example: add cars

blender.py

@@ -97,7 +97,7 @@ def render_rotation_quaternion(f, r):
 def render_mesh(f, name, mesh):
     f.write(f"const vec2 * {name}_uv_layers[] = {{\n")
     for layer_name in mesh.uv_layers.keys():
-        f.write(f"  {name}_{layer_name}_uvmap,\n");
+        f.write(f"  {name}_{translate_name(layer_name)}_uvmap,\n");
     f.write( "};\n\n")
 
     f.write(f"const mesh {name} = {{\n")
@@ -118,7 +118,7 @@ def render_mesh(f, name, mesh):
     f.write( "};\n\n")
 
 def translate_name(name):
-    return name.replace(".", "_").replace("-", "_")
+    return name.replace(".", "_").replace("-", "_").replace(" ", "_")
 
 def mesh_objects(collections):
     objects = set()
@@ -150,7 +150,7 @@ def get_texture(material):
 
 _offset = 0
 texture_offsets = {}
-prefix = "textures_"
+prefix = "model_cars_"
 
 def get_texture_offset(image):
     global _offset
@@ -160,13 +160,13 @@ def get_texture_offset(image):
     value = _offset
     texture_offsets[image.name] = value
     width, height = image.size
-    _offset += width * height // 4 + 256 * 4 * 2
+    _offset += width * height * 2
     return value
 
 def texture_data_name(name):
     name = path.splitext(name)[0]
     name = translate_name(name)
-    return f"{prefix}{name}_vq"
+    return f"{prefix}{name}_data"
 
 def render_mesh_materials(f, name, materials):
     f.write(f"const mesh_material {name}_materials[] = {{\n")
@@ -209,7 +209,7 @@ def export_meshes(f):
 
         render_mesh_vertices(f, mesh_name, mesh.vertices)
         for layer_name, layer in mesh.uv_layers.items():
-            render_uv_map(f, mesh_name, layer_name, layer.uv)
+            render_uv_map(f, mesh_name, translate_name(layer_name), layer.uv)
         render_vertex_normals(f, mesh_name, mesh.vertices)
         render_polygon_normals(f, mesh_name, mesh.polygon_normals)
         render_polygons(f, mesh_name, mesh.polygons)

