example: initial lighting example

blender.py

@@ -3,18 +3,27 @@ import bpy
 def render_vec3(v):
     return f"{{{v.x}, {v.y}, {v.z}}}"
 
+def render_vec2(v):
+    return f"{{{v.x}, {v.y}}}"
+
 def render_mesh_vertices(f, name, vertices):
     f.write(f"const vec3 {name}_position[] = {{\n")
     for vertex in vertices:
         f.write(f"  {render_vec3(vertex.co)},\n")
     f.write("};\n\n")
 
-def render_mesh_normals(f, name, vertices):
+def render_vertex_normals(f, name, vertices):
     f.write(f"const vec3 {name}_normal[] = {{\n")
     for vertex in vertices:
         f.write(f"  {render_vec3(vertex.normal)},\n")
     f.write("};\n\n")
 
+def render_polygon_normals(f, name, polygon_normals):
+    f.write(f"const vec3 {name}_polygon_normal[] = {{\n")
+    for normal in polygon_normals:
+        f.write(f"  {render_vec3(normal.vector)},\n")
+    f.write("};\n\n")
+
 def render_polygons(f, name, polygons):
     f.write(f"const polygon {name}_polygons[] = {{\n")
     for i, polygon in enumerate(polygons):
@@ -24,6 +33,14 @@ def render_polygons(f, name, polygons):
         f.write(f"  {c}{{{s}}},\n")
     f.write("};\n\n")
 
+def render_uv_map(f, name, name2, uvm):
+    f.write(f"const vec2 {name}_{name2}_uvmap[] = {{\n")
+    print(uvm)
+    for uv in uvm:
+        s = render_vec2(uv.vector)
+        f.write(f"  {s},\n")
+    f.write("};\n\n")
+
 def render_location(f, location):
     s = render_vec3(location)
     f.write(f"  .location = {s},\n")
@@ -36,15 +53,22 @@ def render_rotation_axis_angle(f, r):
     r = f"{{{r[0]}, {r[1]}, {r[2]}, {r[3]}}}"
     f.write(f"  .rotation = {r},\n")
 
-def render_mesh(f, name):
+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( "};\n\n")
+
     f.write(f"const mesh {name} = {{\n")
     f.write(f"  .position = {name}_position,\n")
     f.write(f"  .position_length = (sizeof ({name}_position)) / (sizeof ({name}_position[0])),\n")
-    f.write(f"  .normal = {name}_normal,\n")
-    f.write(f"  .normal_length = (sizeof ({name}_normal)) / (sizeof ({name}_normal[0])),\n")
+    f.write(f"  .polygon_normal = {name}_polyon_normal,\n")
+    f.write(f"  .polygon_normal_length = (sizeof ({name}_polygon_normal)) / (sizeof ({name}_polygon_normal[0])),\n")
     f.write(f"  .polygons = {name}_polygons,\n")
     f.write(f"  .polygons_length = (sizeof ({name}_polygons)) / (sizeof ({name}_polygons[0])),\n")
-    f.write("};\n\n")
+    f.write(f"  .uv_layers = {name}_uv_layers,\n")
+    f.write(f"  .uv_layers_length = (sizeof ({name}_uv_layers)) / (sizeof ({name}_uv_layers[0])),\n")
+    f.write( "};\n\n")
 
 def translate_name(name):
     return name.replace(".", "_").replace("-", "_")
@@ -70,10 +94,14 @@ def export_scene(f):
         mesh_name = "mesh_" + translate_name(mesh.name)
 
         render_mesh_vertices(f, mesh_name, mesh.vertices)
-        render_mesh_normals(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_vertex_normals(f, mesh_name, mesh.vertices)
+        render_polygon_normals(f, mesh_name, mesh.polygon_normals)
         render_polygons(f, mesh_name, mesh.polygons)
 
-        render_mesh(f, mesh_name);
+
+        render_mesh(f, mesh_name, mesh);
 
         #mesh.polygons[0].vertices
         # [0, 1, 3, 2]
@@ -92,17 +120,21 @@ def export_scene(f):
 
         obj_name = "object_" + translate_name(object.name)
 
-        f.write(f"{{ // {obj_name}\n")
+        f.write(f"  {{ // {obj_name}\n")
 
         obj_mesh_name = "mesh_" + translate_name(object.to_mesh().name)
 
+        f.write("  ")
         f.write(f"  .mesh = &{obj_mesh_name},\n")
 
