A new project has been added for a tool named VCL (Vector Unit Command
Line). Anyone thinking about programming the VUs (Vector Units) on the PS2
should check this out. The tool makes VU programming much easier and also
optimizes VU code better than most skilled engineers [for code of
reasonable complexity]. In addition, the tool comes with two sample
programs, full PDF documentation and a powerful set of VCL macros for
common 3D/math functions.