example/cars.cpp

@@ -0,0 +1,651 @@
+#include <bit>
+
+#include "holly/background.hpp"
+#include "holly/core.hpp"
+#include "holly/core_bits.hpp"
+#include "holly/holly.hpp"
+#include "holly/isp_tsp.hpp"
+#include "holly/region_array.hpp"
+#include "holly/ta_bits.hpp"
+#include "holly/ta_fifo_polygon_converter.hpp"
+#include "holly/ta_global_parameter.hpp"
+#include "holly/ta_parameter.hpp"
+#include "holly/ta_vertex_parameter.hpp"
+#include "holly/texture_memory_alloc5.hpp"
+#include "holly/video_output.hpp"
+
+#include "systembus.hpp"
+#include "systembus_bits.hpp"
+
+#include "maple/maple.hpp"
+#include "maple/maple_host_command_writer.hpp"
+#include "maple/maple_bus_bits.hpp"
+#include "maple/maple_bus_commands.hpp"
+#include "maple/maple_bus_ft0.hpp"
+
+#include "memorymap.hpp"
+
+#include "sh7091/sh7091.hpp"
+#include "sh7091/sh7091_bits.hpp"
+#include "sh7091/serial.hpp"
+#include "printf/printf.h"
+
+#include "math/vec2.hpp"
+#include "math/vec3.hpp"
+#include "math/vec4.hpp"
+#include "math/mat2x2.hpp"
+#include "math/mat3x3.hpp"
+#include "math/mat4x4.hpp"
+#include "math/geometry.hpp"
+#include "math/transform.hpp"
+
+#include "interrupt.hpp"
+
+#include "assert.h"
+
+using vec2 = vec<2, float>;
+using vec3 = vec<3, float>;
+using vec4 = vec<4, float>;
+using mat4x4 = mat<4, 4, float>;
+
+#include "model/blender_export.h"
+#include "model/cars/Wall_bricks_13_512px.data.h"
+#include "model/cars/compact_classic/gulf_blue.data.h"
+#include "model/cars/compact_classic/jupiter_grey.data.h"
+#include "model/cars/garbage_truck/GarbageTruck.data.h"
+#include "model/cars/scene.h"
+
+static ft0::data_transfer::data_format data[4];
+
+uint8_t send_buf[1024] __attribute__((aligned(32)));
+uint8_t recv_buf[1024] __attribute__((aligned(32)));
+
+void do_get_condition()
+{
+  auto writer = maple::host_command_writer(send_buf, recv_buf);
+
+  using command_type = maple::get_condition;
+  using response_type = maple::data_transfer<ft0::data_transfer::data_format>;
+
+  auto [host_command, host_response]
+    = writer.append_command_all_ports<command_type, response_type>();
+
+  for (int port = 0; port < 4; port++) {
+    auto& data_fields = host_command[port].bus_data.data_fields;
+    data_fields.function_type = std::byteswap(function_type::controller);
+  }
+  maple::dma_start(send_buf, writer.send_offset,
+                   recv_buf, writer.recv_offset);
+
+  for (uint8_t port = 0; port < 4; port++) {
+    auto& bus_data = host_response[port].bus_data;
+    if (bus_data.command_code != response_type::command_code) {
+      return;
+    }
+    auto& data_fields = bus_data.data_fields;
+    if ((std::byteswap(data_fields.function_type) & function_type::controller) == 0) {
+      return;
+    }
+
+    data[port].digital_button = data_fields.data.digital_button;
+    for (int i = 0; i < 6; i++) {
+      data[port].analog_coordinate_axis[i]
+        = data_fields.data.analog_coordinate_axis[i];
+    }
+  }
+}
+
+void vbr100()
+{
+  serial::string("vbr100\n");
+  interrupt_exception();
+}
+
+void vbr400()
+{
+  serial::string("vbr400\n");
+  interrupt_exception();
+}
+
+const int framebuffer_width = 640;
+const int framebuffer_height = 480;
+const int tile_width = framebuffer_width / 32;
+const int tile_height = framebuffer_height / 32;
+
+constexpr uint32_t ta_alloc = 0
+                            | ta_alloc_ctrl::pt_opb::no_list
+                            | ta_alloc_ctrl::tm_opb::no_list
+                            | ta_alloc_ctrl::t_opb::no_list
+                            | ta_alloc_ctrl::om_opb::no_list
+                            | ta_alloc_ctrl::o_opb::_32x4byte;
+