+        f.write("  ")
         render_scale(f, object.scale)
+        f.write("  ")
         render_rotation_axis_angle(f, object.rotation_axis_angle)
+        f.write("  ")
         render_location(f, object.location)
 
-        f.write("},\n")
+        f.write("  },\n")
     f.write("};\n\n")
 
 with open("output.h", "w") as f:

common.mk

@@ -4,7 +4,7 @@ GENERATED ?=
 AARCH = --isa=sh4 --little
 
 CARCH ?= -m4-single-only -ml
-CFLAGS += -mfsca -funsafe-math-optimizations -ffast-math
+CFLAGS += -mfsca -mfsrra -funsafe-math-optimizations -ffast-math
 
 OBJARCH = -O elf32-shl -B sh4
 

example/door.cpp

@@ -367,7 +367,7 @@ mat4x4 translate(vec3 t)
   };
 }
 
-//mat4x4 rodrigues(vec4 r) __attribute__ ((optimize(1)));
+mat4x4 rodrigues(vec4 r) __attribute__ ((optimize(1)));
 mat4x4 rodrigues(vec4 r)
 {
   const vec3 k = {r.y, r.z, r.w};

example/lighting.cpp

@@ -0,0 +1,591 @@
+#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 "interrupt.hpp"
+
+#include "font/font_bitmap.hpp"
+#include "font/verite_8x16/verite_8x16.data.h"
+#include "palette.hpp"
+#include "printf/unparse.h"
+
+#include "assert.h"
+
+using vec2 = vec<2, float>;
+using vec3 = vec<3, float>;
+using vec4 = vec<4, float>;
+using mat4x4 = mat<4, 4, float>;
+
+struct polygon {
+  int a, b, c, d;
+};
+
+struct mesh {
+  const vec3 * position;
+  const int position_length;
+  const vec3 * normal;
+  const int normal_length;
+  const polygon * polygons;
+  const int polygons_length;
+  // vec2 * uv_layers[]; // support for multiple UV maps
+  // int uv_layers_length;
+};
+
+struct transform {
+  const vec3 scale;
+  const vec4 rotation;
+  const vec3 location;
+};
+
+struct object {
+  const struct mesh * mesh;
+  const transform transforms[26];
+};
+
+#include "model/door/door.h"
+
+#define _fsrra(n) (1.0f / (__builtin_sqrtf(n)))
+
+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 para_control_obj_control,
+                           uint32_t texture_u_v_size,
+                           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
+                                        | para_control_obj_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
+                                      | texture_u_v_size
+                                      ;
+
+  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,
+                               float li)
+{
+  if (ap.z < 0 || bp.z < 0 || cp.z < 0 || dp.z < 0)
+    return;
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(false),
+                                        ap.x, ap.y, ap.z,
+                                        li);
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(false),
+                                        bp.x, bp.y, bp.z,
+                                        li);
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(false),
+                                        dp.x, dp.y, dp.z,
+                                        li);
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(true),
+                                        cp.x, cp.y, cp.z,
+                                        li);
+}
+
+static inline vec3 screen_transform(vec3 v)
+{
+  float x2 = 640 / 2.0;
+  float y2 = 480 / 2.0;
+  float iz = 1.0f / v.z;
+
+  return {
+    v.x * iz * y2 + x2,
+    v.y * iz * y2 + y2,
+    iz,
+  };
+}
+
+#define _fsrra(n) (1.0f / (__builtin_sqrtf(n)))
+
+static inline float inverse_length(vec3 v)
+{
+  float f = dot(v, v);
+  return _fsrra(f);
+}
+
+float light_intensity(vec3 l1, vec3 l2, vec3 n)
+{
+  float intensity = 0.2f;
+  {
+    float n_dot_l = dot(n, l1);
+    if (n_dot_l > 0)
+      intensity += 0.9f * n_dot_l * (inverse_length(n) * inverse_length(l1));
+  }
+  {
+    float n_dot_l = dot(n, l2);
+    if (n_dot_l > 0)
+      intensity += 0.9f * n_dot_l * (inverse_length(n) * inverse_length(l2));
+  }
+
+  if (intensity > 1.0f)
+    intensity = 1.0f;
+
+  return intensity;
+}
+
+constexpr int animation_frames = 26;
+constexpr int ticks_per_animation_frame = 64;
+constexpr float tick_div = 1.0f / (float)ticks_per_animation_frame;
+
+void transfer_mesh(ta_parameter_writer& writer, const mat4x4& trans, const object * object, int animation_tick)
+{
+  const mesh * mesh = object->mesh;
+  uint32_t control = para_control::list_type::opaque;
+  uint32_t texture_uv_size = 0;
+  uint32_t texture_control_word = 0;
+
+  global_polygon_type_1(writer,
+                        control,
+                        texture_uv_size,
+                        texture_control_word);
+
