From c02e197e778074f069711751f2c09e92bd862891 Mon Sep 17 00:00:00 2001 From: Jorge Bernal Date: Sun, 17 May 2015 17:39:48 +0200 Subject: [PATCH 001/115] New btConeshape member functions to can set radius and height for the cone shape after creation --- src/BulletCollision/CollisionShapes/btConeShape.h | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/BulletCollision/CollisionShapes/btConeShape.h b/src/BulletCollision/CollisionShapes/btConeShape.h index 4a0df0d55..46d78d148 100644 --- a/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/src/BulletCollision/CollisionShapes/btConeShape.h @@ -43,6 +43,15 @@ public: btScalar getRadius() const { return m_radius;} btScalar getHeight() const { return m_height;} + void setRadius(const btScalar radius) + { + m_radius = radius; + } + void setHeight(const btScalar height) + { + m_height = height; + } + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const { From 5bf125cab525778f5f73395eacfa61fc542486d1 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 2 Jun 2016 13:54:52 -0700 Subject: [PATCH 002/115] fix some compile issues using premake use textured cube/sphere model for test --- data/cube.mtl | 2 +- examples/RenderingExamples/TinyRendererSetup.cpp | 4 +++- examples/SharedMemory/PhysicsClientExample.cpp | 7 +++++-- .../main_sw_tinyrenderer_single_example.cpp | 3 ++- .../main_tinyrenderer_single_example.cpp | 3 ++- examples/TinyRenderer/TinyRenderer.cpp | 13 +++++++------ examples/TinyRenderer/model.cpp | 6 +++--- 7 files changed, 23 insertions(+), 15 deletions(-) diff --git a/data/cube.mtl b/data/cube.mtl index fca828974..26b4b44e4 100644 --- a/data/cube.mtl +++ b/data/cube.mtl @@ -10,5 +10,5 @@ newmtl cube Ks 0.0000 0.0000 0.0000 Ke 0.0000 0.0000 0.0000 map_Ka cube.tga - map_Kd floor_diffuse.tga + map_Kd cube.png diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index d7e9f05aa..11258779d 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -147,7 +147,9 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight()); m_app->m_renderer->enableBlend(true); - const char* fileName = "teddy.obj";//cube.obj";//textured_sphere_smooth.obj";//cube.obj"; + + const char* fileName = "textured_sphere_smooth.obj"; + fileName = "cube.obj"; { diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index e249977bd..a57fde289 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -527,7 +527,6 @@ void PhysicsClientExample::initPhysics() m_selectedBody = -1; m_prevSelectedBody = -1; - if (m_options == eCLIENTEXAMPLE_SERVER) { m_canvas = m_guiHelper->get2dCanvasInterface(); if (m_canvas) @@ -557,9 +556,13 @@ void PhysicsClientExample::initPhysics() } - m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper); } + if (m_options == eCLIENTEXAMPLE_SERVER) + { + m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper); + } + m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey); //m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY); //m_physicsClientHandle = b3ConnectPhysicsDirect(); diff --git a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp index 69c3b7db5..786e0eed1 100644 --- a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp +++ b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp @@ -111,7 +111,8 @@ public: if (shapeIndex>=0) { TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer); - swObj->registerMeshShape(vertices,numvertices,indices,numIndices); + float rgbaColor[4] = {1,1,1,1}; + swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor); //swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices); m_swRenderObjects.insert(shapeIndex,swObj); } diff --git a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp index 77ab903ab..157ab233c 100644 --- a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp +++ b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp @@ -254,7 +254,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface int shapeIndex = m_swRenderObjects.size(); TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer); - swObj->registerMeshShape(vertices,numvertices,indices,numIndices); + float rgbaColor[4] = {1,1,1,1}; + swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor); //swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices); m_swRenderObjects.insert(shapeIndex,swObj); return shapeIndex; diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 77c387176..e7dfb8f05 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -76,12 +76,13 @@ struct Shader : public IShader { float diff = ambient+b3Min(b3Max(0.f, bn*m_light_dir_local),(1-ambient)); //float diff = b3Max(0.f, n*m_light_dir_local); color = m_model->diffuse(uv)*diff; - //colors are store in BGRA? - color = TGAColor(color[0]*m_colorRGBA[2], - color[1]*m_colorRGBA[1], - color[2]*m_colorRGBA[0], - color[3]*m_colorRGBA[3]); - + + //warning: bgra color is swapped to rgba to upload texture + color.bgra[0] *= m_colorRGBA[0]; + color.bgra[1] *= m_colorRGBA[1]; + color.bgra[2] *= m_colorRGBA[2]; + color.bgra[3] *= m_colorRGBA[3]; + return false; } }; diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp index 626cc2331..f7a0bea75 100644 --- a/examples/TinyRenderer/model.cpp +++ b/examples/TinyRenderer/model.cpp @@ -57,9 +57,9 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid for (int j=0;j Date: Thu, 2 Jun 2016 18:04:22 -0700 Subject: [PATCH 003/115] Support the field under in SDF to make the model immovable, similar to setting the mass to zero. Add joint velocity motors in ImportSDF example. --- .../ImportSDFDemo/ImportSDFSetup.cpp | 54 +++++++++++++++++++ .../ImportURDFDemo/BulletUrdfImporter.cpp | 17 ++++-- .../Importers/ImportURDFDemo/UrdfParser.cpp | 14 ++++- .../Importers/ImportURDFDemo/UrdfParser.h | 7 +++ 4 files changed, 88 insertions(+), 4 deletions(-) diff --git a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp index 54883298b..f55cc9758 100644 --- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp +++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp @@ -235,6 +235,60 @@ void ImportSDFSetup::initPhysics() ConvertURDF2Bullet(u2b,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix(),true); mb = creation.getBulletMultiBody(); + + if (m_useMultiBody && mb ) + { + std::string* name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex())); + m_nameMemory.push_back(name); +#ifdef TEST_MULTIBODY_SERIALIZATION + s->registerNameForPointer(name->c_str(),name->c_str()); +#endif//TEST_MULTIBODY_SERIALIZATION + mb->setBaseName(name->c_str()); + //create motors for each btMultiBody joint + int numLinks = mb->getNumLinks(); + for (int i=0;iregisterNameForPointer(jointName->c_str(),jointName->c_str()); + s->registerNameForPointer(linkName->c_str(),linkName->c_str()); +#endif//TEST_MULTIBODY_SERIALIZATION + m_nameMemory.push_back(jointName); + m_nameMemory.push_back(linkName); + + mb->getLink(i).m_linkName = linkName->c_str(); + mb->getLink(i).m_jointName = jointName->c_str(); + + if (mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::eRevolute + ||mb->getLink(mbLinkIndex).m_jointType==btMultibodyLink::ePrismatic + ) + { + if (m_data->m_numMotorsc_str()); + btScalar* motorVel = &m_data->m_motorTargetVelocities[m_data->m_numMotors]; + *motorVel = 0.f; + SliderParams