+constexpr int ta_cont_count = 1;
+constexpr struct opb_size opb_size[ta_cont_count] = {
+  {
+    .opaque = 32 * 4,
+    .opaque_modifier = 0,
+    .translucent = 0,
+    .translucent_modifier = 0,
+    .punch_through = 0
+  }
+};
+
+static volatile int ta_in_use = 0;
+static volatile int core_in_use = 0;
+static volatile int next_frame = 0;
+static volatile int framebuffer_ix = 0;
+static volatile int next_frame_ix = 0;
+
+static inline void pump_events(uint32_t istnrm)
+{
+  if (istnrm & istnrm::v_blank_in) {
+    system.ISTNRM = istnrm::v_blank_in;
+
+    next_frame = 1;
+    holly.FB_R_SOF1 = texture_memory_alloc.framebuffer[next_frame_ix].start;
+  }
+
+  if (istnrm & istnrm::end_of_render_tsp) {
+    system.ISTNRM = istnrm::end_of_render_tsp
+                  | istnrm::end_of_render_isp
+                  | istnrm::end_of_render_video;
+
+    next_frame_ix = framebuffer_ix;
+    framebuffer_ix += 1;
+    if (framebuffer_ix >= 3) framebuffer_ix = 0;
+
+    core_in_use = 0;
+  }
+
+  if (istnrm & istnrm::end_of_transferring_opaque_list) {
+    system.ISTNRM = istnrm::end_of_transferring_opaque_list;
+
+    core_in_use = 1;
+    core_start_render2(texture_memory_alloc.region_array.start,
+                       texture_memory_alloc.isp_tsp_parameters.start,
+                       texture_memory_alloc.background[0].start,
+                       texture_memory_alloc.framebuffer[framebuffer_ix].start,
+                       framebuffer_width);
+
+    ta_in_use = 0;
+  }
+}
+
+void vbr600()
+{
+  uint32_t sr;
+  asm volatile ("stc sr,%0" : "=r" (sr));
+  sr |= sh::sr::imask(15);
+  asm volatile ("ldc %0,sr" : : "r" (sr));
+  //serial::string("imask\n");
+
+  //check_pipeline();
+
+  if (sh7091.CCN.EXPEVT == 0 && sh7091.CCN.INTEVT == 0x320) {
+    uint32_t istnrm = system.ISTNRM;
+    uint32_t isterr = system.ISTERR;
+
+    if (isterr) {
+      serial::string("isterr: ");
+      serial::integer<uint32_t>(system.ISTERR);
+    }
+
+    pump_events(istnrm);
+
+    sr &= ~sh::sr::imask(15);
+    asm volatile ("ldc %0,sr" : : "r" (sr));
+
+    return;
+  }
+
+  serial::string("vbr600\n");
+  interrupt_exception();
+}
+
+void global_polygon_type_1(ta_parameter_writer& writer,
+                           uint32_t control,
+                           uint32_t tsp_instruction,
+                           uint32_t texture_control_word,
+                           const float a = 1.0f,
+                           const float r = 1.0f,
+                           const float g = 1.0f,
+                           const float b = 1.0f
+                           )
+{
+  const uint32_t parameter_control_word = para_control::para_type::polygon_or_modifier_volume
+                                        | obj_control::col_type::intensity_mode_1
+                                        | obj_control::gouraud
+                                        | control
+                                        ;
+
+  const uint32_t isp_tsp_instruction_word = isp_tsp_instruction_word::depth_compare_mode::greater
+                                          | isp_tsp_instruction_word::culling_mode::no_culling
+                                          ;
+
+  const uint32_t tsp_instruction_word = tsp_instruction_word::fog_control::no_fog
+                                      | tsp_instruction_word::texture_shading_instruction::decal
+                                      | tsp_instruction_word::src_alpha_instr::one
+                                      | tsp_instruction_word::dst_alpha_instr::zero
+                                      | tsp_instruction
+                                      ;
+
