add SDKs

8 files changed, 1011 insertions, 0 deletions

diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/Makefile.am b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/Makefile.am
new file mode 100755
index 0000000..10b628c
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/Makefile.am
@@ -0,0 +1,6 @@
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+
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+spaceball_CFLAGS = -I$(top_srcdir)/include $(X_CFLAGS)
\ No newline at end of file
diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/Makefile.in b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/Makefile.in
new file mode 100755
index 0000000..d695cb6
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/Makefile.in
@@ -0,0 +1,481 @@
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+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
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+ps-am:
+
+uninstall-am:
+
+.MAKE: install-am install-strip
+
+.PHONY: CTAGS GTAGS all all-am check check-am clean clean-generic \
+	clean-libtool clean-noinstPROGRAMS ctags distclean \
+	distclean-compile distclean-generic distclean-libtool \
+	distclean-tags distdir dvi dvi-am html html-am info info-am \
+	install install-am install-data install-data-am install-dvi \
+	install-dvi-am install-exec install-exec-am install-html \
+	install-html-am install-info install-info-am install-man \
+	install-pdf install-pdf-am install-ps install-ps-am \
+	install-strip installcheck installcheck-am installdirs \
+	maintainer-clean maintainer-clean-generic mostlyclean \
+	mostlyclean-compile mostlyclean-generic mostlyclean-libtool \
+	pdf pdf-am ps ps-am tags uninstall uninstall-am
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball.c b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball.c
new file mode 100755
index 0000000..52da93a
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball.c
@@ -0,0 +1,177 @@
+/* Spaceball demo

+ *

+ * Written by John Tsiombikas <nuclear@member.fsf.org>

+ * (converted from the libspnav cube example)

+ *

+ * Use the spaceball to move and rotate the colored cube.

+ * Pressing any button will reset the cube at its original location.

+ *

+ * Press escape or q to exit.

+ */

+

+#include <stdio.h>

+#include <stdlib.h>

+#include <math.h>

+#include <GL/freeglut.h>

+#include "vmath.h"

+

+#ifndef M_PI

+#define M_PI    3.14159265358979323846264338327950

+#endif

+

+void draw_cube(void);

+

+/* callbacks */

+void disp(void);

+void reshape(int x, int y);

+void keyb(unsigned char key, int x, int y);

+void sbmot(int x, int y, int z);  /* spaceball translation */

+void sbrot(int x, int y, int z);  /* spaceball rotation */

+void sbbut(int bn, int state);    /* spaceball button */

+

+vec3_t pos = {0, 0, -6};

+quat_t rot = {0, 0, 0, 1};

+

+int main(int argc, char **argv)

+{

+  glutInit(&argc, argv);

+  glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE);

+  glutCreateWindow("spaceball demo");

+

+  glutDisplayFunc(disp);

+  glutReshapeFunc(reshape);

+  glutKeyboardFunc(keyb);

+  glutSpaceballMotionFunc(sbmot);

+  glutSpaceballRotateFunc(sbrot);

+  glutSpaceballButtonFunc(sbbut);

+

+  glEnable(GL_CULL_FACE);

+

+  glutMainLoop();

+  return 0;

+}

+

+void disp(void)

+{

+  mat4_t xform;

+

+  quat_to_mat(xform, rot);

+

+  glClear(GL_COLOR_BUFFER_BIT);

+

+  glMatrixMode(GL_MODELVIEW);

+  glLoadIdentity();

+  glTranslatef(pos.x, pos.y, pos.z);

+  glMultMatrixf((float*)xform);

+

+  draw_cube();

+

+  glutSwapBuffers();

+}

+

+void draw_cube(void)

+{

+  glBegin(GL_QUADS);

+  /* face +Z */

+  glNormal3f(0, 0, 1);

+  glColor3f(1, 0, 0);

+  glVertex3f(-1, -1, 1);

+  glVertex3f(1, -1, 1);

+  glVertex3f(1, 1, 1);

+  glVertex3f(-1, 1, 1);

+  /* face +X */

+  glNormal3f(1, 0, 0);

+  glColor3f(0, 1, 0);

+  glVertex3f(1, -1, 1);

+  glVertex3f(1, -1, -1);

+  glVertex3f(1, 1, -1);

+  glVertex3f(1, 1, 1);