slider(motorName,motorVel); + slider.m_minVal=-4; + slider.m_maxVal=4; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + float maxMotorImpulse = 10.1f; + btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,0,0,maxMotorImpulse); + //motor->setMaxAppliedImpulse(0); + m_data->m_jointMotors[m_data->m_numMotors]=motor; + m_dynamicsWorld->addMultiBodyConstraint(motor); + m_data->m_numMotors++; + } + } + + } + } } diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 7e9624d64..4838079a0 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -267,14 +267,25 @@ void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVect //the link->m_inertia is NOT necessarily aligned with the inertial frame //so an additional transform might need to be computed UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex); + + btAssert(linkPtr); if (linkPtr) { UrdfLink* link = *linkPtr; - mass = link->m_inertia.m_mass; + if (link->m_parentJoint==0 && m_data->m_urdfParser.getModel().m_overrideFixedBase) + { + mass = 0.f; + localInertiaDiagonal.setValue(0,0,0); + } + else + { + mass = link->m_inertia.m_mass; + localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy, + link->m_inertia.m_izz); + } inertialFrame = link->m_inertia.m_linkLocalFrame; - localInertiaDiagonal.setValue(link->m_inertia.m_ixx,link->m_inertia.m_iyy, - link->m_inertia.m_izz); + } else { diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index 60b40b512..430593b5e 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -529,6 +529,8 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi link.m_name = linkName; if (m_parseSDF) { + + TiXmlElement* pose = config->FirstChildElement("pose"); if (0==pose) { @@ -572,7 +574,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi logger->reportWarning(link.m_name.c_str()); } } - + // Multiple Visuals (optional) for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual")) { @@ -1240,6 +1242,16 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger) UrdfModel* localModel = new UrdfModel; m_tmpModels.push_back(localModel); + TiXmlElement* stat = robot_xml->FirstChildElement("static"); + if (0!=stat) + { + int val = int(atof(stat->GetText())); + if (val==1) + { + localModel->m_overrideFixedBase = true; + } + } + // Get robot name const char *name = robot_xml->Attribute("name"); diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h index 1a855f281..b83c0b3c8 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.h +++ b/examples/Importers/ImportURDFDemo/UrdfParser.h @@ -134,6 +134,13 @@ struct UrdfModel btHashMap m_joints; btArray m_rootLinks; + bool m_overrideFixedBase; + + UrdfModel() + :m_overrideFixedBase(false) + { + m_rootTransformInWorld.setIdentity(); + } }; From 4b2c0f6d8990185691c482e28cbda0c1dd6c59f3 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Fri, 3 Jun 2016 19:03:56 -0700 Subject: [PATCH 004/115] make one of the cubes in two_cubes.sdf static (immovable) using the tag in SDF add an example using 'direct' fix the send-desired-state commands, to add flags for arguments set, using default values. Start exposing SDF loading in shared memory api, not fully implemented yet. --- data/two_cubes.sdf | 1 + examples/ExampleBrowser/ExampleEntries.cpp | 5 +- examples/SharedMemory/PhysicsClientC_API.cpp | 30 +++++++ examples/SharedMemory/PhysicsClientC_API.h | 2 + .../SharedMemory/PhysicsClientExample.cpp | 22 +++-- examples/SharedMemory/PhysicsClientExample.h | 2 +- examples/SharedMemory/PhysicsDirect.cpp | 86 ++++++++++++++++++- examples/SharedMemory/PhysicsDirect.h | 2 + .../PhysicsServerCommandProcessor.cpp | 57 ++++++++---- examples/SharedMemory/SharedMemoryCommands.h | 21 +++++ examples/SharedMemory/SharedMemoryPublic.h | 6 +- 11 files changed, 202 insertions(+), 32 deletions(-) diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf index 24c0854bd..10dce545e 100644 --- a/data/two_cubes.sdf +++ b/data/two_cubes.sdf @@ -86,6 +86,7 @@ 0 + 1 0.512455 -1.58317 0.5 0 -0 0 diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 75e16b8f7..b6004aeef 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -242,7 +242,10 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.", PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG), - ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc), + ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc), + ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT), + + #ifdef ENABLE_LUA diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 31b8df6b9..914c9d091 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -5,6 +5,29 @@ #include "SharedMemoryCommands.h" +b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_LOAD_SDF; + int len = strlen(sdfFileName); + if (lenm_sdfArguments.m_sdfFileName,sdfFileName); + } else + { + command->m_sdfArguments.m_sdfFileName[0] = 0; + } + command->m_updateFlags = SDF_ARGS_FILE_NAME; + + return (b3SharedMemoryCommandHandle) command; +} + + b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName) { @@ -146,6 +169,8 @@ int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value; + command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q; + return 0; } @@ -154,6 +179,7 @@ int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value; + command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP; return 0; } @@ -162,6 +188,8 @@ int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value; + command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD; + return 0; } @@ -170,6 +198,7 @@ int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value; + command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT; return 0; } @@ -179,6 +208,7 @@ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value; + command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE; return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index b202daa35..37008aceb 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -88,6 +88,8 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody); int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase); +b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName); + ///Set joint control variables such as desired position/angle, desired velocity, ///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE) b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index a57fde289..15c90748a 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -156,16 +156,12 @@ protected: { for (int i=0;i=0)) + { + m_canvas->destroyCanvas(m_canvasIndex); + } b3Printf("~PhysicsClientExample\n"); } @@ -563,10 +564,15 @@ void PhysicsClientExample::initPhysics() m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper); } - m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey); - //m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY); - //m_physicsClientHandle = b3ConnectPhysicsDirect(); - + if (m_options == eCLIENTEXAMPLE_DIRECT) + { + m_physicsClientHandle = b3ConnectPhysicsDirect(); + } else + { + m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey); + //m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY); + } + if (!b3CanSubmitCommand(m_physicsClientHandle)) { b3Warning("Cannot connect to physics client"); diff --git a/examples/SharedMemory/PhysicsClientExample.h b/examples/SharedMemory/PhysicsClientExample.h