+  writer.append<ta_global_parameter::polygon_type_1>() =
+    ta_global_parameter::polygon_type_1(parameter_control_word,
+                                        isp_tsp_instruction_word,
+                                        tsp_instruction_word,
+                                        texture_control_word,
+                                        a,
+                                        r,
+                                        g,
+                                        b
+                                        );
+}
+
+static inline void render_quad(ta_parameter_writer& writer,
+                               vec3 ap,
+                               vec3 bp,
+                               vec3 cp,
+                               vec3 dp,
+                               vec2 at,
+                               vec2 bt,
+                               vec2 ct,
+                               vec2 dt,
+                               float li)
+{
+  if (ap.z < 0 || bp.z < 0 || cp.z < 0 || dp.z < 0)
+    return;
+
+  writer.append<ta_vertex_parameter::polygon_type_7>() =
+    ta_vertex_parameter::polygon_type_7(polygon_vertex_parameter_control_word(false),
+                                        ap.x, ap.y, ap.z,
+                                        at.x, at.y,
+                                        li, 0);
+
+  writer.append<ta_vertex_parameter::polygon_type_7>() =
+    ta_vertex_parameter::polygon_type_7(polygon_vertex_parameter_control_word(false),
+                                        bp.x, bp.y, bp.z,
+                                        bt.x, bt.y,
+                                        li, 0);
+
+  writer.append<ta_vertex_parameter::polygon_type_7>() =
+    ta_vertex_parameter::polygon_type_7(polygon_vertex_parameter_control_word(false),
+                                        dp.x, dp.y, dp.z,
+                                        dt.x, dt.y,
+                                        li, 0);
+
+  writer.append<ta_vertex_parameter::polygon_type_7>() =
+    ta_vertex_parameter::polygon_type_7(polygon_vertex_parameter_control_word(true),
+                                        cp.x, cp.y, cp.z,
+                                        ct.x, ct.y,
+                                        li, 0);
+}
+
+static inline vec3 screen_transform(vec3 v)
+{
+  float dim = 480 / 2.0;
+
+  return {
+    v.x / (1.f * v.z) * dim + 640 / 2.0f,
+    v.y / (1.f * v.z) * dim + 480 / 2.0f,
+    1 / v.z,
+  };
+}
+
+void transfer_mesh(ta_parameter_writer& writer, const mat4x4& trans, const object * object)
+{
+  const mesh * mesh = object->mesh;
+
+  uint32_t control
+    = para_control::list_type::opaque
+    | obj_control::texture;
+
+  uint32_t tsp_instruction_word;
+  uint32_t texture_control_word;
+
+  if (mesh->materials_length != 0) {
+    const mesh_material * material = &mesh->materials[0];
+
+    tsp_instruction_word
+      = tsp_instruction_word::texture_u_size::from_int(material->width)
+      | tsp_instruction_word::texture_v_size::from_int(material->height);
+
+    uint32_t texture_address = texture_memory_alloc.texture.start + material->offset;
+    texture_control_word
+      = texture_control_word::pixel_format::_565
+      | texture_control_word::scan_order::twiddled
+      | texture_control_word::texture_address(texture_address / 8);
+  } else {
+    tsp_instruction_word
+      = tsp_instruction_word::texture_u_size::from_int(1024)
+      | tsp_instruction_word::texture_v_size::from_int(512);
+
+    uint32_t texture_address = texture_memory_alloc.texture.start + 1114112;
+    texture_control_word
+      = texture_control_word::pixel_format::_565