+  /* face -Z */

+  glNormal3f(0, 0, -1);

+  glColor3f(0, 0, 1);

+  glVertex3f(1, -1, -1);

+  glVertex3f(-1, -1, -1);

+  glVertex3f(-1, 1, -1);

+  glVertex3f(1, 1, -1);

+  /* face -X */

+  glNormal3f(-1, 0, 0);

+  glColor3f(1, 1, 0);

+  glVertex3f(-1, -1, -1);

+  glVertex3f(-1, -1, 1);

+  glVertex3f(-1, 1, 1);

+  glVertex3f(-1, 1, -1);

+  /* face +Y */

+  glNormal3f(0, 1, 0);

+  glColor3f(0, 1, 1);

+  glVertex3f(-1, 1, 1);

+  glVertex3f(1, 1, 1);

+  glVertex3f(1, 1, -1);

+  glVertex3f(-1, 1, -1);

+  /* face -Y */

+  glNormal3f(0, -1, 0);

+  glColor3f(1, 0, 1);

+  glVertex3f(-1, -1, -1);

+  glVertex3f(1, -1, -1);

+  glVertex3f(1, -1, 1);

+  glVertex3f(-1, -1, 1);

+  glEnd();

+}

+

+/* 45deg fov */

+#define FOV    (M_PI / 4.0)

+

+void reshape(int x, int y)

+{

+  float aspect = (float)x / (float)y;

+  float halfy = (float)tan(FOV / 2.0);

+  float halfx = halfy * aspect;

+

+  glViewport(0, 0, x, y);

+

+  glMatrixMode(GL_PROJECTION);

+  glLoadIdentity();

+  glFrustum(-halfx, halfx, -halfy, halfy, 1.0, 1000.0);

+}

+

+void keyb(unsigned char key, int x, int y)

+{

+  switch(key) {

+  case 'q':

+  case 'Q':

+  case 27:

+    exit(0);

+

+  case ' ':

+    /* reset initial view */

+    pos = v3_cons(0, 0, -6);

+    rot = quat_cons(1, 0, 0, 0);

+    glutPostRedisplay();

+

+  default:

+    break;

+  }

+}

+

+void sbmot(int x, int y, int z)

+{

+  pos.x += x * 0.001f;

+  pos.y += y * 0.001f;

+  pos.z -= z * 0.001f;

+  glutPostRedisplay();

+}

+

+void sbrot(int x, int y, int z)

+{

+  float axis_len = (float)sqrt(x * x + y * y + z * z);

+  rot = quat_rotate(rot, axis_len * 0.001f, -x / axis_len, -y / axis_len, z / axis_len);

+  glutPostRedisplay();

+}

+

+void sbbut(int bn, int state)

+{

+  if(state == GLUT_DOWN) {

+    pos = v3_cons(0, 0, -6);

+    rot = quat_cons(1, 0, 0, 0);

+    glutPostRedisplay();

+  }

+}

diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball.dsp b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball.dsp
new file mode 100755
index 0000000..cc47490
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball.dsp
@@ -0,0 +1,113 @@
+# Microsoft Developer Studio Project File - Name="spaceball" - Package Owner=<4>

+# Microsoft Developer Studio Generated Build File, Format Version 6.00

+# ** DO NOT EDIT **

+

+# TARGTYPE "Win32 (x86) Console Application" 0x0103

+

+CFG=spaceball - Win32 Debug

+!MESSAGE This is not a valid makefile. To build this project using NMAKE,

+!MESSAGE use the Export Makefile command and run

+!MESSAGE 

+!MESSAGE NMAKE /f "spaceball.mak".

+!MESSAGE 

+!MESSAGE You can specify a configuration when running NMAKE

+!MESSAGE by defining the macro CFG on the command line. For example:

+!MESSAGE 

+!MESSAGE NMAKE /f "spaceball.mak" CFG="spaceball - Win32 Debug"

+!MESSAGE 

+!MESSAGE Possible choices for configuration are:

+!MESSAGE 

+!MESSAGE "spaceball - Win32 Release" (based on "Win32 (x86) Console Application")

+!MESSAGE "spaceball - Win32 Debug" (based on "Win32 (x86) Console Application")

+!MESSAGE 

+

+# Begin Project

+# PROP AllowPerConfigDependencies 0

+# PROP Scc_ProjName ""