+  vec3 position_cache[mesh->position_length];
+  vec3 normal_cache[mesh->normal_length];
+
+  int frame_ix0 = animation_tick / ticks_per_animation_frame;
+  int frame_ix1 = frame_ix0 + 1;
+  if (frame_ix1 >= animation_frames)
+    frame_ix1 = 0;
+
+  float lerp = (float)(animation_tick - (frame_ix0 * ticks_per_animation_frame)) * tick_div;
+
+  const transform& t0 = object->transforms[frame_ix0];
+  const transform& t1 = object->transforms[frame_ix1];
+
+  vec3 location = t0.location + ((t1.location - t0.location) * lerp);
+  vec4 rotation = t0.rotation + ((t1.rotation - t0.rotation) * lerp);
+  vec3 _scale = t0.scale + ((t1.scale - t0.scale) * lerp);
+
+  mat4x4 trans1 = trans
+    * translate(location)
+    * quaternion(rotation)
+    * scale(_scale);
+
+  for (int i = 0; i < mesh->position_length; i++) {
+    position_cache[i] = trans1 * mesh->position[i];
+    normal_cache[i] = normal_transform(trans * quaternion(rotation), mesh->normal[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]);
+
+    float li = light_intensity(light_vec, light_vec2, normal_cache[p->a]);
+    assert(li > 0);
+
+    render_quad(writer, ap, bp, cp, dp, li);
+  }
+}
+
+void transfer_scene(ta_parameter_writer& writer, const mat4x4& trans, int animation_tick)
+{
+  // opaque list
+  {
+    transfer_mesh(writer, trans, &objects[0], animation_tick);
+    transfer_mesh(writer, trans, &objects[1], animation_tick);
+    transfer_mesh(writer, trans, &objects[2], animation_tick);
+
+    writer.append<ta_global_parameter::end_of_list>() =
+      ta_global_parameter::end_of_list(para_control::para_type::end_of_list);
+  }
+}
+
+void update_analog(mat4x4& screen, mat4x4& model)
+{
+  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;
+
+  float yt = -0.05f * x_;
+  float xt = 0.05f * y_;
+
+  float x = 0;
+  if (ra && !la) x = -0.05;
+  if (la && !ra) x =  0.05;
+
+  float y = 0;
+  float z = -0.05f * r_ + 0.05f * l_;
+
+  mat4x4 t = {
+    1, 0, 0, x,
+    0, 1, 0, z,
+    0, 0, 1, y,
+    0, 0, 0, 1,
+  };
+
+  mat4x4 rx = {
+    1, 0, 0, 0,
+    0, cos(xt), -sin(xt), 0,
+    0, sin(xt), cos(xt), 0,
+    0, 0, 0, 1,
+  };
+
+  mat4x4 ry = {
+     cos(yt), 0, sin(yt), 0,
+    0, 1, 0, 0,
+    -sin(yt), 0, cos(yt), 0,
+    0, 0, 0, 1,
+  };
+
+  screen = screen * t;
+  model = model * ry * rx;
+}
+
+int format_float(char * s, float num, int pad_length)
+{
+  int offset = 0;
+  bool negative = num < 0;
+  if (negative) num = -num;
+  int32_t whole = num;
+  int digits = digits_base10(whole);
+  offset += unparse_base10_unsigned(&s[offset], whole, pad_length, ' ');
+  if (negative)
+    s[offset - (digits + 1)] = '-';
+  s[offset++] = '.';
+  int32_t fraction = (int32_t)((num - (float)whole) * 1000.0);
+  if (fraction < 0)
+    fraction = -fraction;
+  offset += unparse_base10_unsigned(&s[offset], fraction, 3, '0');
+  return offset;
+}
+
+void render_matrix(ta_parameter_writer& writer, const mat4x4& trans)
+{
+  for (int row = 0; row < 4; row++) {
+    char __attribute__((aligned(4))) s[64];
+    for (uint32_t i = 0; i < (sizeof (s)) / 4; i++)
+      reinterpret_cast<uint32_t *>(s)[i] = 0x20202020;
+
+    int offset = 0;
+    offset += format_float(&s[offset], trans[row][0], 7);
+    offset += format_float(&s[offset], trans[row][1], 7);
+    offset += format_float(&s[offset], trans[row][2], 7);
+    offset += format_float(&s[offset], trans[row][3], 7);
+
+    serial::string((uint8_t *)s, offset);
+    serial::character('\n');
+  }
+  serial::character('\n');
+}
+
+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();
+
+  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,
+  };
+
+  mat4x4 model_trans = {
+    0.805, -0.577,  0.136, 0,
+    0.592,  0.773, -0.224, 0,
+    0.024,  0.262,  0.964, 0,
+    0, 0, 0, 1,
+  };
+
+  do_get_condition();
+  int animation_tick = 0;
+  while (1) {
+    if (0 && animation_tick == 0) {
+      serial::string("screen:\n");
+      render_matrix(writer, screen_trans);
+      serial::string("model:\n");
+      render_matrix(writer, model_trans);
+    }
+
+    maple::dma_wait_complete();
+    do_get_condition();
+    writer.offset = 0;
+
+    update_analog(screen_trans, model_trans);
+    transfer_scene(writer, screen_trans * model_trans, animation_tick);
+
+    // increment tick
+    animation_tick += 1;
+    if (animation_tick >= animation_frames * ticks_per_animation_frame)
+      animation_tick = 0;
+
+    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);
+
+    while (next_frame)
+    next_frame = 0;
+  }
+}