+      | texture_control_word::scan_order::non_twiddled
+      | texture_control_word::stride_select
+      | texture_control_word::texture_address(texture_address / 8);
+  }
+
+  global_polygon_type_1(writer,
+                        control,
+                        tsp_instruction_word,
+                        texture_control_word);
+
+  mat4x4 trans1 = trans
+    * translate(object->location)
+    * rotate_quaternion(object->rotation)
+    * scale(object->scale);
+
+  vec3 position_cache[mesh->position_length];
+  for (int i = 0; i < mesh->position_length; i++) {
+    position_cache[i] = trans1 * mesh->position[i];
+  }
+
+  for (int i = 0; i < mesh->polygons_length; i++) {
+    const polygon * p = &mesh->polygons[i];
+
+    vec3 ap = screen_transform(position_cache[p->a]);
+    vec3 bp = screen_transform(position_cache[p->b]);
+    vec3 cp = screen_transform(position_cache[p->c]);
+    vec3 dp = screen_transform(position_cache[p->d]);
+
+    vec2 at = mesh->uv_layers[0][p->uv_index + 0];
+    vec2 bt = mesh->uv_layers[0][p->uv_index + 1];
+    vec2 ct = mesh->uv_layers[0][p->uv_index + 2];
+    vec2 dt = mesh->uv_layers[0][p->uv_index + 3];
+
+    at.y = 1.0 - at.y;
+    bt.y = 1.0 - bt.y;
+    ct.y = 1.0 - ct.y;
+    dt.y = 1.0 - dt.y;
+
+    if (mesh->materials_length == 0) {
+      at.x *= (640.f / 1024.f);
+      at.y *= (480.f / 512.f);
+      bt.x *= (640.f / 1024.f);
+      bt.y *= (480.f / 512.f);
+      ct.x *= (640.f / 1024.f);
+      ct.y *= (480.f / 512.f);
+      dt.x *= (640.f / 1024.f);
+      dt.y *= (480.f / 512.f);
+    }
+    if (mesh == &mesh_Plane) {
+      at.y *= 10;
+      at.x *= 10;
+      bt.y *= 10;
+      bt.x *= 10;
+      ct.y *= 10;
+      ct.x *= 10;
+      dt.y *= 10;
+      dt.x *= 10;
+    }
+
+    float li = 1.0;
+
+    render_quad(writer,
+                ap, bp, cp, dp,
+                at, bt, ct, dt,
+                li);
+  }
+}
+
+void transfer_scene(ta_parameter_writer& writer, const mat4x4& trans)
+{
+  // opaque list
+  {
+    for (uint32_t i = 0; i < (sizeof (objects)) / (sizeof (objects[0])); i++) {
+      transfer_mesh(writer, trans, &objects[i]);
+    }
+
+    writer.append<ta_global_parameter::end_of_list>() =
+      ta_global_parameter::end_of_list(para_control::para_type::end_of_list);
+  }
+}
+
+mat4x4 update_analog(mat4x4& screen_trans)
+{
+  const float l_ = static_cast<float>(data[0].analog_coordinate_axis[0]) * (1.f / 255.f);
+  const float r_ = static_cast<float>(data[0].analog_coordinate_axis[1]) * (1.f / 255.f);
+
+  const float x_ = static_cast<float>(data[0].analog_coordinate_axis[2] - 0x80) / 127.f;
+  const float y_ = static_cast<float>(data[0].analog_coordinate_axis[3] - 0x80) / 127.f;
+
+  int ra = ft0::data_transfer::digital_button::ra(data[0].digital_button) == 0;
+  int la = ft0::data_transfer::digital_button::la(data[0].digital_button) == 0;
+  int da = ft0::data_transfer::digital_button::da(data[0].digital_button) == 0;
+  int ua = ft0::data_transfer::digital_button::ua(data[0].digital_button) == 0;
+
+  if (ra) {
+    for (int i = 0; i < 5; i++)
+      objects[i].location.x -= 0.05;
+  }
+  if (la) {
+    for (int i = 0; i < 5; i++)
+      objects[i].location.x += 0.05;
+  }
+  if (da) {
+    for (int i = 0; i < 5; i++)
+      objects[i].location.y += 0.05;
+  }
+  if (ua) {
+    for (int i = 0; i < 5; i++)
+      objects[i].location.y -= 0.05;
+  }
+
+
+  float y = -0.05f * x_;
+  float x = 0.05f * y_;
+
+  float z = -0.05f * r_ + 0.05f * l_;
+
+  return translate((vec3){0, 0, z}) *
+    screen_trans *
+    rotate_x(x) *
+    rotate_z(y);
+}
+
+void transfer_ta_fifo_texture_memory_32byte(void * dst, const void * src, int length)