+# PROP Scc_LocalPath ""

+CPP=cl.exe

+RSC=rc.exe

+

+!IF  "$(CFG)" == "spaceball - Win32 Release"

+

+# PROP BASE Use_MFC 0

+# PROP BASE Use_Debug_Libraries 0

+# PROP BASE Output_Dir "Release"

+# PROP BASE Intermediate_Dir "Release"

+# PROP BASE Target_Dir ""

+# PROP Use_MFC 0

+# PROP Use_Debug_Libraries 0

+# PROP Output_Dir "Release"

+# PROP Intermediate_Dir "Release"

+# PROP Target_Dir ""

+# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c

+# ADD CPP /nologo /W3 /GX /O2 /I "../../../include" /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c

+# ADD BASE RSC /l 0x409 /d "NDEBUG"

+# ADD RSC /l 0x409 /d "NDEBUG"

+BSC32=bscmake.exe

+# ADD BASE BSC32 /nologo

+# ADD BSC32 /nologo

+LINK32=link.exe

+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386

+# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 /libpath:"../../../Release"

+

+!ELSEIF  "$(CFG)" == "spaceball - Win32 Debug"

+

+# PROP BASE Use_MFC 0

+# PROP BASE Use_Debug_Libraries 1

+# PROP BASE Output_Dir "Debug"

+# PROP BASE Intermediate_Dir "Debug"

+# PROP BASE Target_Dir ""

+# PROP Use_MFC 0

+# PROP Use_Debug_Libraries 1

+# PROP Output_Dir "Debug"

+# PROP Intermediate_Dir "Debug"

+# PROP Ignore_Export_Lib 0

+# PROP Target_Dir ""

+# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c

+# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "../../../include" /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ /c

+# ADD BASE RSC /l 0x409 /d "_DEBUG"

+# ADD RSC /l 0x409 /d "_DEBUG"

+BSC32=bscmake.exe

+# ADD BASE BSC32 /nologo

+# ADD BSC32 /nologo

+LINK32=link.exe

+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept

+# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept /libpath:"../../../Debug"

+

+!ENDIF 

+

+# Begin Target

+

+# Name "spaceball - Win32 Release"

+# Name "spaceball - Win32 Debug"

+# Begin Group "Source Files"

+

+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"

+# Begin Source File

+

+SOURCE=.\spaceball.c

+# End Source File

+# Begin Source File

+

+SOURCE=.\vmath.c

+# End Source File

+# End Group

+# Begin Group "Header Files"

+

+# PROP Default_Filter "h;hpp;hxx;hm;inl"

+# Begin Source File

+

+SOURCE=.\vmath.h

+# End Source File

+# Begin Source File

+

+SOURCE=.\vmath.inl

+# End Source File

+# End Group

+# Begin Group "Resource Files"

+

+# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"

+# End Group

+# End Target

+# End Project

diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball_static.dsp b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball_static.dsp
new file mode 100755
index 0000000..5ed0ad5
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/spaceball_static.dsp
@@ -0,0 +1,112 @@
+# Microsoft Developer Studio Project File - Name="spaceball_static" - Package Owner=<4>

+# Microsoft Developer Studio Generated Build File, Format Version 6.00

+# ** DO NOT EDIT **

+

+# TARGTYPE "Win32 (x86) Console Application" 0x0103

+

+CFG=spaceball_static - Win32 Debug

+!MESSAGE This is not a valid makefile. To build this project using NMAKE,

+!MESSAGE use the Export Makefile command and run

+!MESSAGE 

+!MESSAGE NMAKE /f "spaceball_static.mak".

+!MESSAGE 

+!MESSAGE You can specify a configuration when running NMAKE

+!MESSAGE by defining the macro CFG on the command line. For example:

+!MESSAGE 

+!MESSAGE NMAKE /f "spaceball_static.mak" CFG="spaceball_static - Win32 Debug"

+!MESSAGE 

+!MESSAGE Possible choices for configuration are:

+!MESSAGE 

+!MESSAGE "spaceball_static - Win32 Release" (based on "Win32 (x86) Console Application")

+!MESSAGE "spaceball_static - Win32 Debug" (based on "Win32 (x86) Console Application")

+!MESSAGE 

+

+# Begin Project

+# PROP AllowPerConfigDependencies 0

+# PROP Scc_ProjName ""

