );
+    vmathM4Prints( &tmpM4_0, "Matrix4 + Matrix4" );
+    vmathM4Sub( &tmpM4_1, &a_Matrix4, &b_Matrix4 );
+    vmathM4Prints( &tmpM4_1, "Matrix4 - Matrix4" );
+    vmathM4Neg( &tmpM4_2, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_2, "-Matrix4" );
+    vmathM4ScalarMul( &tmpM4_3, &a_Matrix4, randfloat() );
+    vmathM4Prints( &tmpM4_3, "Matrix4 * float" );
+    vmathM4ScalarMul( &tmpM4_4, &a_Matrix4, randfloat() );
+    vmathM4Prints( &tmpM4_4, "float * Matrix4" );
+    vmathM4MulV4( &tmpV4_0, &a_Matrix4, &a_Vector4 );
+    vmathV4Prints( &tmpV4_0, "Matrix4 * Vector4" );
+    vmathM4MulV3( &tmpV4_1, &a_Matrix4, &a_Vector3 );
+    vmathV4Prints( &tmpV4_1, "Matrix4 * Vector3" );
+    vmathM4MulP3( &tmpV4_2, &a_Matrix4, &a_Point3 );
+    vmathV4Prints( &tmpV4_2, "Matrix4 * Point3" );
+    vmathM4Mul( &tmpM4_5, &a_Matrix4, &b_Matrix4 );
+    vmathM4Prints( &tmpM4_5, "Matrix4 * Matrix4" );
+    vmathM4MulT3( &tmpM4_6, &a_Matrix4, &b_Transform3 );
+    vmathM4Prints( &tmpM4_6, "Matrix4 * Transform3" );
+}
+
+void
+Transform3_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3, tmpT3_0;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8;
+    VmathPoint3 tmpP3_0;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathT3MulV3( &tmpV3_8, &a_Transform3, &a_Vector3 );
+    vmathV3Prints( &tmpV3_8, "Transform3 * Vector3" );
+    vmathT3MulP3( &tmpP3_0, &a_Transform3, &a_Point3 );
+    vmathP3Prints( &tmpP3_0, "Transform3 * Point3" );
+    vmathT3Mul( &tmpT3_0, &a_Transform3, &b_Transform3 );
+    vmathT3Prints( &tmpT3_0, "Transform3 * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test3_aos_cpp.cpp

@@ -0,0 +1,476 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_AOS_TEST
+
+#include "vectormath_aos.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Aos;
+
+void
+Matrix3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( ( a_Matrix3 + b_Matrix3 ), "Matrix3 + Matrix3" );
+    print( ( a_Matrix3 - b_Matrix3 ), "Matrix3 - Matrix3" );
+    print( ( -a_Matrix3 ), "-Matrix3" );
+    print( ( a_Matrix3 * randfloat() ), "Matrix3 * float" );
+    print( ( randfloat() * a_Matrix3 ), "float * Matrix3" );
+    print( ( a_Matrix3 * a_Vector3 ), "Matrix3 * Vector3" );
+    print( ( a_Matrix3 * b_Matrix3 ), "Matrix3 * Matrix3" );
+}
+
+void
+Matrix4_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( ( a_Matrix4 + b_Matrix4 ), "Matrix4 + Matrix4" );
+    print( ( a_Matrix4 - b_Matrix4 ), "Matrix4 - Matrix4" );
+    print( ( -a_Matrix4 ), "-Matrix4" );
+    print( ( a_Matrix4 * randfloat() ), "Matrix4 * float" );
+    print( ( randfloat() * a_Matrix4 ), "float * Matrix4" );
+    print( ( a_Matrix4 * a_Vector4 ), "Matrix4 * Vector4" );
+    print( ( a_Matrix4 * a_Vector3 ), "Matrix4 * Vector3" );
+    print( ( a_Matrix4 * a_Point3 ), "Matrix4 * Point3" );
+    print( ( a_Matrix4 * b_Matrix4 ), "Matrix4 * Matrix4" );
+    print( ( a_Matrix4 * b_Transform3 ), "Matrix4 * Transform3" );
+}
+
+void
+Transform3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( ( a_Transform3 * a_Vector3 ), "Transform3 * Vector3" );
+    print( ( a_Transform3 * a_Point3 ), "Transform3 * Point3" );
+    print( ( a_Transform3 * b_Transform3 ), "Transform3 * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test3_reference.txt

@@ -0,0 +1,392 @@
+set Vector3 with floats: ( -0.658344 0.499804 -0.807257 )
+set Vector3 with floats: ( 0.740930 0.154607 0.571599 )
+set Vector3 with floats: ( 0.384388 -0.262467 0.747808 )
+set Vector3 with floats: ( 0.490190 -0.107908 -0.292544 )
+set Vector4 with floats: ( 0.465039 -0.479556 -0.211412 0.553580 )
+set Vector4 with floats: ( 0.690070 0.151576 0.431077 -0.833992 )
+set Vector4 with floats: ( -0.088350 -0.780106 0.090456 -0.218627 )
+set Vector4 with floats: ( 0.137171 0.918133 0.735438 -0.673621 )
+set Point3 with floats: ( -0.448982 -0.479278 0.848189 )
+set Point3 with floats: ( -0.128155 0.578922 -0.744766 )
+set Point3 with floats: ( -0.835589 0.881284 -0.948850 )
+set Point3 with floats: ( -0.691578 -0.235635 -0.690527 )
+set Quat with floats: ( 0.058667 0.753697 -0.138777 -0.472188 )
+set Quat with floats: ( -0.372811 0.540183 -0.785218 0.542085 )
+set Quat with floats: ( 0.410391 -0.562721 0.523588 -0.176574 )
+set Quat with floats: ( 0.297654 0.859913 0.004837 0.374881 )
+set Matrix3 columns:
+( -0.658344 0.740930 0.384388 )
+( 0.499804 0.154607 -0.262467 )
+( -0.807257 0.571599 0.747808 )
+set Matrix3 columns:
+( 0.490190 -0.658344 0.740930 )
+( -0.107908 0.499804 0.154607 )
+( -0.292544 -0.807257 0.571599 )
+set Matrix4 columns:
+( 0.465039 0.690070 -0.088350 0.137171 )
+( -0.479556 0.151576 -0.780106 0.918133 )
+( -0.211412 0.431077 0.090456 0.735438 )
+( 0.553580 -0.833992 -0.218627 -0.673621 )
+set Matrix4 columns:
+( 0.137171 0.465039 0.690070 -0.088350 )
+( 0.918133 -0.479556 0.151576 -0.780106 )
+( 0.735438 -0.211412 0.431077 0.090456 )
+( -0.673621 0.553580 -0.833992 -0.218627 )
+set Transform3 columns:
+( -0.658344 0.740930 0.384388 0.490190 )
+( 0.499804 0.154607 -0.262467 -0.107908 )
+( -0.807257 0.571599 0.747808 -0.292544 )
+set Transform3 columns:
+( 0.490190 -0.658344 0.740930 0.384388 )
+( -0.107908 0.499804 0.154607 -0.262467 )
+( -0.292544 -0.807257 0.571599 0.747808 )
+Matrix3 + Matrix3:
+( -0.168154 0.082587 1.125319 )
+( 0.391896 0.654411 -0.107860 )
+( -1.099800 -0.235658 1.319407 )
+Matrix3 - Matrix3:
+( -1.148534 1.399274 -0.356542 )
+( 0.607712 -0.345197 -0.417075 )
+( -0.514713 1.378855 0.176210 )
+-Matrix3:
+( 0.658344 -0.740930 -0.384388 )
+( -0.499804 -0.154607 0.262467 )
+( 0.807257 -0.571599 -0.747808 )
+Matrix3 * float:
+( 0.084148 -0.094704 -0.049132 )
+( -0.063884 -0.019762 0.033548 )
+( 0.103182 -0.073061 -0.095583 )
+float * Matrix3:
+( -0.142598 0.160487 0.083259 )
+( 0.108258 0.033488 -0.056851 )
+( -0.174853 0.123809 0.161977 )
+Matrix3 * Vector3: ( 0.493437 -0.039891 0.213467 )
+Matrix3 * Matrix3:
+( -0.515117 0.493437 -0.153518 )
+( 0.305099 -0.039891 0.244197 )
+( -0.676156 0.213467 -0.082302 )
+set Vector3 with floats: ( 0.153117 0.265243 -0.073149 )
+set Vector3 with floats: ( 0.264488 -0.723410 0.921523 )
+set Vector3 with floats: ( -0.711250 -0.106634 -0.350831 )
+set Vector3 with floats: ( 0.905168 -0.283632 -0.203584 )
+set Vector4 with floats: ( -0.797437 0.910171 0.969234 0.151940 )
+set Vector4 with floats: ( 0.731827 -0.700248 0.818301 0.302505 )
+set Vector4 with floats: ( -0.872278 0.909999 0.932526 0.571087 )
+set Vector4 with floats: ( 0.610330 0.142507 -0.434829 0.925102 )
+set Point3 with floats: ( 0.158954 -0.126283 -0.249128 )
+set Point3 with floats: ( 0.846815 -0.942601 0.537720 )
+set Point3 with floats: ( 0.446214 0.181939 -0.148223 )
+set Point3 with floats: ( 0.284286 0.493525 -0.861963 )
+set Quat with floats: ( -0.893410 0.548627 0.407007 -0.757467 )
+set Quat with floats: ( -0.393126 -0.850984 0.375720 -0.270088 )
+set Quat with floats: ( 0.458888 -0.610828 -0.690816 -0.676415 )
+set Quat with floats: ( 0.664466 0.101874 -0.365714 0.055473 )
+set Matrix3 columns:
+( 0.153117 0.264488 -0.711250 )
+( 0.265243 -0.723410 -0.106634 )
+( -0.073149 0.921523 -0.350831 )
+set Matrix3 columns:
+( 0.905168 0.153117 0.264488 )
+( -0.283632 0.265243 -0.723410 )
+( -0.203584 -0.073149 0.921523 )
+set Matrix4 columns:
+( -0.797437 0.731827 -0.872278 0.610330 )
+( 0.910171 -0.700248 0.909999 0.142507 )
+( 0.969234 0.818301 0.932526 -0.434829 )
+( 0.151940 0.302505 0.571087 0.925102 )
+set Matrix4 columns:
+( 0.610330 -0.797437 0.731827 -0.872278 )
+( 0.142507 0.910171 -0.700248 0.909999 )
+( -0.434829 0.969234 0.818301 0.932526 )
+( 0.925102 0.151940 0.302505 0.571087 )
+set Transform3 columns:
+( 0.153117 0.264488 -0.711250 0.905168 )
+( 0.265243 -0.723410 -0.106634 -0.283632 )
+( -0.073149 0.921523 -0.350831 -0.203584 )
+set Transform3 columns:
+( 0.905168 0.153117 0.264488 -0.711250 )
+( -0.283632 0.265243 -0.723410 -0.106634 )
+( -0.203584 -0.073149 0.921523 -0.350831 )
+Matrix4 + Matrix4:
+( -0.187107 -0.065609 -0.140451 -0.261949 )
+( 1.052679 0.209923 0.209751 1.052506 )
+( 0.534405 1.787535 1.750826 0.497697 )
+( 1.077042 0.454445 0.873592 1.496189 )
+Matrix4 - Matrix4:
+( -1.407767 1.529264 -1.604106 1.482608 )
+( 0.767664 -1.610420 1.610247 -0.767491 )
+( 1.404062 -0.150933 0.114225 -1.367354 )
+( -0.773162 0.150565 0.268582 0.354015 )
+-Matrix4:
+( 0.797437 -0.731827 0.872278 -0.610330 )
+( -0.910171 0.700248 -0.909999 -0.142507 )
+( -0.969234 -0.818301 -0.932526 0.434829 )
+( -0.151940 -0.302505 -0.571087 -0.925102 )
+Matrix4 * float:
+( 0.106503 -0.097740 0.116498 -0.081513 )
+( -0.121559 0.093522 -0.121536 -0.019033 )
+( -0.129447 -0.109289 -0.124544 0.058074 )