index b564d01be..a36a37e75 100644 --- a/examples/SharedMemory/PhysicsClientExample.h +++ b/examples/SharedMemory/PhysicsClientExample.h @@ -4,7 +4,7 @@ enum ClientExampleOptions { eCLIENTEXAMPLE_LOOPBACK=1, - eCLIENTEAXMPLE_DIRECT=2, + eCLIENTEXAMPLE_DIRECT=2, eCLIENTEXAMPLE_SERVER=3, }; diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 72b5eb65e..37baeaa83 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -33,6 +33,12 @@ struct PhysicsDirectInternalData char m_bulletStreamDataServerToClient[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE]; + int m_cachedCameraPixelsWidth; + int m_cachedCameraPixelsHeight; + btAlignedObjectArray m_cachedCameraPixelsRGBA; + btAlignedObjectArray m_cachedCameraDepthBuffer; + + PhysicsServerCommandProcessor* m_commandProcessor; PhysicsDirectInternalData() @@ -167,6 +173,73 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma return m_data->m_hasStatus; } +bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand) +{ + SharedMemoryCommand command = orgCommand; + + const SharedMemoryStatus& serverCmd = m_data->m_serverStatus; + + do + { + + bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + m_data->m_hasStatus = hasStatus; + if (hasStatus) + { + btAssert(m_data->m_serverStatus.m_type == CMD_CAMERA_IMAGE_COMPLETED); + + if (m_data->m_verboseOutput) + { + b3Printf("Camera image OK\n"); + } + + int numBytesPerPixel = 4;//RGBA + int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex+ + serverCmd.m_sendPixelDataArguments.m_numPixelsCopied+ + serverCmd.m_sendPixelDataArguments.m_numRemainingPixels; + + m_data->m_cachedCameraPixelsWidth = 0; + m_data->m_cachedCameraPixelsHeight = 0; + + int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight; + + m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel); + m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels); + m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel); + + + unsigned char* rgbaPixelsReceived = + (unsigned char*)&m_data->m_bulletStreamDataServerToClient[0]; + printf("pixel = %d\n", rgbaPixelsReceived[0]); + + for (int i=0;im_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel] + = rgbaPixelsReceived[i]; + } + + if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0) + { + + + // continue requesting remaining pixels + command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA; + command.m_requestPixelDataArguments.m_startPixelIndex = + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex + + serverCmd.m_sendPixelDataArguments.m_numPixelsCopied; + } else + { + m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth; + m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight; + } + } + } while (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0); + + return m_data->m_hasStatus; + + +} + bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command) { if (command.m_type==CMD_REQUEST_DEBUG_LINES) @@ -174,6 +247,11 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman return processDebugLines(command); } + if (command.m_type==CMD_REQUEST_CAMERA_IMAGE_DATA) + { + return processCamera(command); + } + bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); m_data->m_hasStatus = hasStatus; if (hasStatus) @@ -333,9 +411,9 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData) { if (cameraData) { - cameraData->m_pixelHeight = 0; - cameraData->m_pixelWidth = 0; - cameraData->m_depthValues = 0; - cameraData->m_rgbColorData = 0; + cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth; + cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight; + cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0; + cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0; } } diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h index fb1aeefa6..9dea925d3 100644 --- a/examples/SharedMemory/PhysicsDirect.h +++ b/examples/SharedMemory/PhysicsDirect.h @@ -19,6 +19,8 @@ protected: bool processDebugLines(const struct SharedMemoryCommand& orgCommand); + bool processCamera(const struct SharedMemoryCommand& orgCommand); + public: PhysicsDirect(); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 1fc4efdcc..b4317bcc6 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1192,12 +1192,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm mb->clearForcesAndTorques(); int torqueIndex = 0; - btVector3 f(clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[0], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[1], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[2]); - btVector3 t(clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[3], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[4], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[5]); + btVector3 f(0,0,0); + btVector3 t(0,0,0); + + if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + { + f = btVector3 (clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[0], + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[1], + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[2]); + t = btVector3 (clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[3], + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[4], + clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[5]); + } torqueIndex+=6; mb->addBaseForce(f); mb->addBaseTorque(t); @@ -1206,7 +1212,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm for (int dof=0;dofgetLink(link).m_dofCount;dof++) { - double torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex]; + double torque = 0.f; + if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex]; mb->addJointTorqueMultiDof(link,dof,torque); torqueIndex++; } @@ -1233,10 +1241,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (motorPtr) { btMultiBodyJointMotor* motor = *motorPtr; - btScalar desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex]; + btScalar desiredVelocity = 0.f; + if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_QDOT)!=0) + desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex]; motor->setVelocityTarget(desiredVelocity); - btScalar maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime; + btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; + if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime; + motor->setMaxAppliedImpulse(maxImp); numMotors++; @@ -1247,6 +1260,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } break; } + case CONTROL_MODE_POSITION_VELOCITY_PD: { if (m_data->m_verboseOutput) @@ -1271,11 +1285,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { btMultiBodyJointMotor* motor = *motorPtr; - btScalar desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex]; - btScalar desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex]; - - btScalar kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex]; - btScalar kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex]; + btScalar desiredVelocity = 0.f; + if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_QDOT)!=0) + desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex]; + btScalar desiredPosition = 0.f; + if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_Q)!=0) + desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex]; + + btScalar kp = 0.f; + if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_KP)!