+{
+  assert((((int)dst) & 31) == 0);
+  assert((((int)length) & 31) == 0);
+
+  uint32_t out_addr = (uint32_t)dst;
+  sh7091.CCN.QACR0 = ((reinterpret_cast<uint32_t>(out_addr) >> 24) & 0b11100);
+  sh7091.CCN.QACR1 = ((reinterpret_cast<uint32_t>(out_addr) >> 24) & 0b11100);
+
+  volatile uint32_t * base = &store_queue[(out_addr & 0x03ffffe0) / 4];
+  const uint32_t * src32 = reinterpret_cast<const uint32_t *>(src);
+
+  length = (length + 31) & ~31; // round up to nearest multiple of 32
+  while (length > 0) {
+    base[0] = src32[0];
+    base[1] = src32[1];
+    base[2] = src32[2];
+    base[3] = src32[3];
+    base[4] = src32[4];
+    base[5] = src32[5];
+    base[6] = src32[6];
+    base[7] = src32[7];
+    asm volatile ("pref @%0"
+                  :                // output
+                  : "r" (&base[0]) // input
+                  : "memory");
+    length -= 32;
+    base += 8;
+    src32 += 8;
+  }
+}
+
+void transfer_scene_textures()
+{
+  for (uint32_t i = 0; i < (sizeof (materials)) / (sizeof (materials[i])); i++) {
+    uint32_t offset = texture_memory_alloc.texture.start + materials[i].offset;
+    void * dst = reinterpret_cast<void *>(&ta_fifo_texture_memory[offset / 4]);
+    transfer_ta_fifo_texture_memory_32byte(dst, materials[i].start, materials[i].size);
+  }
+}
+
+void transfer_textures()
+{
+  system.LMMODE0 = 0;
+  system.LMMODE1 = 0; // 64-bit
+
+  transfer_scene_textures();
+}
+
+void dma_transfer(uint32_t source, uint32_t destination, uint32_t transfers)
+{
+  using namespace dmac;
+
+  volatile uint32_t _dummy = sh7091.DMAC.CHCR1;
+  (void)_dummy;
+
+  sh7091.DMAC.CHCR1 = 0;
+
+  sh7091.DMAC.SAR1 = source;
+  sh7091.DMAC.DAR1 = destination;
+  sh7091.DMAC.DMATCR1 = transfers & 0x00ff'ffff;
+
+  sh7091.DMAC.CHCR1 = chcr::dm::destination_address_incremented
+                    | chcr::sm::source_address_incremented
+                    | chcr::rs::resource_select(0b0100) /* auto request; external address space → external address space */
+                    | chcr::tm::cycle_burst_mode /* transmit mode */
+                  //| chcr::tm::cycle_steal_mode /* transmit mode */
+                    | chcr::ts::_32_byte           /* transfer size */
+                  //| chcr::ie::interrupt_request_generated
+                    | chcr::de::channel_operation_enabled;
+}
+
+void ch2_dma_transfer(uint32_t source, uint32_t destination, uint32_t transfers)
+{
+  using namespace dmac;
+
+  /*
+  for (uint32_t i = 0; i < transfers; i++) {
+    asm volatile ("ocbwb @%0"
+		  :                          // output
+		  : "r" (source + (32 * i)) // input
+		  );
+  }
+  */
+
+  // this dummy read appears to be required on real hardware.
+  volatile uint32_t _dummy = sh7091.DMAC.CHCR2;
+  (void)_dummy;
+
+  system.ISTNRM = istnrm::end_of_dma_ch2_dma;
+
+  /* start a new CH2-DMA transfer from "system memory" to "TA FIFO polygon converter" */
+  sh7091.DMAC.CHCR2 = 0; /* disable DMA channel */
+  sh7091.DMAC.SAR2 = reinterpret_cast<uint32_t>(source);  /* start address, must be aligned to a CHCHR__TS-sized (32-byte) boundary */
+  sh7091.DMAC.DMATCR2 = dmatcr::transfer_count(transfers); /* transfer count, in CHCHR__TS-sized (32-byte) units */
+  sh7091.DMAC.CHCR2 = chcr::dm::destination_address_incremented
+                    | chcr::sm::source_address_incremented
+                    | chcr::rs::resource_select(0b0010) /* external request, single address mode;
+					                   external address space → external device */
+                    | chcr::tm::cycle_burst_mode /* transmit mode */
+                    | chcr::ts::_32_byte         /* transfer size */