+( -0.020293 -0.040401 -0.076272 -0.123553 )
+float * Matrix4:
+( 0.456647 -0.419076 0.499504 -0.349501 )
+( -0.521203 0.400992 -0.521105 -0.081606 )
+( -0.555025 -0.468594 -0.534004 0.249002 )
+( -0.087007 -0.173227 -0.327029 -0.529753 )
+Matrix4 * Vector4: ( 0.549286 -0.459496 0.809659 0.848246 )
+Matrix4 * Vector3: ( 0.135817 -0.112939 0.297242 0.061728 )
+Matrix4 * Point3: ( 0.608465 0.148906 -0.616420 0.768779 )
+Matrix4 * Matrix4:
+( 0.561500 0.549286 -1.625205 0.896678 )
+( 0.191855 -0.459496 1.944198 -0.501167 )
+( -0.099583 0.809659 0.767847 0.520490 )
+( 0.743332 0.848246 0.646534 1.203612 )
+Matrix4 * Transform3:
+( -0.751803 0.135817 -1.544148 1.405491 )
+( 0.837210 -0.112939 1.585880 -0.749438 )
+( 0.455376 0.297242 0.523727 -1.538614 )
+( -0.064533 0.061728 0.347621 0.584422 )
+set Vector3 with floats: ( 0.459209 -0.997261 0.172409 )
+set Vector3 with floats: ( -0.045124 0.879716 0.524317 )
+set Vector3 with floats: ( -0.744532 -0.970444 -0.000013 )
+set Vector3 with floats: ( 0.689543 0.704297 -0.817983 )
+set Vector4 with floats: ( 0.715505 0.577868 0.156952 -0.801022 )
+set Vector4 with floats: ( 0.656335 0.494393 0.816743 0.024285 )
+set Vector4 with floats: ( 0.769132 0.923895 0.133022 -0.052219 )
+set Vector4 with floats: ( -0.164886 0.300690 0.760403 0.171869 )
+set Point3 with floats: ( -0.554976 0.998693 -0.681641 )
+set Point3 with floats: ( 0.391195 0.403059 0.972411 )
+set Point3 with floats: ( 0.297195 0.309761 0.688408 )
+set Point3 with floats: ( 0.363540 0.940297 -0.336683 )
+set Quat with floats: ( 0.600164 -0.681272 0.726558 0.205513 )
+set Quat with floats: ( -0.160082 0.962714 0.737794 -0.071926 )
+set Quat with floats: ( -0.506313 0.689277 0.686485 0.473013 )
+set Quat with floats: ( -0.735610 -0.046390 0.568674 -0.004815 )
+set Matrix3 columns:
+( 0.459209 -0.045124 -0.744532 )
+( -0.997261 0.879716 -0.970444 )
+( 0.172409 0.524317 -0.000013 )
+set Matrix3 columns:
+( 0.689543 0.459209 -0.045124 )
+( 0.704297 -0.997261 0.879716 )
+( -0.817983 0.172409 0.524317 )
+set Matrix4 columns:
+( 0.715505 0.656335 0.769132 -0.164886 )
+( 0.577868 0.494393 0.923895 0.300690 )
+( 0.156952 0.816743 0.133022 0.760403 )
+( -0.801022 0.024285 -0.052219 0.171869 )
+set Matrix4 columns:
+( -0.164886 0.715505 0.656335 0.769132 )
+( 0.300690 0.577868 0.494393 0.923895 )
+( 0.760403 0.156952 0.816743 0.133022 )
+( 0.171869 -0.801022 0.024285 -0.052219 )
+set Transform3 columns:
+( 0.459209 -0.045124 -0.744532 0.689543 )
+( -0.997261 0.879716 -0.970444 0.704297 )
+( 0.172409 0.524317 -0.000013 -0.817983 )
+set Transform3 columns:
+( 0.689543 0.459209 -0.045124 -0.744532 )
+( 0.704297 -0.997261 0.879716 -0.970444 )
+( -0.817983 0.172409 0.524317 -0.000013 )
+Transform3 * Vector3: ( 0.127510 -1.502572 -0.443712 )
+Transform3 * Point3: ( 0.897132 2.797814 -0.390025 )
+Transform3 * Transform3:
+( 0.893878 0.127510 -0.450789 0.391447 )
+( 0.725733 -1.502572 0.310080 0.593088 )
+( 0.488169 -0.443712 0.453463 -1.455167 )
+set Vector3 with floats: ( 0.137637 -0.111879 -0.929543 )
+set Vector3 with floats: ( -0.336303 -0.146740 0.165140 )
+set Vector3 with floats: ( -0.823874 0.349776 0.174872 )
+set Vector3 with floats: ( -0.528584 0.489292 0.916708 )
+set Vector4 with floats: ( 0.728511 -0.851140 0.079620 -0.234370 )
+set Vector4 with floats: ( -0.996308 0.433229 -0.892684 -0.957911 )
+set Vector4 with floats: ( 0.517122 0.257921 0.862028 0.095881 )
+set Vector4 with floats: ( -0.171933 -0.214078 -0.604841 -0.383831 )
+set Point3 with floats: ( -0.581500 0.222183 -0.256120 )
+set Point3 with floats: ( -0.678699 -0.079553 0.605960 )
+set Point3 with floats: ( -0.633147 0.435875 -0.046627 )
+set Point3 with floats: ( -0.716491 0.267317 -0.514874 )
+set Quat with floats: ( -0.751700 0.742959 -0.793180 0.508814 )
+set Quat with floats: ( -0.238839 0.113471 -0.843523 -0.245250 )
+set Quat with floats: ( 0.250368 0.579243 -0.157280 0.648487 )
+set Quat with floats: ( 0.103833 0.456401 -0.022372 -0.475631 )
+set Matrix3 columns:
+( 0.137637 -0.336303 -0.823874 )
+( -0.111879 -0.146740 0.349776 )
+( -0.929543 0.165140 0.174872 )
+set Matrix3 columns:
+( -0.528584 0.137637 -0.336303 )
+( 0.489292 -0.111879 -0.146740 )
+( 0.916708 -0.929543 0.165140 )
+set Matrix4 columns:
+( 0.728511 -0.996308 0.517122 -0.171933 )
+( -0.851140 0.433229 0.257921 -0.214078 )
+( 0.079620 -0.892684 0.862028 -0.604841 )
+( -0.234370 -0.957911 0.095881 -0.383831 )
+set Matrix4 columns:
+( -0.171933 0.728511 -0.996308 0.517122 )
+( -0.214078 -0.851140 0.433229 0.257921 )
+( -0.604841 0.079620 -0.892684 0.862028 )
+( -0.383831 -0.234370 -0.957911 0.095881 )
+set Transform3 columns:
+( 0.137637 -0.336303 -0.823874 -0.528584 )
+( -0.111879 -0.146740 0.349776 0.489292 )
+( -0.929543 0.165140 0.174872 0.916708 )
+set Transform3 columns:
+( -0.528584 0.137637 -0.336303 -0.823874 )
+( 0.489292 -0.111879 -0.146740 0.349776 )
+( 0.916708 -0.929543 0.165140 0.174872 )
+Matrix3 + Matrix3:
+( -0.390948 -0.198667 -1.160178 )
+( 0.377413 -0.258619 0.203036 )
+( -0.012835 -0.764402 0.340013 )
+Matrix3 - Matrix3:
+( 0.666221 -0.473940 -0.487571 )
+( -0.601171 -0.034861 0.496517 )
+( -1.846250 1.094683 0.009732 )
+-Matrix3:
+( -0.137637 0.336303 0.823874 )
+( 0.111879 0.146740 -0.349776 )
+( 0.929543 -0.165140 -0.174872 )
+Matrix3 * float:
+( -0.000575 0.001405 0.003442 )
+( 0.000467 0.000613 -0.001461 )
+( 0.003884 -0.000690 -0.000731 )
+float * Matrix3:
+( -0.002872 0.007017 0.017190 )
+( 0.002334 0.003062 -0.007298 )
+( 0.019395 -0.003446 -0.003649 )
+Matrix3 * Vector3: ( 0.822395 -0.324114 -0.308966 )
+Matrix3 * Matrix3:
+( -0.992555 0.822395 -0.132993 )
+( 0.307981 -0.324114 0.116920 )
+( 0.732450 -0.308966 0.317254 )
+set Vector3 with floats: ( -0.016997 0.699144 0.837796 )
+set Vector3 with floats: ( -0.276082 0.091582 0.209064 )
+set Vector3 with floats: ( 0.219317 -0.118359 0.413442 )
+set Vector3 with floats: ( -0.567698 0.531358 -0.387226 )
+set Vector4 with floats: ( 0.572490 -0.820417 0.797191 0.867178 )
+set Vector4 with floats: ( 0.934764 0.237092 -0.866162 -0.773939 )
+set Vector4 with floats: ( 0.261311 -0.851570 0.114814 -0.531592 )
+set Vector4 with floats: ( 0.223925 0.869105 0.143405 0.148518 )
+set Point3 with floats: ( -0.071136 -0.758292 -0.527633 )
+set Point3 with floats: ( 0.997215 0.114440 0.727558 )
+set Point3 with floats: ( -0.425760 0.459888 0.642516 )
+set Point3 with floats: ( -0.022534 0.186095 -0.775679 )
+set Quat with floats: ( -0.683401 0.398134 0.189642 0.765986 )
+set Quat with floats: ( -0.137795 -0.579844 -0.635647 0.374970 )
+set Quat with floats: ( -0.563750 -0.471075 -0.553800 -0.014688 )
+set Quat with floats: ( -0.464365 -0.107890 -0.527503 -0.406423 )
+set Matrix3 columns:
+( -0.016997 -0.276082 0.219317 )
+( 0.699144 0.091582 -0.118359 )
+( 0.837796 0.209064 0.413442 )
+set Matrix3 columns:
+( -0.567698 -0.016997 -0.276082 )
+( 0.531358 0.699144 0.091582 )
+( -0.387226 0.837796 0.209064 )
+set Matrix4 columns:
+( 0.572490 0.934764 0.261311 0.223925 )
+( -0.820417 0.237092 -0.851570 0.869105 )
+( 0.797191 -0.866162 0.114814 0.143405 )
+( 0.867178 -0.773939 -0.531592 0.148518 )
+set Matrix4 columns:
+( 0.223925 0.572490 0.934764 0.261311 )
+( 0.869105 -0.820417 0.237092 -0.851570 )
+( 0.143405 0.797191 -0.866162 0.114814 )
+( 0.148518 0.867178 -0.773939 -0.531592 )
+set Transform3 columns:
+( -0.016997 -0.276082 0.219317 -0.567698 )
+( 0.699144 0.091582 -0.118359 0.531358 )
+( 0.837796 0.209064 0.413442 -0.387226 )
+set Transform3 columns:
+( -0.567698 -0.016997 -0.276082 0.219317 )
+( 0.531358 0.699144 0.091582 -0.118359 )
+( -0.387226 0.837796 0.209064 0.413442 )
+Matrix4 + Matrix4:
+( 0.796414 1.507254 1.196075 0.485235 )
+( 0.048687 -0.583325 -0.614477 0.017535 )
+( 0.940596 -0.068971 -0.751347 0.258219 )
+( 1.015695 0.093239 -1.305531 -0.383075 )
+Matrix4 - Matrix4:
+( 0.348565 0.362275 -0.673454 -0.037386 )
+( -1.689522 1.057509 -1.088662 1.720674 )
+( 0.653787 -1.663353 0.980976 0.028590 )
+( 0.718660 -1.641117 0.242347 0.680110 )
+-Matrix4:
+( -0.572490 -0.934764 -0.261311 -0.223925 )
+( 0.820417 -0.237092 0.851570 -0.869105 )
+( -0.797191 0.866162 -0.114814 -0.143405 )
+( -0.867178 0.773939 0.531592 -0.148518 )
+Matrix4 * float:
+( 0.172469 0.281608 0.078723 0.067460 )
+( -0.247160 0.071427 -0.256545 0.261827 )
+( 0.240163 -0.260941 0.034589 0.043202 )
+( 0.261247 -0.233158 -0.160148 0.044743 )
+float * Matrix4:
+( 0.285975 0.466942 0.130532 0.111857 )
+( -0.409822 0.118434 -0.425383 0.434143 )
+( 0.398220 -0.432673 0.057353 0.071635 )
+( 0.433180 -0.386605 -0.265545 0.074189 )
+Matrix4 * Vector4: ( -0.036655 -0.589390 1.382884 0.836413 )
+Matrix4 * Vector3: ( 0.862729 -0.533736 -0.522930 -1.001200 )