=0) + kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex]; + btScalar kd = 0.f; + if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_KD)!=0) + kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex]; int dof1 = 0; btScalar currentPosition = mb->getJointPosMultiDof(link)[dof1]; @@ -1288,9 +1310,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm motor->setVelocityTarget(desiredVelocity); - btScalar maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime; + btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; + + if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime; - motor->setMaxAppliedImpulse(1000);//maxImp); + motor->setMaxAppliedImpulse(maxImp); numMotors++; } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 42436d2b0..8328b485a 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -30,6 +30,7 @@ #define MAX_DEGREE_OF_FREEDOM 64 #define MAX_NUM_SENSORS 256 #define MAX_URDF_FILENAME_LENGTH 1024 +#define MAX_SDF_FILENAME_LENGTH 1024 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH #define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM @@ -54,6 +55,16 @@ TmpFloat3 CreateTmpFloat3(float x, float y, float z) return tmp; } +enum EnumSdfArgsUpdateFlags +{ + SDF_ARGS_FILE_NAME=1, +}; + +struct SdfArgs +{ + char m_sdfFileName[MAX_URDF_FILENAME_LENGTH]; +}; + enum EnumUrdfArgsUpdateFlags { URDF_ARGS_FILE_NAME=1, @@ -179,6 +190,15 @@ struct SendDesiredStateArgs }; +enum EnumSimDesiredStateUpdateFlags +{ + SIM_DESIRED_STATE_HAS_Q=1, + SIM_DESIRED_STATE_HAS_QDOT=2, + SIM_DESIRED_STATE_HAS_KD=4, + SIM_DESIRED_STATE_HAS_KP=8, + SIM_DESIRED_STATE_HAS_MAX_FORCE=16, +}; + enum EnumSimParamUpdateFlags { @@ -287,6 +307,7 @@ struct SharedMemoryCommand union { struct UrdfArgs m_urdfArguments; + struct SdfArgs m_sdfArguments; struct InitPoseArgs m_initPoseArgs; struct SendPhysicsSimulationParameters m_physSimParamArgs; struct BulletDataStreamArgs m_dataStreamArguments; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index f7d04f724..2f676e057 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -5,7 +5,8 @@ enum EnumSharedMemoryClientCommand { - CMD_LOAD_URDF, + CMD_LOAD_SDF, + CMD_LOAD_URDF, CMD_SEND_BULLET_DATA_STREAM, CMD_CREATE_BOX_COLLISION_SHAPE, // CMD_DELETE_BOX_COLLISION_SHAPE, @@ -35,7 +36,8 @@ enum EnumSharedMemoryServerStatus CMD_CLIENT_COMMAND_COMPLETED, //the server will skip unknown command and report a status 'CMD_UNKNOWN_COMMAND_FLUSHED' CMD_UNKNOWN_COMMAND_FLUSHED, - + CMD_SDF_LOADING_COMPLETED, + CMD_SDF_LOADING_FAILED, CMD_URDF_LOADING_COMPLETED, CMD_URDF_LOADING_FAILED, CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED, From 612e46614ad1e9b849916a085e69308f5b813e83 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 4 Jun 2016 13:16:06 -0700 Subject: [PATCH 005/115] fix (unused) SSE operator btMatrix3x3 ==, thanks to yyzone for the report/fix. fixes 552 --- src/LinearMath/btMatrix3x3.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/LinearMath/btMatrix3x3.h b/src/LinearMath/btMatrix3x3.h index 41dea6948..963c5db97 100644 --- a/src/LinearMath/btMatrix3x3.h +++ b/src/LinearMath/btMatrix3x3.h @@ -1329,7 +1329,9 @@ SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2) c0 = _mm_and_ps(c0, c1); c0 = _mm_and_ps(c0, c2); - return (0x7 == _mm_movemask_ps((__m128)c0)); + int m = _mm_movemask_ps((__m128)c0); + return (0x7 == (m & 0x7)); + #else return ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && From 8076d5235c52333c655f42adbefa9e054e111bf7 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 4 Jun 2016 21:51:21 -0700 Subject: [PATCH 006/115] fix window resize/width bookkeeping bug in MacOpenGLWindow.mm --- examples/OpenGLWindow/MacOpenGLWindow.mm | 28 ++++++++---------------- examples/SimpleOpenGL3/main.cpp | 6 ++--- 2 files changed, 12 insertions(+), 22 deletions(-) diff --git a/examples/OpenGLWindow/MacOpenGLWindow.mm b/examples/OpenGLWindow/MacOpenGLWindow.mm index 301608cca..d3b3ba31e 100644 --- a/examples/OpenGLWindow/MacOpenGLWindow.mm +++ b/examples/OpenGLWindow/MacOpenGLWindow.mm @@ -102,11 +102,11 @@ float loop; } -(void)drawRect:(NSRect)rect { + if (([self frame].size.width != m_lastWidth) || ([self frame].size.height != m_lastHeight)) { m_lastWidth = [self frame].size.width; m_lastHeight = [self frame].size.height; - // Only needed on resize: [m_context clearDrawable]; @@ -114,7 +114,6 @@ float loop; float width = [self frame].size.width; float height = [self frame].size.height; - // Get view dimensions in pixels // glViewport(0,0,10,10); @@ -209,16 +208,12 @@ struct MacOpenGLWindowInternalData m_myview = 0; m_pool = 0; m_window = 0; - m_width = -1; - m_height = -1; m_exitRequested = false; } NSApplication* m_myApp; TestView* m_myview; NSAutoreleasePool* m_pool; NSWindow* m_window; - int m_width; - int m_height; bool m_exitRequested; }; @@ -294,8 +289,6 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) if (m_internalData) closeWindow(); - int width = ci.m_width; - int height = ci.m_height; const char* windowTitle = ci.m_title; @@ -303,9 +296,7 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) NSAutoreleasePool *pool = [[NSAutoreleasePool alloc] init]; m_internalData = new MacOpenGLWindowInternalData; - m_internalData->m_width = width; - m_internalData->m_height = height; - + m_internalData->m_pool = [NSAutoreleasePool new]; m_internalData->m_myApp = [NSApplication sharedApplication]; //myApp = [MyApp sharedApplication]; @@ -373,7 +364,7 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) [newItem release]; */ - NSRect frame = NSMakeRect(0., 0., width, height); + NSRect frame = NSMakeRect(0., 0., ci.m_width, ci.m_height); m_internalData->m_window = [NSWindow alloc]; [m_internalData->m_window initWithContentRect:frame @@ -423,9 +414,7 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) [m_internalData->m_window makeKeyAndOrderFront: nil]; [m_internalData->m_myview MakeCurrent]; - m_internalData->m_width = m_internalData->m_myview.GetWindowWidth; - m_internalData->m_height = m_internalData->m_myview.GetWindowHeight; - + [NSApp activateIgnoringOtherApps:YES]; @@ -1035,13 +1024,13 @@ void MacOpenGLWindow::startRendering() float aspect; //b3Vector3 extents; - if (m_internalData->m_width > m_internalData->m_height) + if (getWidth() > getHeight()) { - aspect = (float)m_internalData->m_width / (float)m_internalData->m_height; + aspect = (float)getWidth() / (float)getHeight(); //extents.setValue(aspect * 1.0f, 1.0f,0); } else { - aspect = (float)m_internalData->m_height / (float)m_internalData->m_width; + aspect = (float)getHeight() / (float)getWidth(); //extents.setValue(1.0f, aspect*1.f,0); } @@ -1136,6 +1125,7 @@ int MacOpenGLWindow::getWidth() const { if (m_internalData && m_internalData->m_myview && m_internalData->m_myview.GetWindowWidth) return m_internalData->m_myview.GetWindowWidth; + return 0; } @@ -1152,7 +1142,7 @@ void MacOpenGLWindow::setResizeCallback(b3ResizeCallback resizeCallback) [m_internalData->m_myview setResizeCallback:resizeCallback]; if (resizeCallback) { - (resizeCallback)(m_internalData->m_width,m_internalData->m_height); + (resizeCallback)(getWidth(), getHeight()); } } diff --git a/examples/SimpleOpenGL3/main.cpp b/examples/SimpleOpenGL3/main.cpp index 015db129e..726abf693 100644 --- a/examples/SimpleOpenGL3/main.cpp +++ b/examples/SimpleOpenGL3/main.cpp @@ -14,8 +14,8 @@ static b3MouseButtonCallback sOldMouseButtonCB = 0; static b3KeyboardCallback sOldKeyboardCB = 0; //static b3RenderCallback sOldRenderCB = 0; -float gWidth = 0 ; -float gHeight = 0; +float gWidth = 1024; +float gHeight = 768; void MyWheelCallback(float deltax, float deltay) { @@ -61,7 +61,7 @@ int main(int argc, char* argv[]) b3CommandLineArgs myArgs(argc,argv); - SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768,true); + SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",gWidth,gHeight,true); app->m_instancingRenderer->getActiveCamera()->setCameraDistance(13); app->m_instancingRenderer->getActiveCamera()->setCameraPitch(0); From e46a718807d9d839d139d6c2c3f27662d5f7a810 Mon Sep 17 00:00:00 2001 From: Benjamin Ellenberger Date: Mon, 6 Jun 2016 23:47:33 +0200 Subject: [PATCH 007/115] Add btScalar fixes and correct M_PI to SIMD_PI. --- examples/ExtendedTutorials/InclinedPlane.cpp | 2 +- examples/ExtendedTutorials/MultiPendulum.cpp | 6 +++--- examples/ExtendedTutorials/NewtonsCradle.cpp | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/ExtendedTutorials/InclinedPlane.cpp b/examples/ExtendedTutorials/InclinedPlane.cpp index dfe099094..dceafdbe8 100644 --- a/examples/ExtendedTutorials/InclinedPlane.cpp +++ b/examples/ExtendedTutorials/InclinedPlane.cpp @@ -89,7 +89,7 @@ void InclinedPlaneExample::initPhysics() { // create slider to change the ramp tilt SliderParams slider("Ramp Tilt",&gTilt); slider.m_minVal=0; - slider.m_maxVal=M_PI/2.0f; + slider.m_maxVal=SIMD_PI/2.0f; slider.m_clampToNotches = false; slider.m_callback = onRampInclinationChanged; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); diff --git a/examples/ExtendedTutorials/MultiPendulum.cpp b/examples/ExtendedTutorials/MultiPendulum.cpp index 8c4cff2e2..0d29ce12d 100644 --- a/examples/ExtendedTutorials/MultiPendulum.cpp +++ b/examples/ExtendedTutorials/MultiPendulum.cpp @@ -355,7 +355,7 @@ bool MultiPendulumExample::keyboardCallback(int key, int state) { case 49 /*ASCII for 1*/: { //assumption: Sphere are aligned in Z axis - btScalar newLimit = gCurrentPendulumLength + 0.1; + btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1); changePendulaLength(newLimit); gCurrentPendulumLength = newLimit; @@ -366,7 +366,7 @@ bool MultiPendulumExample::keyboardCallback(int key, int state) { case 50 /*ASCII for 2*/: { //assumption: Sphere are aligned in Z axis - btScalar newLimit = gCurrentPendulumLength - 0.1; + btScalar newLimit = btScalar(gCurrentPendulumLength - 0.1); //is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one if (0 <= newLimit) { @@ -378,7 +378,7 @@ bool MultiPendulumExample::keyboardCallback(int key, int state) { return true; } case 51 /*ASCII for 3*/: { - for (int i = gPendulaQty-1; i >= gPendulaQty-gDisplacedPendula; i--) { + for (int i = floor(gPendulaQty)-1; i >= gPendulaQty-gDisplacedPendula; i--) { if (gDisplacedPendula >= 0 && gDisplacedPendula < gPendulaQty) pendula[i]->applyCentralForce(btVector3(gDisplacementForce, 0, 0)); } diff --git a/examples/ExtendedTutorials/NewtonsCradle.cpp b/examples/ExtendedTutorials/NewtonsCradle.cpp index 76bbf6622..a1c51f1fe 100644 --- a/examples/ExtendedTutorials/NewtonsCradle.cpp +++ b/examples/ExtendedTutorials/NewtonsCradle.cpp @@ -153,7 +153,7 @@ void NewtonsCradleExample::initPhysics() { for (int i = 0; i < floor(gPendulaQty); i++) { // create pendulum - createPendulum(pendulumShape, xPosition, yPosition,zPosition, + createPendulum(pendulumShape, xPosition, yPosition, zPosition, gInitialPendulumLength, pendulumMass); // displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between @@ -289,7 +289,7 @@ bool NewtonsCradleExample::keyboardCallback(int key, int state) { case 49 /*ASCII for 1*/: { //assumption: Sphere are aligned in Z axis - btScalar newLimit = gCurrentPendulumLength + 0.1; + btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1); changePendulaLength(newLimit); gCurrentPendulumLength = newLimit; @@ -300,7 +300,7 @@ bool NewtonsCradleExample::keyboardCallback(int key, int state) { case 50 /*ASCII for 2*/: { //assumption: Sphere are aligned in Z axis - btScalar newLimit = gCurrentPendulumLength - 0.1; + btScalar newLimit = btScalar(gCurrentPendulumLength - 0.1); //is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one if (0 <= newLimit) { From 1c7f87aff100b472c2ecc1cb383d9d12556ecd60 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 6 Jun 2016 18:54:05 -0700 Subject: [PATCH 008/115] implement first draft of pybullet.renderImage for synthetic camera remove a few debug printf from tinyrenderer --- .../SharedMemory/PhysicsClientExample.cpp | 14 +- .../PhysicsClientSharedMemory.cpp | 4 +- .../PhysicsServerCommandProcessor.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 2 +- examples/TinyRenderer/TinyRenderer.cpp | 2 +- examples/pybullet/CMakeLists.txt | 10 +- examples/pybullet/pybullet.c | 161 +++++++++++++++++- 7 files changed, 180 insertions(+), 15 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 15c90748a..30da039b3 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -612,9 +612,9 @@ void PhysicsClientExample::stepSimulation(float deltaTime) } if (statusType ==CMD_CAMERA_IMAGE_COMPLETED) { - static int counter=0; - char msg[1024]; - sprintf(msg,"Camera image %d OK\n",counter++); + // static int counter=0; + // char msg[1024]; + // sprintf(msg,"Camera image %d OK\n",counter++); b3CameraImageData imageData; b3GetCameraImageData(m_physicsClientHandle,&imageData); if (m_canvas && m_canvasIndex >=0) @@ -642,11 +642,11 @@ void PhysicsClientExample::stepSimulation(float deltaTime) m_canvas->refreshImageData(m_canvasIndex); } - b3Printf(msg); + // b3Printf(msg); } if (statusType == CMD_CAMERA_IMAGE_FAILED) { - b3Printf("Camera image FAILED\n"); + b3Warning("Camera image FAILED\n"); } @@ -716,8 +716,8 @@ void PhysicsClientExample::stepSimulation(float deltaTime) bool hasStatus = (status != 0); if (hasStatus) { - int statusType = b3GetStatusType(status); - b3Printf("Status after reset: %d",statusType); + //int statusType = b3GetStatusType(status); + //b3Printf("Status after reset: %d",statusType); } } } else diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index c0ecc0a19..82062b0c8 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -448,7 +448,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { unsigned char* rgbaPixelsReceived = (unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0]; - printf("pixel = %d\n", rgbaPixelsReceived[0]); + // printf("pixel = %d\n", rgbaPixelsReceived[0]); for (int i=0;im_swRenderInstances.size()); + // printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); for (int i=0;im_swRenderInstances.size();i++) { TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index e7dfb8f05..6b9fdbb35 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -265,7 +265,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); - printf("Render %d triangles.\n",model->nfaces()); + //printf("Render %d triangles.