+                    | chcr::de::channel_operation_enabled;
+
+  system.C2DSTAT = c2dstat::texture_memory_start_address(destination); /* CH2-DMA destination address */
+  system.C2DLEN  = c2dlen::transfer_length(transfers * 32);         /* CH2-DMA length (must be a multiple of 32) */
+  system.C2DST   = 1;          /* CH2-DMA start (an 'external' request from SH7091's perspective) */
+
+  // wait for ch2-dma completion
+  while ((system.ISTNRM & istnrm::end_of_dma_ch2_dma) == 0);
+  // reset ch2-dma interrupt status
+  system.ISTNRM = istnrm::end_of_dma_ch2_dma;
+}
+
+uint8_t __attribute__((aligned(32))) ta_parameter_buf[1024 * 1024 * 3];
+
+int main()
+{
+  sh7091.TMU.TSTR = 0; // stop all timers
+  sh7091.TMU.TOCR = tmu::tocr::tcoe::tclk_is_external_clock_or_input_capture;
+  sh7091.TMU.TCR0 = tmu::tcr0::tpsc::p_phi_256; // 256 / 50MHz = 5.12 μs ; underflows in ~1 hour
+  sh7091.TMU.TCOR0 = 0xffff'ffff;
+  sh7091.TMU.TCNT0 = 0xffff'ffff;
+  sh7091.TMU.TSTR = tmu::tstr::str0::counter_start;
+
+  serial::init(0);
+
+  interrupt_init();
+
+  holly.SOFTRESET = softreset::pipeline_soft_reset
+		  | softreset::ta_soft_reset;
+  holly.SOFTRESET = 0;
+
+  core_init();
+  transfer_textures();
+
+  holly.FPU_SHAD_SCALE = fpu_shad_scale::simple_shadow_enable::parameter_selection_volume_mode;
+
+  system.IML6NRM = istnrm::end_of_render_tsp
+                 | istnrm::v_blank_in
+                 | istnrm::end_of_transferring_opaque_list;
+
+  region_array_multipass(tile_width,
+                         tile_height,
+                         opb_size,
+                         ta_cont_count,
+                         texture_memory_alloc.region_array.start,
+                         texture_memory_alloc.object_list.start);
+
+  background_parameter2(texture_memory_alloc.background[0].start,
+                        0xff202040);
+
+  ta_parameter_writer writer = ta_parameter_writer(ta_parameter_buf, (sizeof (ta_parameter_buf)));
+
+  video_output::set_mode_vga();
+
+  mat4x4 screen_trans = {
+    1, 0, 0, 0,
+    0, 0, -1, 0,
+    0, 1, 0, 7,
+    0, 0, 0, 1,
+  };
+
+  holly.TEXT_CONTROL = text_control::stride(20); // 640 pixels
+
+  do_get_condition();
+  int frame_ix = 0;
+  while (1) {
+    maple::dma_wait_complete();
+    do_get_condition();
+    writer.offset = 0;
+
+    screen_trans = update_analog(screen_trans);
+    transfer_scene(writer, screen_trans);
+
+    while (ta_in_use);
+    while (core_in_use);
+    ta_in_use = 1;
+    ta_polygon_converter_init2(texture_memory_alloc.isp_tsp_parameters.start,
+                               texture_memory_alloc.isp_tsp_parameters.end,
+                               texture_memory_alloc.object_list.start,
+                               texture_memory_alloc.object_list.end,
+                               opb_size[0].total(),
+                               ta_alloc,
+                               tile_width,
+                               tile_height);
+    ta_polygon_converter_writeback(writer.buf, writer.offset);
+    ta_polygon_converter_transfer(writer.buf, writer.offset);
+
+    {
+      uint32_t offset = texture_memory_alloc.framebuffer[next_frame_ix].start;
+      void * in = (void *)&texture_memory32[offset / 4];
+
+      uint32_t offset2 = texture_memory_alloc.texture.start + 1114112;
+      void * dst = reinterpret_cast<void *>(&ta_fifo_texture_memory[offset2 / 4]);
+      dma_transfer((uint32_t)in, (uint32_t)dst, 640 * 480 * 2 / 32);
+      while ((sh7091.DMAC.CHCR1 & dmac::chcr::te::transfers_completed) == 0);
+    }
+
+    while (next_frame == 0);
+    next_frame = 0;
+
+    frame_ix += 1;
+  }
+}