+Matrix4 * Point3: ( -0.663500 1.196998 0.682919 0.954187 )
+Matrix4 * Matrix4:
+( 1.011332 -0.036655 0.357127 -0.735454 )
+( 0.029304 -0.589390 -0.645721 -0.976066 )
+( -0.536511 1.382884 0.329392 0.882861 )
+( -0.532626 0.836413 0.972614 0.745680 )
+Matrix4 * Transform3:
+( 0.070508 0.862729 -0.017816 0.346880 )
+( 0.921479 -0.533736 0.070183 0.309037 )
+( -0.957265 -0.522930 -0.275411 0.468230 )
+( -0.697687 -1.001200 -0.421428 0.210525 )
+set Vector3 with floats: ( 0.385180 -0.150218 0.519112 )
+set Vector3 with floats: ( -0.203209 -0.252017 0.282194 )
+set Vector3 with floats: ( 0.067637 0.798376 0.310782 )
+set Vector3 with floats: ( 0.861334 -0.980345 -0.655106 )
+set Vector4 with floats: ( 0.286765 0.532078 0.352671 0.540977 )
+set Vector4 with floats: ( 0.510961 0.791871 -0.564379 0.273199 )
+set Vector4 with floats: ( 0.194378 0.244636 -0.269608 -0.858162 )
+set Vector4 with floats: ( -0.495023 -0.277798 -0.032740 0.007412 )
+set Point3 with floats: ( -0.420178 -0.522577 0.324972 )
+set Point3 with floats: ( 0.795389 0.342900 -0.913636 )
+set Point3 with floats: ( 0.675222 0.144053 -0.632329 )
+set Point3 with floats: ( -0.947120 -0.049367 0.126333 )
+set Quat with floats: ( -0.664206 0.220879 0.284219 -0.387216 )
+set Quat with floats: ( 0.913568 0.531906 0.271995 -0.862601 )
+set Quat with floats: ( -0.738694 0.514248 -0.039363 0.429390 )
+set Quat with floats: ( -0.769469 0.281336 -0.203301 0.412586 )
+set Matrix3 columns:
+( 0.385180 -0.203209 0.067637 )
+( -0.150218 -0.252017 0.798376 )
+( 0.519112 0.282194 0.310782 )
+set Matrix3 columns:
+( 0.861334 0.385180 -0.203209 )
+( -0.980345 -0.150218 -0.252017 )
+( -0.655106 0.519112 0.282194 )
+set Matrix4 columns:
+( 0.286765 0.510961 0.194378 -0.495023 )
+( 0.532078 0.791871 0.244636 -0.277798 )
+( 0.352671 -0.564379 -0.269608 -0.032740 )
+( 0.540977 0.273199 -0.858162 0.007412 )
+set Matrix4 columns:
+( -0.495023 0.286765 0.510961 0.194378 )
+( -0.277798 0.532078 0.791871 0.244636 )
+( -0.032740 0.352671 -0.564379 -0.269608 )
+( 0.007412 0.540977 0.273199 -0.858162 )
+set Transform3 columns:
+( 0.385180 -0.203209 0.067637 0.861334 )
+( -0.150218 -0.252017 0.798376 -0.980345 )
+( 0.519112 0.282194 0.310782 -0.655106 )
+set Transform3 columns:
+( 0.861334 0.385180 -0.203209 0.067637 )
+( -0.980345 -0.150218 -0.252017 0.798376 )
+( -0.655106 0.519112 0.282194 0.310782 )
+Transform3 * Vector3: ( 0.214000 0.394443 0.318891 )
+Transform3 * Point3: ( 0.827662 -0.526078 -0.919697 )
+Transform3 * Transform3:
+( 0.486673 0.214000 -0.007973 0.746170 )
+( -0.405345 0.394443 0.319335 -0.943589 )
+( -0.033113 0.318891 -0.088905 -0.298112 )
+
+ __end__ 

Extras/vectormathlibrary/tests/test3_soa_c.c

@@ -0,0 +1,433 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+void
+Matrix3_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaMatrix3 tmpM3_0, tmpM3_1, tmpM3_2, tmpM3_3, tmpM3_4, tmpM3_5;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector3 tmpV3_0;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaM3Add( &tmpM3_0, &a_Matrix3, &b_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_0, "Matrix3 + Matrix3" );
+    vmathSoaM3Sub( &tmpM3_1, &a_Matrix3, &b_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_1, "Matrix3 - Matrix3" );
+    vmathSoaM3Neg( &tmpM3_2, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_2, "-Matrix3" );
+    vmathSoaM3ScalarMul( &tmpM3_3, &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &tmpM3_3, "Matrix3 * float" );
+    vmathSoaM3ScalarMul( &tmpM3_4, &a_Matrix3, randfloat() );
+    vmathSoaM3Prints( &tmpM3_4, "float * Matrix3" );
+    vmathSoaM3MulV3( &tmpV3_0, &a_Matrix3, &a_Vector3 );
+    vmathSoaV3Prints( &tmpV3_0, "Matrix3 * Vector3" );
+    vmathSoaM3Mul( &tmpM3_5, &a_Matrix3, &b_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_5, "Matrix3 * Matrix3" );
+}
+
+void
+Matrix4_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaMatrix4 tmpM4_0, tmpM4_1, tmpM4_2, tmpM4_3, tmpM4_4, tmpM4_5, tmpM4_6;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector4 tmpV4_0, tmpV4_1, tmpV4_2;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaM4Add( &tmpM4_0, &a_Matrix4, &b_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_0, "Matrix4 + Matrix4" );
+    vmathSoaM4Sub( &tmpM4_1, &a_Matrix4, &b_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_1, "Matrix4 - Matrix4" );
+    vmathSoaM4Neg( &tmpM4_2, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_2, "-Matrix4" );
+    vmathSoaM4ScalarMul( &tmpM4_3, &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &tmpM4_3, "Matrix4 * float" );
+    vmathSoaM4ScalarMul( &tmpM4_4, &a_Matrix4, randfloat() );
+    vmathSoaM4Prints( &tmpM4_4, "float * Matrix4" );
+    vmathSoaM4MulV4( &tmpV4_0, &a_Matrix4, &a_Vector4 );
+    vmathSoaV4Prints( &tmpV4_0, "Matrix4 * Vector4" );
+    vmathSoaM4MulV3( &tmpV4_1, &a_Matrix4, &a_Vector3 );
+    vmathSoaV4Prints( &tmpV4_1, "Matrix4 * Vector3" );
+    vmathSoaM4MulP3( &tmpV4_2, &a_Matrix4, &a_Point3 );
+    vmathSoaV4Prints( &tmpV4_2, "Matrix4 * Point3" );
+    vmathSoaM4Mul( &tmpM4_5, &a_Matrix4, &b_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_5, "Matrix4 * Matrix4" );
+    vmathSoaM4MulT3( &tmpM4_6, &a_Matrix4, &b_Transform3 );
+    vmathSoaM4Prints( &tmpM4_6, "Matrix4 * Transform3" );
+}
+
+void
+Transform3_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3, tmpT3_0;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector3 tmpV3_0;
+    VmathSoaPoint3 tmpP3_0;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaT3MulV3( &tmpV3_0, &a_Transform3, &a_Vector3 );
+    vmathSoaV3Prints( &tmpV3_0, "Transform3 * Vector3" );
+    vmathSoaT3MulP3( &tmpP3_0, &a_Transform3, &a_Point3 );
+    vmathSoaP3Prints( &tmpP3_0, "Transform3 * Point3" );
+    vmathSoaT3Mul( &tmpT3_0, &a_Transform3, &b_Transform3 );
+    vmathSoaT3Prints( &tmpT3_0, "Transform3 * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test3_soa_cpp.cpp

@@ -0,0 +1,410 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Soa;
+
+void
+Matrix3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( ( a_Matrix3 + b_Matrix3 ), "Matrix3 + Matrix3" );
+    print( ( a_Matrix3 - b_Matrix3 ), "Matrix3 - Matrix3" );
+    print( ( -a_Matrix3 ), "-Matrix3" );
+    print( ( a_Matrix3 * randfloat() ), "Matrix3 * float" );
+    print( ( randfloat() * a_Matrix3 ), "float * Matrix3" );
+    print( ( a_Matrix3 * a_Vector3 ), "Matrix3 * Vector3" );
+    print( ( a_Matrix3 * b_Matrix3 ), "Matrix3 * Matrix3" );
+}
+
+void
+Matrix4_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( ( a_Matrix4 + b_Matrix4 ), "Matrix4 + Matrix4" );
+    print( ( a_Matrix4 - b_Matrix4 ), "Matrix4 - Matrix4" );
+    print( ( -a_Matrix4 ), "-Matrix4" );
+    print( ( a_Matrix4 * randfloat() ), "Matrix4 * float" );
+    print( ( randfloat() * a_Matrix4 ), "float * Matrix4" );
+    print( ( a_Matrix4 * a_Vector4 ), "Matrix4 * Vector4" );
+    print( ( a_Matrix4 * a_Vector3 ), "Matrix4 * Vector3" );
+    print( ( a_Matrix4 * a_Point3 ), "Matrix4 * Point3" );
+    print( ( a_Matrix4 * b_Matrix4 ), "Matrix4 * Matrix4" );
+    print( ( a_Matrix4 * b_Transform3 ), "Matrix4 * Transform3" );
+}
+
+void
+Transform3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( ( a_Transform3 * a_Vector3 ), "Transform3 * Vector3" );
+    print( ( a_Transform3 * a_Point3 ), "Transform3 * Point3" );
+    print( ( a_Transform3 * b_Transform3 ), "Transform3 * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test4_aos_c.c

@@ -0,0 +1,567 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_AOS_TEST
+
+#include "vectormath_aos.h"
+#include "test.h"
+
+int iteration = 0;
+
+void
+Matrix3_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathMatrix3 tmpM3_0, tmpM3_1, tmpM3_2, tmpM3_3, tmpM3_4, tmpM3_5, tmpM3_6, tmpM3_7, tmpM3_8, tmpM3_9, tmpM3_10;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7, tmpV3_8;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathM3AppendScale( &tmpM3_0, &a_Matrix3, &a_Vector3 );
+    vmathM3Prints( &tmpM3_0, "appendScale Matrix3 Vector3" );
+    vmathM3PrependScale( &tmpM3_1, &a_Vector3, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_1, "prependScale Vector3 Matrix3" );
+    vmathM3MulPerElem( &tmpM3_2, &a_Matrix3, &b_Matrix3 );
+    vmathM3Prints( &tmpM3_2, "mulPerElem Matrix3" );
+    vmathM3AbsPerElem( &tmpM3_3, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_3, "absPerElem Matrix3" );
+    vmathM3Transpose( &tmpM3_4, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_4, "transpose Matrix3" );
+    vmathM3Inverse( &tmpM3_5, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_5, "inverse Matrix3" );
+    vmathM3Inverse( &tmpM3_6, &a_Matrix3 );