+# PROP Scc_LocalPath ""

+CPP=cl.exe

+RSC=rc.exe

+

+!IF  "$(CFG)" == "spaceball_static - Win32 Release"

+

+# PROP BASE Use_MFC 0

+# PROP BASE Use_Debug_Libraries 0

+# PROP BASE Output_Dir "spaceball_static___Win32_Release"

+# PROP BASE Intermediate_Dir "spaceball_static___Win32_Release"

+# PROP BASE Target_Dir ""

+# PROP Use_MFC 0

+# PROP Use_Debug_Libraries 0

+# PROP Output_Dir "ReleaseStatic"

+# PROP Intermediate_Dir "ReleaseStatic"

+# PROP Target_Dir ""

+# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /c

+# ADD CPP /nologo /W3 /GX /O2 /I "../../../include" /D "NDEBUG" /D "WIN32" /D "_CONSOLE" /D "_MBCS" /D "FREEGLUT_STATIC" /YX /FD /c

+# ADD BASE RSC /l 0x409 /d "NDEBUG"

+# ADD RSC /l 0x409 /d "NDEBUG"

+BSC32=bscmake.exe

+# ADD BASE BSC32 /nologo

+# ADD BSC32 /nologo

+LINK32=link.exe

+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib  kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386

+# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib  kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /machine:I386 /libpath:"../../../ReleaseStatic"

+

+!ELSEIF  "$(CFG)" == "spaceball_static - Win32 Debug"

+

+# PROP BASE Use_MFC 0

+# PROP BASE Use_Debug_Libraries 1

+# PROP BASE Output_Dir "spaceball_static___Win32_Debug"

+# PROP BASE Intermediate_Dir "spaceball_static___Win32_Debug"

+# PROP BASE Target_Dir ""

+# PROP Use_MFC 0

+# PROP Use_Debug_Libraries 1

+# PROP Output_Dir "DebugStatic"

+# PROP Intermediate_Dir "DebugStatic"

+# PROP Target_Dir ""

+# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_CONSOLE" /D "_MBCS" /YX /FD /GZ  /c

+# ADD CPP /nologo /W3 /Gm /GX /ZI /Od /I "../../../include" /D "_DEBUG" /D "WIN32" /D "_CONSOLE" /D "_MBCS" /D "FREEGLUT_STATIC" /YX /FD /GZ  /c

+# ADD BASE RSC /l 0x409 /d "_DEBUG"

+# ADD RSC /l 0x409 /d "_DEBUG"

+BSC32=bscmake.exe

+# ADD BASE BSC32 /nologo

+# ADD BSC32 /nologo

+LINK32=link.exe

+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib  kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept

+# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib  kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /subsystem:console /debug /machine:I386 /pdbtype:sept /libpath:"../../../DebugStatic"

+

+!ENDIF 

+

+# Begin Target

+

+# Name "spaceball_static - Win32 Release"

+# Name "spaceball_static - Win32 Debug"

+# Begin Group "Source Files"

+

+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"

+# Begin Source File

+

+SOURCE=.\spaceball.c

+# End Source File

+# Begin Source File

+

+SOURCE=.\vmath.c

+# End Source File

+# End Group

+# Begin Group "Header Files"

+

+# PROP Default_Filter "h;hpp;hxx;hm;inl"

+# Begin Source File

+

+SOURCE=.\vmath.h

+# End Source File

+# Begin Source File

+

+SOURCE=.\vmath.inl

+# End Source File

+# End Group

+# Begin Group "Resource Files"

+

+# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"

+# End Group

+# End Target

+# End Project

diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.c b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.c
new file mode 100755
index 0000000..7ef3c25
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.c
@@ -0,0 +1,16 @@
+#include <math.h>

+#include "vmath.h"

+

+quat_t quat_rotate(quat_t q, float angle, float x, float y, float z)

+{

+  quat_t rq;

+  float half_angle = angle * 0.5f;

+  float sin_half = (float)sin(half_angle);

+

+  rq.w = (float)cos(half_angle);

+  rq.x = x * sin_half;

+  rq.y = y * sin_half;

+  rq.z = z * sin_half;

+

+  return quat_mul(q, rq);

+}

diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.h b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.h
new file mode 100755
index 0000000..249a504
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.h
@@ -0,0 +1,38 @@
+#ifndef VMATH_H_