example/example.mk

@@ -1235,3 +1235,25 @@ GAME_OF_LIFE_OBJ = \
 
 example/game_of_life.elf: LDSCRIPT = $(LIB)/main.lds
 example/game_of_life.elf: $(START_OBJ) $(GAME_OF_LIFE_OBJ)
+
+CARS_OBJ = \
+	example/cars.o \
+	holly/core.o \
+	holly/region_array.o \
+	holly/background.o \
+	holly/ta_fifo_polygon_converter.o \
+	holly/video_output.o \
+	sh7091/serial.o \
+	maple/maple.o \
+	sh7091/c_serial.o \
+	printf/printf.o \
+	printf/unparse.o \
+	printf/parse.o \
+	model/cars/Wall_bricks_13_512px.data.o \
+	model/cars/garbage_truck/GarbageTruck.data.o \
+	model/cars/compact_classic/gulf_blue.data.o \
+	model/cars/compact_classic/jupiter_grey.data.o \
+	$(LIBGCC)
+
+example/cars.elf: LDSCRIPT = $(LIB)/main.lds
+example/cars.elf: $(START_OBJ) $(CARS_OBJ)

math/transform.hpp

@@ -107,9 +107,9 @@ inline constexpr mat<4, 4, T> rotate_quaternion(vec<4, T> r)
 template <typename T>
 inline constexpr mat<4, 4, T> look_at(vec<3, T> eye, vec<3, T> center, vec<3, T> up)
 {
-  vec3 z = normalize(eye - center);
-  vec3 y = up;
-  vec3 x = cross(y, z);
+  vec<3, T> z = normalize(eye - center);
+  vec<3, T> y = up;
+  vec<3, T> x = cross(y, z);
   y = cross(z, x);
   x = normalize(x);
   y = normalize(y);

model/blender_export.h

@@ -44,13 +44,13 @@ struct mesh {
 
 struct object {
   const struct mesh * mesh;
-  const vec3 scale;
-  const vec4 rotation;
-  const vec3 location;
+  vec3 scale;
+  vec4 rotation;
+  vec3 location;
 };
 
 struct material {
-  void * start;
-  int size;
-  int offset;
+  const void * start;
+  const int size;
+  const int offset;
 };

model/cars/Wall_bricks_13_512px.data.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern uint32_t _binary_model_cars_Wall_bricks_13_512px_data_start __asm("_binary_model_cars_Wall_bricks_13_512px_data_start");
+extern uint32_t _binary_model_cars_Wall_bricks_13_512px_data_end __asm("_binary_model_cars_Wall_bricks_13_512px_data_end");
+extern uint32_t _binary_model_cars_Wall_bricks_13_512px_data_size __asm("_binary_model_cars_Wall_bricks_13_512px_data_size");
+
+#ifdef __cplusplus
+}
+#endif

model/cars/compact_classic/gulf_blue.data.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern uint32_t _binary_model_cars_compact_classic_gulf_blue_data_start __asm("_binary_model_cars_compact_classic_gulf_blue_data_start");
+extern uint32_t _binary_model_cars_compact_classic_gulf_blue_data_end __asm("_binary_model_cars_compact_classic_gulf_blue_data_end");
+extern uint32_t _binary_model_cars_compact_classic_gulf_blue_data_size __asm("_binary_model_cars_compact_classic_gulf_blue_data_size");
+
+#ifdef __cplusplus
+}
+#endif

model/cars/compact_classic/jupiter_grey.data.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern uint32_t _binary_model_cars_compact_classic_jupiter_grey_data_start __asm("_binary_model_cars_compact_classic_jupiter_grey_data_start");
+extern uint32_t _binary_model_cars_compact_classic_jupiter_grey_data_end __asm("_binary_model_cars_compact_classic_jupiter_grey_data_end");
+extern uint32_t _binary_model_cars_compact_classic_jupiter_grey_data_size __asm("_binary_model_cars_compact_classic_jupiter_grey_data_size");
+
+#ifdef __cplusplus
+}
+#endif

model/cars/garbage_truck/GarbageTruck.data.h

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern uint32_t _binary_model_cars_garbage_truck_GarbageTruck_data_start __asm("_binary_model_cars_garbage_truck_GarbageTruck_data_start");
+extern uint32_t _binary_model_cars_garbage_truck_GarbageTruck_data_end __asm("_binary_model_cars_garbage_truck_GarbageTruck_data_end");
+extern uint32_t _binary_model_cars_garbage_truck_GarbageTruck_data_size __asm("_binary_model_cars_garbage_truck_GarbageTruck_data_size");
+
+#ifdef __cplusplus
+}
+#endif