+    vmathM3Mul( &tmpM3_7, &tmpM3_6, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_7, "inverse(Matrix3) * Matrix3" );
+    printf("%f\n", getfloat(vmathM3Determinant( &a_Matrix3 )) );
+    vmathV3Outer( &tmpM3_8, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &tmpM3_8, "outer Vector3" );
+    vmathV3RowMul( &tmpV3_8, &a_Vector3, &a_Matrix3 );
+    vmathV3Prints( &tmpV3_8, "rowMul Vector3" );
+    vmathV3CrossMatrix( &tmpM3_9, &a_Vector3 );
+    vmathM3Prints( &tmpM3_9, "crossMatrix" );
+    vmathV3CrossMatrixMul( &tmpM3_10, &a_Vector3, &a_Matrix3 );
+    vmathM3Prints( &tmpM3_10, "crossMatrixMul" );
+}
+
+void
+Matrix4_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3;
+    VmathMatrix4 tmpM4_0, tmpM4_1, tmpM4_2, tmpM4_3, tmpM4_4, tmpM4_5, tmpM4_6, tmpM4_7;
+    VmathMatrix3 tmpM3_0;
+    VmathMatrix4 tmpM4_8, tmpM4_9, tmpM4_10, tmpM4_11, tmpM4_12, tmpM4_13, tmpM4_14;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7;
+    VmathVector4 tmpV4_0;
+    VmathQuat tmpQ_0;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathM4AppendScale( &tmpM4_0, &a_Matrix4, &a_Vector3 );
+    vmathM4Prints( &tmpM4_0, "appendScale Matrix4 Vector3" );
+    vmathM4PrependScale( &tmpM4_1, &a_Vector3, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_1, "prependScale Vector3 Matrix4" );
+    vmathM4MulPerElem( &tmpM4_2, &a_Matrix4, &b_Matrix4 );
+    vmathM4Prints( &tmpM4_2, "mulPerElem Matrix4" );
+    vmathM4AbsPerElem( &tmpM4_3, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_3, "absPerElem Matrix4" );
+    vmathM4Transpose( &tmpM4_4, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_4, "transpose Matrix4" );
+    vmathM4Inverse( &tmpM4_5, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_5, "inverse Matrix4" );
+    vmathM4Inverse( &tmpM4_6, &a_Matrix4 );
+    vmathM4Mul( &tmpM4_7, &tmpM4_6, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_7, "inverse(Matrix4) * Matrix4" );
+    vmathV4MakeFromElems( &tmpV4_0, 0.0f, 0.0f, 0.0f, 1.0f );
+    vmathM4SetRow( &a_Matrix4, 3, &tmpV4_0 );
+    vmathQNormalize( &tmpQ_0, &a_Quat );
+    vmathM3MakeFromQ( &tmpM3_0, &tmpQ_0 );
+    vmathM4SetUpper3x3( &a_Matrix4, &tmpM3_0 );
+    vmathM4AffineInverse( &tmpM4_8, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_8, "affineInverse Matrix4" );
+    vmathM4AffineInverse( &tmpM4_9, &a_Matrix4 );
+    vmathM4Mul( &tmpM4_10, &tmpM4_9, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_10, "affineInverse(Matrix4) * Matrix4" );
+    vmathM4OrthoInverse( &tmpM4_11, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_11, "orthoInverse Matrix4" );
+    vmathM4OrthoInverse( &tmpM4_12, &a_Matrix4 );
+    vmathM4Mul( &tmpM4_13, &tmpM4_12, &a_Matrix4 );
+    vmathM4Prints( &tmpM4_13, "orthoInverse(Matrix4) * Matrix4" );
+    printf("%f\n", getfloat(vmathM4Determinant( &a_Matrix4 )) );
+    vmathV4Outer( &tmpM4_14, &a_Vector4, &b_Vector4 );
+    vmathM4Prints( &tmpM4_14, "outer Vector4" );
+}
+
+void
+Transform3_methods_test()
+{
+    VmathMatrix3 a_Matrix3, b_Matrix3;
+    VmathMatrix4 a_Matrix4, b_Matrix4;
+    VmathTransform3 a_Transform3, b_Transform3, tmpT3_0, tmpT3_1, tmpT3_2, tmpT3_3, tmpT3_4, tmpT3_5, tmpT3_6;
+    VmathMatrix3 tmpM3_0;
+    VmathTransform3 tmpT3_7, tmpT3_8, tmpT3_9;
+    VmathVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathVector4 tmpV4;
+    VmathVector3 tmpV3_0, tmpV3_1, tmpV3_2, tmpV3_3, tmpV3_4, tmpV3_5, tmpV3_6, tmpV3_7;
+    VmathQuat tmpQ_0;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &a_Vector3, pad );
+    vmathV4GetXYZ( &a_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &b_Vector3, pad );
+    vmathV4GetXYZ( &b_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &c_Vector3, pad );
+    vmathV4GetXYZ( &c_Vector3, &tmpV4 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &d_Vector3, pad );
+    vmathV4GetXYZ( &d_Vector3, &tmpV4 );
+    vmathV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathV3MakeFromP3( &tmpV3_0, &a_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_0, pad );
+    vmathV4GetXYZ( &tmpV3_1, &tmpV4 );
+    vmathP3MakeFromV3( &a_Point3, &tmpV3_1 );
+    vmathV3MakeFromP3( &tmpV3_2, &b_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_2, pad );
+    vmathV4GetXYZ( &tmpV3_3, &tmpV4 );
+    vmathP3MakeFromV3( &b_Point3, &tmpV3_3 );
+    vmathV3MakeFromP3( &tmpV3_4, &c_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_4, pad );
+    vmathV4GetXYZ( &tmpV3_5, &tmpV4 );
+    vmathP3MakeFromV3( &c_Point3, &tmpV3_5 );
+    vmathV3MakeFromP3( &tmpV3_6, &d_Point3 );
+    vmathV4MakeFromV3Scalar( &tmpV4, &tmpV3_6, pad );
+    vmathV4GetXYZ( &tmpV3_7, &tmpV4 );
+    vmathP3MakeFromV3( &d_Point3, &tmpV3_7 );
+    vmathP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathQPrints( &a_Quat, "set Quat with floats" );
+    vmathQPrints( &b_Quat, "set Quat with floats" );
+    vmathQPrints( &c_Quat, "set Quat with floats" );
+    vmathQPrints( &d_Quat, "set Quat with floats" );
+    vmathM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathT3AppendScale( &tmpT3_0, &a_Transform3, &a_Vector3 );
+    vmathT3Prints( &tmpT3_0, "appendScale Transform3 Vector3" );
+    vmathT3PrependScale( &tmpT3_1, &a_Vector3, &a_Transform3 );
+    vmathT3Prints( &tmpT3_1, "prependScale Vector3 Transform3" );
+    vmathT3MulPerElem( &tmpT3_2, &a_Transform3, &b_Transform3 );
+    vmathT3Prints( &tmpT3_2, "mulPerElem Transform3" );
+    vmathT3AbsPerElem( &tmpT3_3, &a_Transform3 );
+    vmathT3Prints( &tmpT3_3, "absPerElem Transform3" );
+    vmathT3Inverse( &tmpT3_4, &a_Transform3 );
+    vmathT3Prints( &tmpT3_4, "inverse Transform3" );
+    vmathT3Inverse( &tmpT3_5, &a_Transform3 );
+    vmathT3Mul( &tmpT3_6, &tmpT3_5, &a_Transform3 );
+    vmathT3Prints( &tmpT3_6, "inverse(Transform3) * Transform3" );
+    vmathQNormalize( &tmpQ_0, &a_Quat );
+    vmathM3MakeFromQ( &tmpM3_0, &tmpQ_0 );
+    vmathT3SetUpper3x3( &a_Transform3, &tmpM3_0 );
+    vmathT3OrthoInverse( &tmpT3_7, &a_Transform3 );
+    vmathT3Prints( &tmpT3_7, "orthoInverse Transform3" );
+    vmathT3OrthoInverse( &tmpT3_8, &a_Transform3 );
+    vmathT3Mul( &tmpT3_9, &tmpT3_8, &a_Transform3 );
+    vmathT3Prints( &tmpT3_9, "orthoInverse(Transform3) * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test4_aos_cpp.cpp

@@ -0,0 +1,492 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_AOS_TEST
+
+#include "vectormath_aos.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Aos;
+
+void
+Matrix3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( appendScale( a_Matrix3, a_Vector3 ), "appendScale Matrix3 Vector3" );
+    print( prependScale( a_Vector3, a_Matrix3 ), "prependScale Vector3 Matrix3" );
+    print( mulPerElem( a_Matrix3, b_Matrix3 ), "mulPerElem Matrix3" );
+    print( absPerElem( a_Matrix3 ), "absPerElem Matrix3" );
+    print( transpose( a_Matrix3 ), "transpose Matrix3" );
+    print( inverse( a_Matrix3 ), "inverse Matrix3" );
+    print( ( inverse( a_Matrix3 ) * a_Matrix3 ), "inverse(Matrix3) * Matrix3" );
+    printf("%f\n", getfloat(determinant( a_Matrix3 )) );
+    print( outer( a_Vector3, b_Vector3 ), "outer Vector3" );
+    print( rowMul( a_Vector3, a_Matrix3 ), "rowMul Vector3" );
+    print( crossMatrix( a_Vector3 ), "crossMatrix" );
+    print( crossMatrixMul( a_Vector3, a_Matrix3 ), "crossMatrixMul" );
+}
+
+void
+Matrix4_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( appendScale( a_Matrix4, a_Vector3 ), "appendScale Matrix4 Vector3" );
+    print( prependScale( a_Vector3, a_Matrix4 ), "prependScale Vector3 Matrix4" );
+    print( mulPerElem( a_Matrix4, b_Matrix4 ), "mulPerElem Matrix4" );
+    print( absPerElem( a_Matrix4 ), "absPerElem Matrix4" );
+    print( transpose( a_Matrix4 ), "transpose Matrix4" );
+    print( inverse( a_Matrix4 ), "inverse Matrix4" );
+    print( ( inverse( a_Matrix4 ) * a_Matrix4 ), "inverse(Matrix4) * Matrix4" );
+    a_Matrix4.setRow( 3, Vector4( 0.0f, 0.0f, 0.0f, 1.0f ) );
+    a_Matrix4.setUpper3x3( Matrix3( normalize( a_Quat ) ) );
+    print( affineInverse( a_Matrix4 ), "affineInverse Matrix4" );
+    print( ( affineInverse( a_Matrix4 ) * a_Matrix4 ), "affineInverse(Matrix4) * Matrix4" );
+    print( orthoInverse( a_Matrix4 ), "orthoInverse Matrix4" );
+    print( ( orthoInverse( a_Matrix4 ) * a_Matrix4 ), "orthoInverse(Matrix4) * Matrix4" );
+    printf("%f\n", getfloat(determinant( a_Matrix4 )) );
+    print( outer( a_Vector4, b_Vector4 ), "outer Vector4" );
+}
+
+void
+Transform3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    Vector4 tmpV4;
+    float rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6, pad;
+    // set a pad value to detect invalid use of padding.