+#define VMATH_H_

+

+#if defined(WIN32)

+#define INLINE

+#else

+#define INLINE  inline

+#endif

+

+

+typedef struct { float x, y, z; } vec3_t;

+typedef struct { float x, y, z, w; } vec4_t;

+

+typedef vec4_t quat_t;

+

+typedef float mat4_t[4][4];

+

+/* vector functions */

+static INLINE vec3_t v3_cons(float x, float y, float z);

+static INLINE float v3_dot(vec3_t v1, vec3_t v2);

+

+/* quaternion functions */

+static INLINE quat_t quat_cons(float s, float x, float y, float z);

+static INLINE vec3_t quat_vec(quat_t q);

+static INLINE quat_t quat_mul(quat_t q1, quat_t q2);

+static INLINE void quat_to_mat(mat4_t res, quat_t q);

+quat_t quat_rotate(quat_t q, float angle, float x, float y, float z);

+

+/* matrix functions */

+static INLINE void m4_cons(mat4_t m,

+    float m11, float m12, float m13, float m14,

+    float m21, float m22, float m23, float m24,

+    float m31, float m32, float m33, float m34,

+    float m41, float m42, float m43, float m44);

+

+#include "vmath.inl"

+

+#endif  /* VMATH_H_ */

diff --git a/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.inl b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.inl
new file mode 100755
index 0000000..e3ad6b8
--- /dev/null
+++ b/SixenseSDK/src/sixense_simple3d/progs/demos/spaceball/vmath.inl
@@ -0,0 +1,68 @@
+/* vector functions */

+static INLINE vec3_t v3_cons(float x, float y, float z)

+{

+  vec3_t res;

+  res.x = x;

+  res.y = y;

+  res.z = z;

+  return res;

+}

+

+static INLINE vec3_t quat_vec(quat_t q)

+{

+  vec3_t v;

+  v.x = q.x;

+  v.y = q.y;

+  v.z = q.z;

+  return v;

+}

+

+static INLINE float v3_dot(vec3_t v1, vec3_t v2)

+{

+  return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;

+}

+

+/* quaternion functions */

+static INLINE quat_t quat_cons(float s, float x, float y, float z)

+{

+  quat_t q;

+  q.x = x;

+  q.y = y;

+  q.z = z;

+  q.w = s;

+  return q;

+}

+

+static INLINE quat_t quat_mul(quat_t q1, quat_t q2)

+{

+  quat_t res;

+  vec3_t v1 = quat_vec(q1);

+  vec3_t v2 = quat_vec(q2);

+

+  res.w = q1.w * q2.w - v3_dot(v1, v2);

+  res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);

+  res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);

+  res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);

+  return res;

+}

+

+static INLINE void quat_to_mat(mat4_t res, quat_t q)

+{

+  m4_cons(res,  1.0f - 2.0f * q.y*q.y - 2.0f * q.z*q.z,  2.0f * q.x * q.y + 2.0f * q.w * q.z,    2.0f * q.z * q.x - 2.0f * q.w * q.y, 0,

+          2.0f * q.x * q.y - 2.0f * q.w * q.z,    1.0f - 2.0f * q.x*q.x - 2.0f * q.z*q.z,  2.0f * q.y * q.z + 2.0f * q.w * q.x, 0,

+          2.0f * q.z * q.x + 2.0f * q.w * q.y,    2.0f * q.y * q.z - 2.0f * q.w * q.x,    1.0f - 2.0f * q.x*q.x - 2.0f * q.y*q.y, 0,

+          0, 0, 0, 1);

+}

+

+/* matrix functions */

+static INLINE void m4_cons(mat4_t m,

+    float m11, float m12, float m13, float m14,

+    float m21, float m22, float m23, float m24,

+    float m31, float m32, float m33, float m34,

+    float m41, float m42, float m43, float m44)

+{

+  m[0][0] = m11; m[1][0] = m12; m[2][0] = m13; m[3][0] = m14;

+  m[0][1] = m21; m[1][1] = m22; m[2][1] = m23; m[3][1] = m24;

+  m[0][2] = m31; m[1][2] = m32; m[2][2] = m33; m[3][2] = m34;

+  m[0][3] = m41; m[1][3] = m42; m[2][3] = m43; m[3][3] = m44;

+}