math/transform.hpp

@@ -0,0 +1,106 @@
+#pragma once
+
+template<typename T>
+inline constexpr mat<4, 4, T> translate(vec<3, T> t)
+{
+  return {
+    1, 0, 0, t.x,
+    0, 1, 0, t.y,
+    0, 0, 1, t.z,
+    0, 0, 0,   1
+  };
+}
+
+template <typename T>
+inline constexpr mat<4, 4, T> scale(vec<3, T> s)
+{
+  return {
+    s.x,   0,   0, 0,
+      0, s.y,   0, 0,
+      0,   0, s.z, 0,
+      0,   0,   0, 1
+  };
+}
+
+template <template T>
+inline constexpr mat<4, 4, T> rotate_x(T t)
+{
+  return {
+    1,      0,       0, 0,
+    0, cos(t), -sin(t), 0,
+    0, sin(t),  cos(t), 0,
+    0,      0,       0, 1
+  };
+}
+
+template <typename T>
+inline constexpr mat<4, 4, T> rotate_y(T t)
+{
+  return {
+    cos(t), 0, sin(t), 0,
+         0, 1,      0, 0,
+   -sin(t), 0, cos(t), 0,
+         0, 0,      0, 1
+  };
+}
+
+template <typename T>
+inline constexpr mat<4, 4, T> rotate_z(T t)
+{
+  return {
+    cos(t), -sin(t), 0, 0,
+    sin(t),  cos(t), 0, 0,
+         0,       0, 1, 0,
+         0,       0, 0, 1
+  };
+}
+
+template <typename T>
+inline constexpr mat<4, 4, T> rotate_axis_angle(vec<3, T> u, T t)
+{
+  T st = sin(t);
+  T ct = cos(t);
+  T oct = 1.0 - ct;
+
+  T xx = u.x * u.x;
+  T xy = u.x * u.y;
+  T xz = u.x * u.z;
+  T yy = u.y * u.y;
+  T yz = u.z * u.z;
+  T zz = u.z * u.z;
+
+  return {
+    xx * oct +       ct,   xy * oct - u.z * st,   xz * oct + u.y * st,   0,
+    xy * oct + u.z * st,   yy * oct +       ct,   yz * oct - u.x * st,   0,
+    xz * oct - u.y * st,   yz * oct + u.x * st,   zz * oct +       ct,   0,
+                      0,                     0,                     0,   0
+  };
+}
+
+template <typename T>
+inline constexpr vec<3, T> normal_multiply(mat<4, 4, T> m, vec<3, T> n)
+{
+  vec<4, T> n4 = m * (vec<4, T>){n.x, n.y, n.z, 0.0};
+  return {n4.x, n4.y, n4.z};
+}
+
+template <typename T>
+inline constexpr T inverse_length(vec<3, T> v)
+{
+  float f = dot(v, v);
+  return 1.0f / sqrt(f);
+}
+
+template <typename T>
+inline constexpr T screen_transform(T x, T y)
+{
+  T x2 = x / 2.0;
+  T y2 = y / 2.0;
+
+  return {
+    y2,  0, 0, x2,
+     0, y2, 0, y2,
+     0,  0, 1,  0,
+     0,  0, 0,  1
+  };
+}