+    // this will be nan for scalar/ppu implementations, max. float for spu
+    union { float f; unsigned int u; } tmp;
+    tmp.u = 0x7fffffff;
+    pad = tmp.f;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( a_Vector3, pad );
+    a_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( b_Vector3, pad );
+    b_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( c_Vector3, pad );
+    c_Vector3 = tmpV4.getXYZ( );
+    tmpV4 = Vector4( d_Vector3, pad );
+    d_Vector3 = tmpV4.getXYZ( );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    tmpV4 = Vector4( Vector3( a_Point3 ), pad );
+    a_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( b_Point3 ), pad );
+    b_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( c_Point3 ), pad );
+    c_Point3 = Point3( tmpV4.getXYZ( ) );
+    tmpV4 = Vector4( Vector3( d_Point3 ), pad );
+    d_Point3 = Point3( tmpV4.getXYZ( ) );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( appendScale( a_Transform3, a_Vector3 ), "appendScale Transform3 Vector3" );
+    print( prependScale( a_Vector3, a_Transform3 ), "prependScale Vector3 Transform3" );
+    print( mulPerElem( a_Transform3, b_Transform3 ), "mulPerElem Transform3" );
+    print( absPerElem( a_Transform3 ), "absPerElem Transform3" );
+    print( inverse( a_Transform3 ), "inverse Transform3" );
+    print( ( inverse( a_Transform3 ) * a_Transform3 ), "inverse(Transform3) * Transform3" );
+    a_Transform3.setUpper3x3( Matrix3( normalize( a_Quat ) ) );
+    print( orthoInverse( a_Transform3 ), "orthoInverse Transform3" );
+    print( ( orthoInverse( a_Transform3 ) * a_Transform3 ), "orthoInverse(Transform3) * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test4_reference.txt

@@ -0,0 +1,524 @@
+set Vector3 with floats: ( -0.658344 0.499804 -0.807257 )
+set Vector3 with floats: ( 0.740930 0.154607 0.571599 )
+set Vector3 with floats: ( 0.384388 -0.262467 0.747808 )
+set Vector3 with floats: ( 0.490190 -0.107908 -0.292544 )
+set Vector4 with floats: ( 0.465039 -0.479556 -0.211412 0.553580 )
+set Vector4 with floats: ( 0.690070 0.151576 0.431077 -0.833992 )
+set Vector4 with floats: ( -0.088350 -0.780106 0.090456 -0.218627 )
+set Vector4 with floats: ( 0.137171 0.918133 0.735438 -0.673621 )
+set Point3 with floats: ( -0.448982 -0.479278 0.848189 )
+set Point3 with floats: ( -0.128155 0.578922 -0.744766 )
+set Point3 with floats: ( -0.835589 0.881284 -0.948850 )
+set Point3 with floats: ( -0.691578 -0.235635 -0.690527 )
+set Quat with floats: ( 0.058667 0.753697 -0.138777 -0.472188 )
+set Quat with floats: ( -0.372811 0.540183 -0.785218 0.542085 )
+set Quat with floats: ( 0.410391 -0.562721 0.523588 -0.176574 )
+set Quat with floats: ( 0.297654 0.859913 0.004837 0.374881 )
+set Matrix3 columns:
+( -0.658344 0.740930 0.384388 )
+( 0.499804 0.154607 -0.262467 )
+( -0.807257 0.571599 0.747808 )
+set Matrix3 columns:
+( 0.490190 -0.658344 0.740930 )
+( -0.107908 0.499804 0.154607 )
+( -0.292544 -0.807257 0.571599 )
+set Matrix4 columns:
+( 0.465039 0.690070 -0.088350 0.137171 )
+( -0.479556 0.151576 -0.780106 0.918133 )
+( -0.211412 0.431077 0.090456 0.735438 )
+( 0.553580 -0.833992 -0.218627 -0.673621 )
+set Matrix4 columns:
+( 0.137171 0.465039 0.690070 -0.088350 )
+( 0.918133 -0.479556 0.151576 -0.780106 )
+( 0.735438 -0.211412 0.431077 0.090456 )
+( -0.673621 0.553580 -0.833992 -0.218627 )
+set Transform3 columns:
+( -0.658344 0.740930 0.384388 0.490190 )
+( 0.499804 0.154607 -0.262467 -0.107908 )
+( -0.807257 0.571599 0.747808 -0.292544 )
+set Transform3 columns:
+( 0.490190 -0.658344 0.740930 0.384388 )
+( -0.107908 0.499804 0.154607 -0.262467 )
+( -0.292544 -0.807257 0.571599 0.747808 )
+appendScale Matrix3 Vector3:
+( 0.433417 0.370320 -0.310300 )
+( -0.329043 0.077273 0.211879 )
+( 0.531453 0.285687 -0.603673 )
+prependScale Vector3 Matrix3:
+( 0.433417 -0.487787 -0.253060 )
+( 0.249804 0.077273 -0.131182 )
+( 0.651663 -0.461427 -0.603673 )
+mulPerElem Matrix3:
+( -0.322714 -0.487787 0.284805 )
+( -0.053933 0.077273 -0.040579 )
+( 0.236158 -0.461427 0.427446 )
+absPerElem Matrix3:
+( 0.658344 0.740930 0.384388 )
+( 0.499804 0.154607 0.262467 )
+( 0.807257 0.571599 0.747808 )
+transpose Matrix3:
+( -0.658344 0.499804 -0.807257 )
+( 0.740930 0.154607 0.571599 )
+( 0.384388 -0.262467 0.747808 )
+inverse Matrix3:
+( -1.938491 2.439935 1.852797 )
+( 1.181290 1.328230 -0.141021 )
+( -2.995533 1.618649 3.445122 )
+inverse(Matrix3) * Matrix3:
+( 1.000000 0.000000 0.000000 )
+( 0.000000 1.000000 -0.000000 )
+( 0.000000 -0.000000 1.000000 )
+-0.137036
+outer Vector3:
+( -0.487787 -0.101785 -0.376308 )
+( 0.370320 0.077273 0.285687 )
+( -0.598121 -0.124808 -0.461427 )
+rowMul Vector3: ( 1.334884 -0.871941 -0.987915 )
+crossMatrix:
+( 0.000000 0.807257 0.499804 )
+( -0.807257 0.000000 0.658344 )
+( -0.499804 -0.658344 0.000000 )
+crossMatrixMul:
+( 0.000000 0.410495 0.161879 )
+( 0.000000 -0.221813 0.182015 )
+( 0.000000 -0.472105 -0.019325 )
+set Vector3 with floats: ( -0.127818 0.216602 0.153117 )
+set Vector3 with floats: ( 0.265243 -0.073149 0.264488 )
+set Vector3 with floats: ( -0.723410 0.921523 -0.711250 )
+set Vector3 with floats: ( -0.106634 -0.350831 0.905168 )
+set Vector4 with floats: ( -0.283632 -0.203584 -0.797437 0.910171 )
+set Vector4 with floats: ( 0.969234 0.151940 0.731827 -0.700248 )
+set Vector4 with floats: ( 0.818301 0.302505 -0.872278 0.909999 )
+set Vector4 with floats: ( 0.932526 0.571087 0.610330 0.142507 )
+set Point3 with floats: ( -0.434829 0.925102 0.158954 )
+set Point3 with floats: ( -0.126283 -0.249128 0.846815 )
+set Point3 with floats: ( -0.942601 0.537720 0.446214 )
+set Point3 with floats: ( 0.181939 -0.148223 0.284286 )
+set Quat with floats: ( 0.493525 -0.861963 -0.893410 0.548627 )
+set Quat with floats: ( 0.407007 -0.757467 -0.393126 -0.850984 )
+set Quat with floats: ( 0.375720 -0.270088 0.458888 -0.610828 )
+set Quat with floats: ( -0.690816 -0.676415 0.664466 0.101874 )
+set Matrix3 columns:
+( -0.127818 0.265243 -0.723410 )
+( 0.216602 -0.073149 0.921523 )
+( 0.153117 0.264488 -0.711250 )
+set Matrix3 columns:
+( -0.106634 -0.127818 0.265243 )
+( -0.350831 0.216602 -0.073149 )
+( 0.905168 0.153117 0.264488 )
+set Matrix4 columns:
+( -0.283632 0.969234 0.818301 0.932526 )
+( -0.203584 0.151940 0.302505 0.571087 )
+( -0.797437 0.731827 -0.872278 0.610330 )
+( 0.910171 -0.700248 0.909999 0.142507 )
+set Matrix4 columns:
+( 0.932526 -0.283632 0.969234 0.818301 )
+( 0.571087 -0.203584 0.151940 0.302505 )
+( 0.610330 -0.797437 0.731827 -0.872278 )
+( 0.142507 0.910171 -0.700248 0.909999 )
+set Transform3 columns:
+( -0.127818 0.265243 -0.723410 -0.106634 )
+( 0.216602 -0.073149 0.921523 -0.350831 )
+( 0.153117 0.264488 -0.711250 0.905168 )
+set Transform3 columns:
+( -0.106634 -0.127818 0.265243 -0.723410 )
+( -0.350831 0.216602 -0.073149 0.921523 )
+( 0.905168 0.153117 0.264488 -0.711250 )
+appendScale Matrix4 Vector3:
+( 0.036253 0.209938 0.125296 0.932526 )
+( 0.026022 0.032911 0.046319 0.571087 )
+( 0.101927 0.158515 -0.133561 0.610330 )
+( -0.116336 -0.151675 0.139337 0.142507 )
+prependScale Vector3 Matrix4:
+( 0.036253 -0.123886 -0.104594 -0.119194 )
+( -0.044097 0.032911 0.065523 0.123698 )
+( -0.122101 0.112055 -0.133561 0.093452 )
+( 0.910171 -0.700248 0.909999 0.142507 )
+mulPerElem Matrix4:
+( -0.264494 -0.274906 0.793125 0.763086 )
+( -0.116264 -0.030933 0.045963 0.172757 )
+( -0.486699 -0.583586 -0.638357 -0.532377 )
+( 0.129706 -0.637346 -0.637225 0.129682 )
+absPerElem Matrix4:
+( 0.283632 0.969234 0.818301 0.932526 )
+( 0.203584 0.151940 0.302505 0.571087 )
+( 0.797437 0.731827 0.872278 0.610330 )
+( 0.910171 0.700248 0.909999 0.142507 )
+transpose Matrix4:
+( -0.283632 -0.203584 -0.797437 0.910171 )
+( 0.969234 0.151940 0.731827 -0.700248 )
+( 0.818301 0.302505 -0.872278 0.909999 )
+( 0.932526 0.571087 0.610330 0.142507 )
+inverse Matrix4:
+( 0.756962 -3.392262 1.563321 1.945501 )
+( 1.235862 -2.616357 0.503558 0.241096 )
+( 0.221503 1.293015 -1.354804 -0.828755 )
+( -0.176291 0.552941 1.140966 1.068388 )
+inverse(Matrix4) * Matrix4:
+( 1.000000 0.000000 -0.000000 0.000000 )
+( -0.000000 1.000000 -0.000000 -0.000000 )
+( 0.000000 -0.000000 1.000000 -0.000000 )
+( -0.000000 0.000000 0.000000 1.000000 )
+affineInverse Matrix4:
+( -0.477821 -0.877922 0.030662 0.928236 )
+( 0.062087 0.001066 0.998070 -0.667659 )
+( -0.876260 0.478803 0.053999 0.510740 )
+( 0.000000 0.000000 0.000000 1.000000 )
+affineInverse(Matrix4) * Matrix4:
+( 1.000000 0.000000 -0.000000 0.000000 )
+( 0.000000 1.000000 0.000000 0.000000 )
+( -0.000000 0.000000 1.000000 0.000000 )
+( 0.000000 0.000000 0.000000 1.000000 )
+orthoInverse Matrix4:
+( -0.477822 -0.877922 0.030662 0.928237 )
+( 0.062087 0.001066 0.998070 -0.667659 )
+( -0.876260 0.478803 0.053999 0.510740 )
+( 0.000000 0.000000 0.000000 1.000000 )
+orthoInverse(Matrix4) * Matrix4:
+( 1.000000 0.000000 0.000000 0.000000 )
+( 0.000000 1.000000 -0.000000 -0.000000 )
+( 0.000000 -0.000000 1.000000 -0.000000 )
+( 0.000000 0.000000 0.000000 1.000000 )
+1.000000
+outer Vector4:
+( -0.274906 -0.043095 -0.207570 0.198613 )
+( -0.197320 -0.030933 -0.148988 0.142559 )
+( -0.772903 -0.121163 -0.583586 0.558404 )
+( 0.882169 0.138292 0.666089 -0.637346 )
+set Vector3 with floats: ( -0.365714 0.055473 -0.133556 )
+set Vector3 with floats: ( -0.572643 0.459209 -0.997261 )
+set Vector3 with floats: ( 0.172409 -0.045124 0.879716 )
+set Vector3 with floats: ( 0.524317 -0.744532 -0.970444 )
+set Vector4 with floats: ( -0.000013 0.689543 0.704297 -0.817983 )
+set Vector4 with floats: ( 0.715505 0.577868 0.156952 -0.801022 )
+set Vector4 with floats: ( 0.656335 0.494393 0.816743 0.024285 )
+set Vector4 with floats: ( 0.769132 0.923895 0.133022 -0.052219 )
+set Point3 with floats: ( -0.164886 0.300690 0.760403 )
+set Point3 with floats: ( 0.171869 -0.554976 0.998693 )
+set Point3 with floats: ( -0.681641 0.391195 0.403059 )
+set Point3 with floats: ( 0.972411 0.297195 0.309761 )
+set Quat with floats: ( 0.688408 0.363540 0.940297 -0.336683 )
+set Quat with floats: ( 0.600164 -0.681272 0.726558 0.205513 )
+set Quat with floats: ( -0.160082 0.962714 0.737794 -0.071926 )
+set Quat with floats: ( -0.506313 0.689277 0.686485 0.473013 )
+set Matrix3 columns:
+( -0.365714 -0.572643 0.172409 )
+( 0.055473 0.459209 -0.045124 )
+( -0.133556 -0.997261 0.879716 )
+set Matrix3 columns:
+( 0.524317 -0.365714 -0.572643 )
+( -0.744532 0.055473 0.459209 )
+( -0.970444 -0.133556 -0.997261 )
+set Matrix4 columns:
+( -0.000013 0.715505 0.656335 0.769132 )
+( 0.689543 0.577868 0.494393 0.923895 )
+( 0.704297 0.156952 0.816743 0.133022 )
+( -0.817983 -0.801022 0.024285 -0.052219 )
+set Matrix4 columns:
+( 0.769132 -0.000013 0.715505 0.656335 )
+( 0.923895 0.689543 0.577868 0.494393 )
+( 0.133022 0.704297 0.156952 0.816743 )
+( -0.052219 -0.817983 -0.801022 0.024285 )
+set Transform3 columns:
+( -0.365714 -0.572643 0.172409 0.524317 )
+( 0.055473 0.459209 -0.045124 -0.744532 )
+( -0.133556 -0.997261 0.879716 -0.970444 )
+set Transform3 columns:
+( 0.524317 -0.365714 -0.572643 0.172409 )
+( -0.744532 0.055473 0.459209 -0.045124 )
+( -0.970444 -0.133556 -0.997261 0.879716 )
+appendScale Transform3 Vector3:
+( 0.133747 -0.031766 -0.023026 0.524317 )
+( -0.020287 0.025474 0.006027 -0.744532 )
+( 0.048843 -0.055321 -0.117491 -0.970444 )
+prependScale Vector3 Transform3:
+( 0.133747 0.209424 -0.063052 -0.191750 )
+( 0.003077 0.025474 -0.002503 -0.041301 )
+( 0.017837 0.133190 -0.117491 0.129609 )
+mulPerElem Transform3:
+( -0.191750 0.209424 -0.098729 0.090397 )
+( -0.041301 0.025474 -0.020721 0.033596 )
+( 0.129609 0.133190 -0.877307 -0.853715 )
+absPerElem Transform3:
+( 0.365714 0.572643 0.172409 0.524317 )
+( 0.055473 0.459209 0.045124 0.744532 )
+( 0.133556 0.997261 0.879716 0.970444 )
+inverse Transform3:
+( -3.394501 -3.137797 0.504313 -0.066988 )
+( 0.404474 2.824531 0.065611 1.954553 )
+( -0.056825 2.725566 1.287672 3.308679 )
+inverse(Transform3) * Transform3:
+( 1.000000 -0.000000 0.000000 0.000000 )
+( 0.000000 1.000000 -0.000000 -0.000000 )
+( -0.000000 -0.000000 1.000000 0.000000 )
+orthoInverse Transform3:
+( -0.267562 -0.082713 0.959984 1.010315 )
+( 0.706975 -0.693789 0.137268 -0.754017 )
+( 0.654673 0.715412 0.244108 0.426284 )
+orthoInverse(Transform3) * Transform3:
+( 1.000000 0.000000 0.000000 -0.000000 )
+( 0.000000 1.000000 0.000000 -0.000000 )
+( 0.000000 0.000000 1.000000 -0.000000 )
+set Vector3 with floats: ( -0.735610 -0.046390 0.568674 )
+set Vector3 with floats: ( -0.004815 0.137637 -0.111879 )
+set Vector3 with floats: ( -0.929543 -0.336303 -0.146740 )
+set Vector3 with floats: ( 0.165140 -0.823874 0.349776 )
+set Vector4 with floats: ( 0.174872 -0.528584 0.489292 0.916708 )
+set Vector4 with floats: ( 0.728511 -0.851140 0.079620 -0.234370 )
+set Vector4 with floats: ( -0.996308 0.433229 -0.892684 -0.957911 )
+set Vector4 with floats: ( 0.517122 0.257921 0.862028 0.095881 )
+set Point3 with floats: ( -0.171933 -0.214078 -0.604841 )
+set Point3 with floats: ( -0.383831 -0.581500 0.222183 )
+set Point3 with floats: ( -0.256120 -0.678699 -0.079553 )
+set Point3 with floats: ( 0.605960 -0.633147 0.435875 )
+set Quat with floats: ( -0.046627 -0.716491 0.267317 -0.514874 )
+set Quat with floats: ( -0.751700 0.742959 -0.793180 0.508814 )
+set Quat with floats: ( -0.238839 0.113471 -0.843523 -0.245250 )
+set Quat with floats: ( 0.250368 0.579243 -0.157280 0.648487 )
+set Matrix3 columns:
+( -0.735610 -0.004815 -0.929543 )
+( -0.046390 0.137637 -0.336303 )
+( 0.568674 -0.111879 -0.146740 )
+set Matrix3 columns:
+( 0.165140 -0.735610 -0.004815 )
+( -0.823874 -0.046390 0.137637 )
+( 0.349776 0.568674 -0.111879 )
+set Matrix4 columns:
+( 0.174872 0.728511 -0.996308 0.517122 )
+( -0.528584 -0.851140 0.433229 0.257921 )
+( 0.489292 0.079620 -0.892684 0.862028 )
+( 0.916708 -0.234370 -0.957911 0.095881 )
+set Matrix4 columns:
+( 0.517122 0.174872 0.728511 -0.996308 )
+( 0.257921 -0.528584 -0.851140 0.433229 )
+( 0.862028 0.489292 0.079620 -0.892684 )
+( 0.095881 0.916708 -0.234370 -0.957911 )
+set Transform3 columns:
+( -0.735610 -0.004815 -0.929543 0.165140 )
+( -0.046390 0.137637 -0.336303 -0.823874 )
+( 0.568674 -0.111879 -0.146740 0.349776 )
+set Transform3 columns:
+( 0.165140 -0.735610 -0.004815 -0.929543 )
+( -0.823874 -0.046390 0.137637 -0.336303 )
+( 0.349776 0.568674 -0.111879 -0.146740 )
+appendScale Matrix3 Vector3:
+( 0.541123 0.000223 -0.528607 )
+( 0.034125 -0.006385 -0.191247 )
+( -0.418323 0.005190 -0.083447 )
+prependScale Vector3 Matrix3:
+( 0.541123 0.003542 0.683781 )
+( 0.002152 -0.006385 0.015601 )
+( 0.323390 -0.063623 -0.083447 )
+mulPerElem Matrix3:
+( -0.121479 0.003542 0.004475 )
+( 0.038220 -0.006385 -0.046288 )
+( 0.198909 -0.063623 0.016417 )
+absPerElem Matrix3:
+( 0.735610 0.004815 0.929543 )
+( 0.046390 0.137637 0.336303 )
+( 0.568674 0.111879 0.146740 )
+transpose Matrix3:
+( -0.735610 -0.046390 0.568674 )
+( -0.004815 0.137637 -0.111879 )
+( -0.929543 -0.336303 -0.146740 )
+inverse Matrix3:
+( -0.518959 0.927036 1.162799 )
+( -1.777555 5.713095 -1.833313 )
+( -0.655903 -0.763218 -0.910706 )
+inverse(Matrix3) * Matrix3:
+( 1.000000 0.000000 0.000000 )
+( -0.000000 1.000000 -0.000000 )
+( -0.000000 0.000000 1.000000 )
+0.111420
+outer Vector3:
+( 0.003542 -0.101247 0.082299 )
+( 0.000223 -0.006385 0.005190 )
+( -0.002738 0.078270 -0.063623 )
+rowMul Vector3: ( 0.866665 -0.066466 0.615935 )
+crossMatrix:
+( 0.000000 -0.568674 -0.046390 )
+( 0.568674 0.000000 0.735610 )
+( 0.046390 -0.735610 0.000000 )
+crossMatrixMul:
+( 0.000000 -0.073080 0.198054 )
+( 0.000000 -0.085037 -0.636550 )
+( 0.000000 -0.101470 0.204267 )
+set Vector3 with floats: ( 0.103833 0.456401 -0.022372 )
+set Vector3 with floats: ( -0.475631 -0.004178 -0.020865 )
+set Vector3 with floats: ( -0.016997 0.699144 0.837796 )
+set Vector3 with floats: ( -0.276082 0.091582 0.209064 )
+set Vector4 with floats: ( 0.219317 -0.118359 0.413442 -0.567698 )
+set Vector4 with floats: ( 0.531358 -0.387226 0.572490 -0.820417 )
+set Vector4 with floats: ( 0.797191 0.867178 0.934764 0.237092 )
+set Vector4 with floats: ( -0.866162 -0.773939 0.261311 -0.851570 )
+set Point3 with floats: ( 0.114814 -0.531592 0.223925 )
+set Point3 with floats: ( 0.869105 0.143405 0.148518 )
+set Point3 with floats: ( -0.071136 -0.758292 -0.527633 )
+set Point3 with floats: ( 0.997215 0.114440 0.727558 )
+set Quat with floats: ( -0.425760 0.459888 0.642516 -0.022534 )
+set Quat with floats: ( 0.186095 -0.775679 -0.683401 0.398134 )
+set Quat with floats: ( 0.189642 0.765986 -0.137795 -0.579844 )
+set Quat with floats: ( -0.635647 0.374970 -0.563750 -0.471075 )
+set Matrix3 columns:
+( 0.103833 -0.475631 -0.016997 )
+( 0.456401 -0.004178 0.699144 )
+( -0.022372 -0.020865 0.837796 )
+set Matrix3 columns:
+( -0.276082 0.103833 -0.475631 )
+( 0.091582 0.456401 -0.004178 )
+( 0.209064 -0.022372 -0.020865 )
+set Matrix4 columns:
+( 0.219317 0.531358 0.797191 -0.866162 )
+( -0.118359 -0.387226 0.867178 -0.773939 )
+( 0.413442 0.572490 0.934764 0.261311 )
+( -0.567698 -0.820417 0.237092 -0.851570 )
+set Matrix4 columns:
+( -0.866162 0.219317 0.531358 0.797191 )
+( -0.773939 -0.118359 -0.387226 0.867178 )
+( 0.261311 0.413442 0.572490 0.934764 )
+( -0.851570 -0.567698 -0.820417 0.237092 )
+set Transform3 columns:
+( 0.103833 -0.475631 -0.016997 -0.276082 )
+( 0.456401 -0.004178 0.699144 0.091582 )
+( -0.022372 -0.020865 0.837796 0.209064 )
+set Transform3 columns:
+( -0.276082 0.103833 -0.475631 -0.016997 )
+( 0.091582 0.456401 -0.004178 0.699144 )
+( 0.209064 -0.022372 -0.020865 0.837796 )
+appendScale Matrix4 Vector3:
+( 0.022772 0.242513 -0.017835 -0.866162 )
+( -0.012290 -0.176730 -0.019401 -0.773939 )
+( 0.042929 0.261285 -0.020913 0.261311 )
+( -0.058946 -0.374439 -0.005304 -0.851570 )
+prependScale Vector3 Matrix4:
+( 0.022772 0.055173 0.082775 -0.089936 )
+( -0.054019 -0.176730 0.395781 -0.353227 )
+( -0.009250 -0.012808 -0.020913 -0.005846 )
+( -0.567698 -0.820417 0.237092 -0.851570 )
+mulPerElem Matrix4:
+( -0.189964 0.116536 0.423594 -0.690497 )
+( 0.091603 0.045832 -0.335794 -0.671143 )
+( 0.108037 0.236691 0.535143 0.244264 )
+( 0.483434 0.465749 -0.194514 -0.201900 )
+absPerElem Matrix4:
+( 0.219317 0.531358 0.797191 0.866162 )
+( 0.118359 0.387226 0.867178 0.773939 )
+( 0.413442 0.572490 0.934764 0.261311 )
+( 0.567698 0.820417 0.237092 0.851570 )
+transpose Matrix4:
+( 0.219317 -0.118359 0.413442 -0.567698 )
+( 0.531358 -0.387226 0.572490 -0.820417 )
+( 0.797191 0.867178 0.934764 0.237092 )
+( -0.866162 -0.773939 0.261311 -0.851570 )
+inverse Matrix4:
+( -0.801304 6.311381 -3.640203 -6.038011 )
+( 1.289204 -3.528897 1.571125 2.378011 )
+( -0.220138 -0.375260 1.356762 0.981293 )
+( -0.769143 -0.912151 1.290834 0.833121 )
+inverse(Matrix4) * Matrix4:
+( 1.000000 -0.000000 -0.000000 0.000000 )
+( 0.000000 1.000000 -0.000000 0.000000 )
+( -0.000000 0.000000 1.000000 -0.000000 )
+( 0.000000 0.000000 0.000000 1.000000 )
+affineInverse Matrix4:
+( -0.548992 -0.521721 -0.653005 -0.708658 )
+( -0.449878 -0.474001 0.756923 -0.954307 )
+( -0.704428 0.709317 0.025512 -0.067847 )
+( 0.000000 0.000000 0.000000 1.000000 )
+affineInverse(Matrix4) * Matrix4:
+( 1.000000 0.000000 0.000000 0.000000 )
+( 0.000000 1.000000 -0.000000 0.000000 )
+( 0.000000 0.000000 1.000000 -0.000000 )
+( 0.000000 0.000000 0.000000 1.000000 )
+orthoInverse Matrix4:
+( -0.548992 -0.521721 -0.653005 -0.708658 )
+( -0.449878 -0.474001 0.756923 -0.954307 )
+( -0.704428 0.709317 0.025512 -0.067847 )
+( 0.000000 0.000000 0.000000 1.000000 )
+orthoInverse(Matrix4) * Matrix4:
+( 1.000000 0.000000 0.000000 -0.000000 )
+( 0.000000 1.000000 -0.000000 0.000000 )
+( 0.000000 -0.000000 1.000000 0.000000 )
+( 0.000000 0.000000 0.000000 1.000000 )
+1.000000
+outer Vector4:
+( 0.116536 -0.084925 0.125557 -0.179931 )
+( -0.062891 0.045832 -0.067760 0.097104 )
+( 0.219686 -0.160095 0.236691 -0.339195 )
+( -0.301651 0.219827 -0.325001 0.465749 )
+set Vector3 with floats: ( -0.553800 -0.014688 -0.464365 )
+set Vector3 with floats: ( -0.107890 -0.527503 -0.406423 )
+set Vector3 with floats: ( 0.301261 0.499529 0.385180 )
+set Vector3 with floats: ( -0.150218 0.519112 -0.203209 )
+set Vector4 with floats: ( -0.252017 0.282194 0.067637 0.798376 )
+set Vector4 with floats: ( 0.310782 0.861334 -0.980345 -0.655106 )
+set Vector4 with floats: ( 0.286765 0.532078 0.352671 0.540977 )
+set Vector4 with floats: ( 0.510961 0.791871 -0.564379 0.273199 )
+set Point3 with floats: ( 0.194378 0.244636 -0.269608 )
+set Point3 with floats: ( -0.858162 -0.495023 -0.277798 )
+set Point3 with floats: ( -0.032740 0.007412 -0.420178 )
+set Point3 with floats: ( -0.522577 0.324972 0.795389 )
+set Quat with floats: ( 0.342900 -0.913636 0.675222 0.144053 )
+set Quat with floats: ( -0.632329 -0.947120 -0.049367 0.126333 )
+set Quat with floats: ( -0.664206 0.220879 0.284219 -0.387216 )
+set Quat with floats: ( 0.913568 0.531906 0.271995 -0.862601 )
+set Matrix3 columns:
+( -0.553800 -0.107890 0.301261 )
+( -0.014688 -0.527503 0.499529 )
+( -0.464365 -0.406423 0.385180 )
+set Matrix3 columns:
+( -0.150218 -0.553800 -0.107890 )
+( 0.519112 -0.014688 -0.527503 )
+( -0.203209 -0.464365 -0.406423 )
+set Matrix4 columns:
+( -0.252017 0.310782 0.286765 0.510961 )
+( 0.282194 0.861334 0.532078 0.791871 )
+( 0.067637 -0.980345 0.352671 -0.564379 )
+( 0.798376 -0.655106 0.540977 0.273199 )
+set Matrix4 columns:
+( 0.510961 -0.252017 0.310782 0.286765 )
+( 0.791871 0.282194 0.861334 0.532078 )
+( -0.564379 0.067637 -0.980345 0.352671 )
+( 0.273199 0.798376 -0.655106 0.540977 )
+set Transform3 columns:
+( -0.553800 -0.107890 0.301261 -0.150218 )
+( -0.014688 -0.527503 0.499529 0.519112 )
+( -0.464365 -0.406423 0.385180 -0.203209 )
+set Transform3 columns:
+( -0.150218 -0.553800 -0.107890 0.301261 )
+( 0.519112 -0.014688 -0.527503 0.499529 )
+( -0.203209 -0.464365 -0.406423 0.385180 )
+appendScale Transform3 Vector3:
+( 0.306694 0.001585 -0.139895 -0.150218 )
+( 0.008134 0.007748 -0.231964 0.519112 )
+( 0.257165 0.005970 -0.178864 -0.203209 )
+prependScale Vector3 Transform3:
+( 0.306694 0.059749 -0.166838 0.083191 )
+( 0.000216 0.007748 -0.007337 -0.007625 )
+( 0.215635 0.188729 -0.178864 0.094363 )
+mulPerElem Transform3:
+( 0.083191 0.059749 -0.032503 -0.045255 )
+( -0.007625 0.007748 -0.263503 0.259311 )
+( 0.094363 0.188729 -0.156546 -0.078272 )
+absPerElem Transform3:
+( 0.553800 0.107890 0.301261 0.150218 )
+( 0.014688 0.527503 0.499529 0.519112 )
+( 0.464365 0.406423 0.385180 0.203209 )
+inverse Transform3:
+( 0.003445 1.703147 -2.211457 -1.332994 )
+( 4.765344 1.545948 -5.732023 -1.251475 )
+( 5.032312 3.684490 -6.118052 -2.399958 )
+inverse(Transform3) * Transform3:
+( 1.000000 0.000000 -0.000000 -0.000000 )
+( 0.000000 1.000000 -0.000000 0.000000 )
+( 0.000000 0.000000 1.000000 -0.000000 )
+orthoInverse Transform3:
+( -0.806392 -0.302338 0.508256 0.139094 )
+( -0.574608 0.197327 -0.794285 -0.350157 )
+( 0.139850 -0.932552 -0.332848 0.437469 )
+orthoInverse(Transform3) * Transform3:
+( 1.000000 0.000000 0.000000 -0.000000 )
+( 0.000000 1.000000 -0.000000 0.000000 )
+( 0.000000 -0.000000 1.000000 0.000000 )
+
+ __end__ 

Extras/vectormathlibrary/tests/test4_soa_c.c

@@ -0,0 +1,474 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+void
+Matrix3_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaMatrix3 tmpM3_0, tmpM3_1, tmpM3_2, tmpM3_3, tmpM3_4, tmpM3_5, tmpM3_6, tmpM3_7, tmpM3_8, tmpM3_9, tmpM3_10;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector3 tmpV3_0;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaM3AppendScale( &tmpM3_0, &a_Matrix3, &a_Vector3 );
+    vmathSoaM3Prints( &tmpM3_0, "appendScale Matrix3 Vector3" );
+    vmathSoaM3PrependScale( &tmpM3_1, &a_Vector3, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_1, "prependScale Vector3 Matrix3" );
+    vmathSoaM3MulPerElem( &tmpM3_2, &a_Matrix3, &b_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_2, "mulPerElem Matrix3" );
+    vmathSoaM3AbsPerElem( &tmpM3_3, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_3, "absPerElem Matrix3" );
+    vmathSoaM3Transpose( &tmpM3_4, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_4, "transpose Matrix3" );
+    vmathSoaM3Inverse( &tmpM3_5, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_5, "inverse Matrix3" );
+    vmathSoaM3Inverse( &tmpM3_6, &a_Matrix3 );
+    vmathSoaM3Mul( &tmpM3_7, &tmpM3_6, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_7, "inverse(Matrix3) * Matrix3" );
+    printf("%f\n", getfloat(vmathSoaM3Determinant( &a_Matrix3 )) );
+    vmathSoaV3Outer( &tmpM3_8, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &tmpM3_8, "outer Vector3" );
+    vmathSoaV3RowMul( &tmpV3_0, &a_Vector3, &a_Matrix3 );
+    vmathSoaV3Prints( &tmpV3_0, "rowMul Vector3" );
+    vmathSoaV3CrossMatrix( &tmpM3_9, &a_Vector3 );
+    vmathSoaM3Prints( &tmpM3_9, "crossMatrix" );
+    vmathSoaV3CrossMatrixMul( &tmpM3_10, &a_Vector3, &a_Matrix3 );
+    vmathSoaM3Prints( &tmpM3_10, "crossMatrixMul" );
+}
+
+void
+Matrix4_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3;
+    VmathSoaMatrix4 tmpM4_0, tmpM4_1, tmpM4_2, tmpM4_3, tmpM4_4, tmpM4_5, tmpM4_6, tmpM4_7;
+    VmathSoaMatrix3 tmpM3_0;
+    VmathSoaMatrix4 tmpM4_8, tmpM4_9, tmpM4_10, tmpM4_11, tmpM4_12, tmpM4_13, tmpM4_14;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat;
+    VmathSoaVector4 tmpV4_0;
+    VmathSoaQuat tmpQ_0;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaM4AppendScale( &tmpM4_0, &a_Matrix4, &a_Vector3 );
+    vmathSoaM4Prints( &tmpM4_0, "appendScale Matrix4 Vector3" );
+    vmathSoaM4PrependScale( &tmpM4_1, &a_Vector3, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_1, "prependScale Vector3 Matrix4" );
+    vmathSoaM4MulPerElem( &tmpM4_2, &a_Matrix4, &b_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_2, "mulPerElem Matrix4" );
+    vmathSoaM4AbsPerElem( &tmpM4_3, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_3, "absPerElem Matrix4" );
+    vmathSoaM4Transpose( &tmpM4_4, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_4, "transpose Matrix4" );
+    vmathSoaM4Inverse( &tmpM4_5, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_5, "inverse Matrix4" );
+    vmathSoaM4Inverse( &tmpM4_6, &a_Matrix4 );
+    vmathSoaM4Mul( &tmpM4_7, &tmpM4_6, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_7, "inverse(Matrix4) * Matrix4" );
+    vmathSoaV4MakeFromElems( &tmpV4_0, ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) );
+    vmathSoaM4SetRow( &a_Matrix4, 3, &tmpV4_0 );
+    vmathSoaQNormalize( &tmpQ_0, &a_Quat );
+    vmathSoaM3MakeFromQ( &tmpM3_0, &tmpQ_0 );
+    vmathSoaM4SetUpper3x3( &a_Matrix4, &tmpM3_0 );
+    vmathSoaM4AffineInverse( &tmpM4_8, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_8, "affineInverse Matrix4" );
+    vmathSoaM4AffineInverse( &tmpM4_9, &a_Matrix4 );
+    vmathSoaM4Mul( &tmpM4_10, &tmpM4_9, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_10, "affineInverse(Matrix4) * Matrix4" );
+    vmathSoaM4OrthoInverse( &tmpM4_11, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_11, "orthoInverse Matrix4" );
+    vmathSoaM4OrthoInverse( &tmpM4_12, &a_Matrix4 );
+    vmathSoaM4Mul( &tmpM4_13, &tmpM4_12, &a_Matrix4 );
+    vmathSoaM4Prints( &tmpM4_13, "orthoInverse(Matrix4) * Matrix4" );
+    printf("%f\n", getfloat(vmathSoaM4Determinant( &a_Matrix4 )) );
+    vmathSoaV4Outer( &tmpM4_14, &a_Vector4, &b_Vector4 );
+    vmathSoaM4Prints( &tmpM4_14, "outer Vector4" );
+}
+
+void
+Transform3_methods_test()
+{
+    VmathSoaMatrix3 a_Matrix3, b_Matrix3;
+    VmathSoaMatrix4 a_Matrix4, b_Matrix4;
+    VmathSoaTransform3 a_Transform3, b_Transform3, tmpT3_0, tmpT3_1, tmpT3_2, tmpT3_3, tmpT3_4, tmpT3_5, tmpT3_6;
+    VmathSoaMatrix3 tmpM3_0;
+    VmathSoaTransform3 tmpT3_7, tmpT3_8, tmpT3_9;
+    VmathSoaVector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    VmathSoaVector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    VmathSoaPoint3 a_Point3, b_Point3, c_Point3, d_Point3;
+    VmathSoaQuat a_Quat, b_Quat, c_Quat, d_Quat, tmpQ_0;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &a_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV3MakeFromElems( &b_Vector3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &c_Vector3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaV3MakeFromElems( &d_Vector3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaV3Prints( &a_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &b_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &c_Vector3, "set Vector3 with floats" );
+    vmathSoaV3Prints( &d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &a_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaV4MakeFromElems( &b_Vector4, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &c_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaV4MakeFromElems( &d_Vector4, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaV4Prints( &a_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &b_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &c_Vector4, "set Vector4 with floats" );
+    vmathSoaV4Prints( &d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &a_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaP3MakeFromElems( &b_Point3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &c_Point3, rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    vmathSoaP3MakeFromElems( &d_Point3, rndflt1, rndflt2, rndflt3 );
+    vmathSoaP3Prints( &a_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &b_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &c_Point3, "set Point3 with floats" );
+    vmathSoaP3Prints( &d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &a_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    vmathSoaQMakeFromElems( &b_Quat, rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &c_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    vmathSoaQMakeFromElems( &d_Quat, rndflt1, rndflt2, rndflt3, rndflt4 );
+    vmathSoaQPrints( &a_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &b_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &c_Quat, "set Quat with floats" );
+    vmathSoaQPrints( &d_Quat, "set Quat with floats" );
+    vmathSoaM3MakeFromCols( &a_Matrix3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaM3MakeFromCols( &b_Matrix3, &d_Vector3, &a_Vector3, &b_Vector3 );
+    vmathSoaM3Prints( &a_Matrix3, "set Matrix3 columns" );
+    vmathSoaM3Prints( &b_Matrix3, "set Matrix3 columns" );
+    vmathSoaM4MakeFromCols( &a_Matrix4, &a_Vector4, &b_Vector4, &c_Vector4, &d_Vector4 );
+    vmathSoaM4MakeFromCols( &b_Matrix4, &d_Vector4, &a_Vector4, &b_Vector4, &c_Vector4 );
+    vmathSoaM4Prints( &a_Matrix4, "set Matrix4 columns" );
+    vmathSoaM4Prints( &b_Matrix4, "set Matrix4 columns" );
+    vmathSoaT3MakeFromCols( &a_Transform3, &a_Vector3, &b_Vector3, &c_Vector3, &d_Vector3 );
+    vmathSoaT3MakeFromCols( &b_Transform3, &d_Vector3, &a_Vector3, &b_Vector3, &c_Vector3 );
+    vmathSoaT3Prints( &a_Transform3, "set Transform3 columns" );
+    vmathSoaT3Prints( &b_Transform3, "set Transform3 columns" );
+    vmathSoaT3AppendScale( &tmpT3_0, &a_Transform3, &a_Vector3 );
+    vmathSoaT3Prints( &tmpT3_0, "appendScale Transform3 Vector3" );
+    vmathSoaT3PrependScale( &tmpT3_1, &a_Vector3, &a_Transform3 );
+    vmathSoaT3Prints( &tmpT3_1, "prependScale Vector3 Transform3" );
+    vmathSoaT3MulPerElem( &tmpT3_2, &a_Transform3, &b_Transform3 );
+    vmathSoaT3Prints( &tmpT3_2, "mulPerElem Transform3" );
+    vmathSoaT3AbsPerElem( &tmpT3_3, &a_Transform3 );
+    vmathSoaT3Prints( &tmpT3_3, "absPerElem Transform3" );
+    vmathSoaT3Inverse( &tmpT3_4, &a_Transform3 );
+    vmathSoaT3Prints( &tmpT3_4, "inverse Transform3" );
+    vmathSoaT3Inverse( &tmpT3_5, &a_Transform3 );
+    vmathSoaT3Mul( &tmpT3_6, &tmpT3_5, &a_Transform3 );
+    vmathSoaT3Prints( &tmpT3_6, "inverse(Transform3) * Transform3" );
+    vmathSoaQNormalize( &tmpQ_0, &a_Quat );
+    vmathSoaM3MakeFromQ( &tmpM3_0, &tmpQ_0 );
+    vmathSoaT3SetUpper3x3( &a_Transform3, &tmpM3_0 );
+    vmathSoaT3OrthoInverse( &tmpT3_7, &a_Transform3 );
+    vmathSoaT3Prints( &tmpT3_7, "orthoInverse Transform3" );
+    vmathSoaT3OrthoInverse( &tmpT3_8, &a_Transform3 );
+    vmathSoaT3Mul( &tmpT3_9, &tmpT3_8, &a_Transform3 );
+    vmathSoaT3Prints( &tmpT3_9, "orthoInverse(Transform3) * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/tests/test4_soa_cpp.cpp

@@ -0,0 +1,426 @@
+/*
+  Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms,
+  with or without modification, are permitted provided that the
+  following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of the Sony Computer Entertainment Inc nor the names
+     of its contributors may be used to endorse or promote products derived
+     from this software without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+  POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define _VECTORMATH_SOA_TEST
+
+#include "vectormath_soa.h"
+#include "test.h"
+
+int iteration = 0;
+
+using namespace Vectormath;
+using namespace Vectormath::Soa;
+
+void
+Matrix3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( appendScale( a_Matrix3, a_Vector3 ), "appendScale Matrix3 Vector3" );
+    print( prependScale( a_Vector3, a_Matrix3 ), "prependScale Vector3 Matrix3" );
+    print( mulPerElem( a_Matrix3, b_Matrix3 ), "mulPerElem Matrix3" );
+    print( absPerElem( a_Matrix3 ), "absPerElem Matrix3" );
+    print( transpose( a_Matrix3 ), "transpose Matrix3" );
+    print( inverse( a_Matrix3 ), "inverse Matrix3" );
+    print( ( inverse( a_Matrix3 ) * a_Matrix3 ), "inverse(Matrix3) * Matrix3" );
+    printf("%f\n", getfloat(determinant( a_Matrix3 )) );
+    print( outer( a_Vector3, b_Vector3 ), "outer Vector3" );
+    print( rowMul( a_Vector3, a_Matrix3 ), "rowMul Vector3" );
+    print( crossMatrix( a_Vector3 ), "crossMatrix" );
+    print( crossMatrixMul( a_Vector3, a_Matrix3 ), "crossMatrixMul" );
+}
+
+void
+Matrix4_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( appendScale( a_Matrix4, a_Vector3 ), "appendScale Matrix4 Vector3" );
+    print( prependScale( a_Vector3, a_Matrix4 ), "prependScale Vector3 Matrix4" );
+    print( mulPerElem( a_Matrix4, b_Matrix4 ), "mulPerElem Matrix4" );
+    print( absPerElem( a_Matrix4 ), "absPerElem Matrix4" );
+    print( transpose( a_Matrix4 ), "transpose Matrix4" );
+    print( inverse( a_Matrix4 ), "inverse Matrix4" );
+    print( ( inverse( a_Matrix4 ) * a_Matrix4 ), "inverse(Matrix4) * Matrix4" );
+    a_Matrix4.setRow( 3, Vector4( ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){0.0f,0.0f,0.0f,0.0f}), ((vec_float4){1.0f,1.0f,1.0f,1.0f}) ) );
+    a_Matrix4.setUpper3x3( Matrix3( normalize( a_Quat ) ) );
+    print( affineInverse( a_Matrix4 ), "affineInverse Matrix4" );
+    print( ( affineInverse( a_Matrix4 ) * a_Matrix4 ), "affineInverse(Matrix4) * Matrix4" );
+    print( orthoInverse( a_Matrix4 ), "orthoInverse Matrix4" );
+    print( ( orthoInverse( a_Matrix4 ) * a_Matrix4 ), "orthoInverse(Matrix4) * Matrix4" );
+    printf("%f\n", getfloat(determinant( a_Matrix4 )) );
+    print( outer( a_Vector4, b_Vector4 ), "outer Vector4" );
+}
+
+void
+Transform3_methods_test()
+{
+    Matrix3 a_Matrix3, b_Matrix3;
+    Matrix4 a_Matrix4, b_Matrix4;
+    Transform3 a_Transform3, b_Transform3;
+    Vector3 a_Vector3, b_Vector3, c_Vector3, d_Vector3;
+    Vector4 a_Vector4, b_Vector4, c_Vector4, d_Vector4;
+    Point3 a_Point3, b_Point3, c_Point3, d_Point3;
+    Quat a_Quat, b_Quat, c_Quat, d_Quat;
+    vec_float4 rndflt1, rndflt2, rndflt3, rndflt4, rndflt5, rndflt6;
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector3 = Vector3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Vector3 = Vector3( rndflt1, rndflt2, rndflt3 );
+    print( a_Vector3, "set Vector3 with floats" );
+    print( b_Vector3, "set Vector3 with floats" );
+    print( c_Vector3, "set Vector3 with floats" );
+    print( d_Vector3, "set Vector3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Vector4 = Vector4( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Vector4 = Vector4( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Vector4, "set Vector4 with floats" );
+    print( b_Vector4, "set Vector4 with floats" );
+    print( c_Vector4, "set Vector4 with floats" );
+    print( d_Vector4, "set Vector4 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    a_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Point3 = Point3( rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    c_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    d_Point3 = Point3( rndflt1, rndflt2, rndflt3 );
+    print( a_Point3, "set Point3 with floats" );
+    print( b_Point3, "set Point3 with floats" );
+    print( c_Point3, "set Point3 with floats" );
+    print( d_Point3, "set Point3 with floats" );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    a_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    rndflt5 = randfloat();
+    rndflt6 = randfloat();
+    b_Quat = Quat( rndflt3, rndflt4, rndflt5, rndflt6 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    c_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    rndflt1 = randfloat();
+    rndflt2 = randfloat();
+    rndflt3 = randfloat();
+    rndflt4 = randfloat();
+    d_Quat = Quat( rndflt1, rndflt2, rndflt3, rndflt4 );
+    print( a_Quat, "set Quat with floats" );
+    print( b_Quat, "set Quat with floats" );
+    print( c_Quat, "set Quat with floats" );
+    print( d_Quat, "set Quat with floats" );
+    a_Matrix3 = Matrix3( a_Vector3, b_Vector3, c_Vector3 );
+    b_Matrix3 = Matrix3( d_Vector3, a_Vector3, b_Vector3 );
+    print( a_Matrix3, "set Matrix3 columns" );
+    print( b_Matrix3, "set Matrix3 columns" );
+    a_Matrix4 = Matrix4( a_Vector4, b_Vector4, c_Vector4, d_Vector4 );
+    b_Matrix4 = Matrix4( d_Vector4, a_Vector4, b_Vector4, c_Vector4 );
+    print( a_Matrix4, "set Matrix4 columns" );
+    print( b_Matrix4, "set Matrix4 columns" );
+    a_Transform3 = Transform3( a_Vector3, b_Vector3, c_Vector3, d_Vector3 );
+    b_Transform3 = Transform3( d_Vector3, a_Vector3, b_Vector3, c_Vector3 );
+    print( a_Transform3, "set Transform3 columns" );
+    print( b_Transform3, "set Transform3 columns" );
+    print( appendScale( a_Transform3, a_Vector3 ), "appendScale Transform3 Vector3" );
+    print( prependScale( a_Vector3, a_Transform3 ), "prependScale Vector3 Transform3" );
+    print( mulPerElem( a_Transform3, b_Transform3 ), "mulPerElem Transform3" );
+    print( absPerElem( a_Transform3 ), "absPerElem Transform3" );
+    print( inverse( a_Transform3 ), "inverse Transform3" );
+    print( ( inverse( a_Transform3 ) * a_Transform3 ), "inverse(Transform3) * Transform3" );
+    a_Transform3.setUpper3x3( Matrix3( normalize( a_Quat ) ) );
+    print( orthoInverse( a_Transform3 ), "orthoInverse Transform3" );
+    print( ( orthoInverse( a_Transform3 ) * a_Transform3 ), "orthoInverse(Transform3) * Transform3" );
+}
+
+int main()
+{
+    int i;
+    printf("\n __begin__ \n");
+    for ( i = 0; i < 2; i++ ) {
+        Matrix3_methods_test();
+        Matrix4_methods_test();
+        Transform3_methods_test();
+    }
+    printf("\n __end__ \n");
+    return 0;
+}

Extras/vectormathlibrary/vectormath.spec

@@ -0,0 +1,81 @@
+%define lib_version 1.0.1
+
+Summary: Vector math library
+Name: vectormath
+Version: %{lib_version}
+Release: 1
+License: BSD
+Group: Development/Libraries
+Source0: %{name}-%{version}.tar.gz
+BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root
+
+%description
+Vector math library.
+
+%ifarch ppc ppc64
+%define _lib_arch ppu
+%endif
+
+%ifarch i386 x86_64
+%define _lib_arch SSE
+%endif
+
+%if %{undefined _lib_arch}
+%define _lib_arch scalar
+%endif
+
+%package -n %{name}-devel
+Summary: Vector math library.
+Group: Development/Libraries
+%ifarch ppc ppc64
+Requires: simdmath-devel
+%endif
+
+%description -n %{name}-devel
+Vector math library.
+
+%ifarch ppc ppc64
+%package -n spu-%{name}-devel
+Summary: Vector math library.
+Group: Development/Libraries
+Requires: spu-simdmath-devel
+
+%description -n spu-%{name}-devel
+Vector math library.
+%endif
+
+%prep
+%setup -q
+
+%build
+
+%install
+rm -rf %{buildroot}
+
+make ARCH=%{_lib_arch} DESTDIR=%{buildroot} install
+
+%ifarch ppc ppc64
+make ARCH=spu DESTDIR=%{buildroot} install
+%endif
+
+mkdir -p %{buildroot}/%{_docdir}/%{name}-%{version}
+cp README LICENSE doc/*.pdf %{buildroot}/%{_docdir}/%{name}-%{version}/
+
+
+%clean
+rm -rf %{buildroot}
+
+%files -n %{name}-devel
+%defattr(-,root,root,-)
+%{_includedir}/*
+%{_docdir}/*
+
+%ifarch ppc ppc64
+%files -n spu-%{name}-devel
+%defattr(-,root,root,-)
+%{_prefix}/spu/include/*
+%endif
+
+%changelog
+* Wed Aug  8 2007 Kazunori Asayama <asayama@sm.sony.co.jp> - 1.0.1-1
+- Initial build.