\n",model->nfaces()); for (int i=0; infaces(); i++) { diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt index 5fd6b106a..672187557 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pybullet/CMakeLists.txt @@ -9,6 +9,15 @@ INCLUDE_DIRECTORIES( SET(pybullet_SRCS pybullet.c ../../examples/ExampleBrowser/InProcessExampleBrowser.cpp + ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp + ../../examples/SharedMemory/TinyRendererVisualShapeConverter.h + ../../examples/OpenGLWindow/SimpleCamera.cpp + ../../examples/OpenGLWindow/SimpleCamera.h + ../../examples/TinyRenderer/geometry.cpp + ../../examples/TinyRenderer/model.cpp + ../../examples/TinyRenderer/tgaimage.cpp + ../../examples/TinyRenderer/our_gl.cpp + ../../examples/TinyRenderer/TinyRenderer.cpp ../../examples/SharedMemory/InProcessMemory.cpp ../../examples/SharedMemory/PhysicsClient.cpp ../../examples/SharedMemory/PhysicsClient.h @@ -48,7 +57,6 @@ SET(pybullet_SRCS ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp - ../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp ../../examples/MultiThreading/b3PosixThreadSupport.cpp ../../examples/MultiThreading/b3Win32ThreadSupport.cpp ../../examples/MultiThreading/b3ThreadSupportInterface.cpp diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 3286e5cf2..43ac64db9 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -134,7 +134,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args) float startOrnY = 0; float startOrnZ = 0; float startOrnW = 1; - printf("size=%d\n", size); + //printf("size=%d\n", size); if (0==sm) { PyErr_SetString(SpamError, "Not connected to physics server."); @@ -164,7 +164,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args) b3SharedMemoryStatusHandle statusHandle; int statusType; b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName); - printf("urdf filename = %s\n", urdfFileName); + //printf("urdf filename = %s\n", urdfFileName); //setting the initial position, orientation and other arguments are optional b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); @@ -359,6 +359,157 @@ pybullet_getNumJoints(PyObject* self, PyObject* args) } } +static PyObject* +pybullet_setJointPositions(PyObject* self, PyObject* args) +{ + + Py_INCREF(Py_None); + return Py_None; +} + + // const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes + // const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats + +static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) +{ + + ///request an image from a simulated camera, using a software renderer. + struct b3CameraImageData imageData; + PyObject* objViewMat,* objProjMat; + + b3SharedMemoryCommandHandle command = b3InitRequestCameraImage(sm); + + if (PyArg_ParseTuple(args, "OO", &objViewMat, &objProjMat)) + { + PyObject* seq; + int i, len; + PyObject* item; + float viewMatrix[16]; + float projectionMatrix[16]; + int valid = 1; + { + seq = PySequence_Fast(objViewMat, "expected a sequence"); + len = PySequence_Size(objViewMat); + //printf("objViewMat size = %d\n", len); + if (len==16) + { + + if (PyList_Check(seq)) + { + for (i = 0; i < len; i++) + { + item = PyList_GET_ITEM(seq, i); + viewMatrix[i] = PyFloat_AsDouble(item); + float v = viewMatrix[i]; + //printf("view %d to %f\n", i,v); + + } + } + else + { + for (i = 0; i < len; i++) + { + item = PyTuple_GET_ITEM(seq,i); + viewMatrix[i] = PyFloat_AsDouble(item); + } + } + } else + { + valid = 0; + } + } + + { + seq = PySequence_Fast(objProjMat, "expected a sequence"); + len = PySequence_Size(objProjMat); + //printf("projMat len = %d\n", len); + if (len==16) + { + if (PyList_Check(seq)) + { + for (i = 0; i < len; i++) + { + item = PyList_GET_ITEM(seq, i); + projectionMatrix[i] = PyFloat_AsDouble(item); + } + } + else + { + for (i = 0; i < len; i++) + { + item = PyTuple_GET_ITEM(seq,i); + projectionMatrix[i] = PyFloat_AsDouble(item); + } + } + } else + { + valid = 0; + } + } + + + Py_DECREF(seq); + if (valid) + { + //printf("set b3RequestCameraImageSetCameraMatrices\n"); + b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); + } + } + + if (b3CanSubmitCommand(sm)) + { + b3SharedMemoryStatusHandle statusHandle; + int statusType; + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + statusType = b3GetStatusType(statusHandle); + if (statusType==CMD_CAMERA_IMAGE_COMPLETED) + { + PyObject *item2; + PyObject* pyResultList;//store 4 elements in this result: width, height, rgbData, depth + + b3GetCameraImageData(sm, &imageData); + //todo: error handling if image size is 0 + pyResultList = PyTuple_New(4); + PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth)); + PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight)); + + PyObject *pylistPos; + PyObject* pylistDep; + + //printf("image width = %d, height = %d\n", imageData.m_pixelWidth, imageData.m_pixelHeight); + { + + PyObject *item; + int bytesPerPixel = 3;//Red, Green, Blue, each 8 bit values + int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight; + pylistPos = PyTuple_New(num); + pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight); + + for (int i=0;i Date: Tue, 7 Jun 2016 12:57:46 -0700 Subject: [PATCH 009/115] add .stl file support in 'File/Open' of example browser. --- examples/ExampleBrowser/main.cpp | 3 ++ .../ImportSTLDemo/ImportSTLSetup.cpp | 31 +++++++++++++------ examples/OpenGLWindow/MacOpenGLWindow.mm | 2 +- 3 files changed, 25 insertions(+), 11 deletions(-) diff --git a/examples/ExampleBrowser/main.cpp b/examples/ExampleBrowser/main.cpp index 179f18036..b245cdecb 100644 --- a/examples/ExampleBrowser/main.cpp +++ b/examples/ExampleBrowser/main.cpp @@ -13,6 +13,8 @@ #include "../Importers/ImportSTLDemo/ImportSTLSetup.h" #include "../Importers/ImportURDFDemo/ImportURDFSetup.h" #include "../Importers/ImportSDFDemo/ImportSDFSetup.h" +#include "../Importers/ImportSTLDemo/ImportSTLSetup.h" + int main(int argc, char* argv[]) @@ -29,6 +31,7 @@ int main(int argc, char* argv[]) exampleBrowser->registerFileImporter(".urdf",ImportURDFCreateFunc); exampleBrowser->registerFileImporter(".sdf",ImportSDFCreateFunc); exampleBrowser->registerFileImporter(".obj",ImportObjCreateFunc); + exampleBrowser->registerFileImporter(".stl",ImportSTLCreateFunc); clock.reset(); if (init) diff --git a/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp b/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp index b7f25c3dc..c05138ef1 100644 --- a/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp +++ b/examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp @@ -13,9 +13,12 @@ class ImportSTLSetup : public CommonRigidBodyBase { + + const char* m_fileName; + btVector3 m_scaling; public: - ImportSTLSetup(struct GUIHelperInterface* helper); + ImportSTLSetup(struct GUIHelperInterface* helper, const char* fileName); virtual ~ImportSTLSetup(); virtual void initPhysics(); @@ -31,10 +34,19 @@ public: }; -ImportSTLSetup::ImportSTLSetup(struct GUIHelperInterface* helper) -:CommonRigidBodyBase(helper) +ImportSTLSetup::ImportSTLSetup(struct GUIHelperInterface* helper, const char* fileName) +:CommonRigidBodyBase(helper), +m_scaling(btVector3(10,10,10)) { - + if (fileName) + { + m_fileName = fileName; + m_scaling = btVector3(0.01,0.01,0.01); + } else + { + m_fileName = "l_finger_tip.stl"; + + } } ImportSTLSetup::~ImportSTLSetup() @@ -51,17 +63,16 @@ void ImportSTLSetup::initPhysics() m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe); - const char* fileName = "l_finger_tip.stl"; + char relativeFileName[1024]; - if (!b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024)) + if (!b3ResourcePath::findResourcePath(m_fileName, relativeFileName, 1024)) { - b3Warning("Cannot find file %s\n", fileName); + b3Warning("Cannot find file %s\n", m_fileName); return; } btVector3 shift(0,0,0); - btVector3 scaling(10,10,10); // int index=10; { @@ -81,12 +92,12 @@ void ImportSTLSetup::initPhysics() - m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling); + m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,m_scaling); } } class CommonExampleInterface* ImportSTLCreateFunc(struct CommonExampleOptions& options) { - return new ImportSTLSetup(options.m_guiHelper); + return new ImportSTLSetup(options.m_guiHelper, options.m_fileName); } diff --git a/examples/OpenGLWindow/MacOpenGLWindow.mm b/examples/OpenGLWindow/MacOpenGLWindow.mm index d3b3ba31e..f4f853889 100644 --- a/examples/OpenGLWindow/MacOpenGLWindow.mm +++ b/examples/OpenGLWindow/MacOpenGLWindow.mm @@ -1071,7 +1071,7 @@ int MacOpenGLWindow::fileOpenDialog(char* filename, int maxNameLength) NSOpenGLContext *foo = [NSOpenGLContext currentContext]; // get the url of a .txt file NSOpenPanel * zOpenPanel = [NSOpenPanel openPanel]; - NSArray * zAryOfExtensions = [NSArray arrayWithObjects:@"urdf",@"bullet",@"obj",@"sdf",nil]; + NSArray * zAryOfExtensions = [NSArray arrayWithObjects:@"urdf",@"bullet",@"obj",@"sdf",@"stl",nil]; [zOpenPanel setAllowedFileTypes:zAryOfExtensions]; NSInteger zIntResult = [zOpenPanel runModal]; From d2e50d045b6c1d236115cf9b5c13558991901df0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 7 Jun 2016 16:11:58 -0700 Subject: [PATCH 010/115] fix issues related to camera width/height add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4]) --- .../RenderingExamples/TinyRendererSetup.cpp | 4 +- examples/SharedMemory/PhysicsClientC_API.cpp | 10 + examples/SharedMemory/PhysicsClientC_API.h | 1 + .../SharedMemory/PhysicsClientExample.cpp | 23 +- .../PhysicsClientSharedMemory.cpp | 7 + examples/SharedMemory/PhysicsDirect.cpp | 10 +- .../PhysicsServerCommandProcessor.cpp | 9 + examples/SharedMemory/SharedMemoryCommands.h | 4 + .../TinyRendererVisualShapeConverter.cpp | 19 +- .../TinyRendererVisualShapeConverter.h | 1 + examples/TinyRenderer/TinyRenderer.cpp | 22 +- examples/TinyRenderer/TinyRenderer.h | 7 +- examples/pybullet/pybullet.c | 227 ++++++++++-------- 13 files changed, 203 insertions(+), 141 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index 11258779d..8df1a76ad 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -183,7 +183,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) m_guiHelper->getRenderInterface()->writeTransforms(); m_internalData->m_shapePtr.push_back(0); - TinyRenderObjectData* ob = new TinyRenderObjectData(m_internalData->m_width,m_internalData->m_height, + TinyRenderObjectData* ob = new TinyRenderObjectData( m_internalData->m_rgbColorBuffer, m_internalData->m_depthBuffer); //ob->loadModel("cube.obj"); @@ -363,7 +363,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime) } } - TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]); + TinyRenderer::renderObject(*m_internalData->m_renderObjects[o], m_internalData->m_width,m_internalData->m_height); } //m_app->drawText("hello",500,500); render->activateTexture(m_internalData->m_textureHandle); diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 914c9d091..c6468cb89 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -735,6 +735,16 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } +void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height ) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + command->m_requestPixelDataArguments.m_pixelWidth = width; + command->m_requestPixelDataArguments.m_pixelHeight = height; + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT; +} + void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData) { PhysicsClient* cl = (PhysicsClient* ) physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 37008aceb..b67f078ae 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -68,6 +68,7 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); +void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 30da039b3..e7e02ba51 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -21,8 +21,8 @@ struct MyMotorInfo2 int m_qIndex; }; -int camVisualizerWidth = 640;//1024/3; -int camVisualizerHeight = 480;//768/3; +int camVisualizerWidth = 320;//1024/3; +int camVisualizerHeight = 240;//768/3; #define MAX_NUM_MOTORS 128 @@ -77,10 +77,10 @@ protected: virtual void resetCamera() { - float dist = 5; + float dist = 1.1; float pitch = 50; float yaw = 35; - float targetPos[3]={0,0,0};//-3,2.8,-2.5}; + float targetPos[3]={0,0,0.5};//-3,2.8,-2.5}; m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); } @@ -248,7 +248,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix); this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix); b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } case CMD_CREATE_BOX_COLLISION_SHAPE: @@ -619,18 +620,18 @@ void PhysicsClientExample::stepSimulation(float deltaTime) b3GetCameraImageData(m_physicsClientHandle,&imageData); if (m_canvas && m_canvasIndex >=0) { - for (int i=0;isetPixel(m_canvasIndex,xIndex,camVisualizerHeight-1-yIndex, + int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel; + m_canvas->setPixel(m_canvasIndex,i,camVisualizerHeight-1-j, imageData.m_rgbColorData[pixelIndex], imageData.m_rgbColorData[pixelIndex+1], diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 82062b0c8..728358b93 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -450,6 +450,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { (unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0]; // printf("pixel = %d\n", rgbaPixelsReceived[0]); + float* depthBuffer = (float*)&(m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]); + + for (int i=0;im_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i]; + } + for (int i=0;im_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel] diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 37baeaa83..478e31031 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -210,8 +210,15 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand) unsigned char* rgbaPixelsReceived = (unsigned char*)&m_data->m_bulletStreamDataServerToClient[0]; - printf("pixel = %d\n", rgbaPixelsReceived[0]); + + float* depthBuffer = (float*)&(m_data->m_bulletStreamDataServerToClient[serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*4]); + + // printf("pixel = %d\n", rgbaPixelsReceived[0]); + for (int i=0;im_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i]; + } for (int i=0;im_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel] @@ -227,6 +234,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand) command.m_requestPixelDataArguments.m_startPixelIndex = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex + serverCmd.m_sendPixelDataArguments.m_numPixelsCopied; + } else { m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 2f662aa4a..89490caa6 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -972,6 +972,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm int width, height; int numPixelsCopied = 0; + if ( + (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) && + (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0) + { + m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth, + clientCmd.m_requestPixelDataArguments.m_pixelHeight); + } + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0) { m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0); @@ -1005,6 +1013,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { // printf("-------------------------------\nRendering\n"); + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0) { m_data->m_visualConverter.render( diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 8328b485a..fa67d7673 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -129,12 +129,16 @@ struct RequestPixelDataArgs float m_viewMatrix[16]; float m_projectionMatrix[16]; int m_startPixelIndex; + int m_pixelWidth; + int m_pixelHeight; }; enum EnumRequestPixelDataUpdateFlags { REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1, REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL=2, + REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4, + }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index fed633c1b..7c3507b25 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -462,7 +462,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const if (vertices.size() && indices.size()) { - TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_swWidth,m_data->m_swHeight,m_data->m_rgbColorBuffer,m_data->m_depthBuffer); + TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer); tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor); visuals->m_renderObjects.push_back(tinyObj); } @@ -576,7 +576,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_lightDirWorld = lightDirWorld; } } - TinyRenderer::renderObject(*renderObj); + TinyRenderer::renderObject(*renderObj,m_data->m_swWidth,m_data->m_swHeight); } } //printf("write tga \n"); @@ -590,6 +590,17 @@ void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height height = m_data->m_swHeight; } + +void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height) +{ + m_data->m_swWidth = width; + m_data->m_swHeight = height; + + m_data->m_depthBuffer.resize(m_data->m_swWidth*m_data->m_swHeight); + m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB); + +} + void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied) { int w = m_data->m_rgbColorBuffer.get_width(); @@ -612,6 +623,10 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels { for (int i=0;im_depthBuffer[i+startPixelIndex]; + } if (pixelsRGBA) { pixelsRGBA[i*numBytesPerPixel] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+0]; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index 3bce1add7..6baff2491 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -24,6 +24,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void resetAll(); void getWidthAndHeight(int& width, int& height); + void setWidthAndHeight(int width, int height); void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 6b9fdbb35..e13f97077 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -88,10 +88,8 @@ struct Shader : public IShader { }; -TinyRenderObjectData::TinyRenderObjectData(int width, int height,TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer) -:m_width(width), -m_height(height), -m_rgbColorBuffer(rgbColorBuffer), +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer) +:m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), m_model(0), m_userData(0), @@ -103,11 +101,6 @@ m_userIndex(-1) m_lightDirWorld.setValue(0,0,0); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); - m_viewMatrix = lookat(eye, center, up); - //m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4); - //m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4); - m_viewportMatrix = viewport(0,0,width,height); - m_projectionMatrix = projection(-1.f/(eye-center).norm()); } @@ -238,7 +231,7 @@ TinyRenderObjectData::~TinyRenderObjectData() delete m_model; } -void TinyRenderer::renderObject(TinyRenderObjectData& renderData) +void TinyRenderer::renderObject(TinyRenderObjectData& renderData, int width, int height) { Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); Model* model = renderData.m_model; @@ -247,13 +240,8 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) - //renderData.m_viewMatrix = lookat(eye, center, up); - int width = renderData.m_width; - int height = renderData.m_height; - //renderData.m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4); - renderData.m_viewportMatrix = viewport(0,0,renderData.m_width,renderData.m_height); - //renderData.m_projectionMatrix = projection(-1.f/(eye-center).norm()); - + renderData.m_viewportMatrix = viewport(0,0,width, height); + b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; TGAImage& frame = renderData.m_rgbColorBuffer; diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 0cb2ffca9..cfe857eca 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -25,12 +25,11 @@ struct TinyRenderObjectData //class IShader* m_shader; todo(erwincoumans) expose the shader, for now we use a default shader //Output - int m_width; - int m_height; + TGAImage& m_rgbColorBuffer; b3AlignedObjectArray& m_depthBuffer; - TinyRenderObjectData(int width, int height,TGAImage& rgbColorBuffer,b3AlignedObjectArray& depthBuffer); + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray& depthBuffer); virtual ~TinyRenderObjectData(); void loadModel(const char* fileName); @@ -48,7 +47,7 @@ struct TinyRenderObjectData class TinyRenderer { public: - static void renderObject(TinyRenderObjectData& renderData); + static void renderObject(TinyRenderObjectData& renderData, int width, int height); }; #endif // TINY_RENDERER_Hbla diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 43ac64db9..0bac58313 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -362,6 +362,11 @@ pybullet_getNumJoints(PyObject* self, PyObject* args) static PyObject* pybullet_setJointPositions(PyObject* self, PyObject* args) { + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } Py_INCREF(Py_None); return Py_None; @@ -372,17 +377,22 @@ pybullet_setJointPositions(PyObject* self, PyObject* args) static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) { - + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + ///request an image from a simulated camera, using a software renderer. struct b3CameraImageData imageData; PyObject* objViewMat,* objProjMat; + int width, height; - b3SharedMemoryCommandHandle command = b3InitRequestCameraImage(sm); - - if (PyArg_ParseTuple(args, "OO", &objViewMat, &objProjMat)) + if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat)) { - PyObject* seq; - int i, len; + + PyObject* seq; + int i, len; PyObject* item; float viewMatrix[16]; float projectionMatrix[16]; @@ -391,124 +401,133 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) seq = PySequence_Fast(objViewMat, "expected a sequence"); len = PySequence_Size(objViewMat); //printf("objViewMat size = %d\n", len); - if (len==16) - { - - if (PyList_Check(seq)) - { - for (i = 0; i < len; i++) + if (len==16) { + + if (PyList_Check(seq)) + { + for (i = 0; i < len; i++) + { item = PyList_GET_ITEM(seq, i); - viewMatrix[i] = PyFloat_AsDouble(item); - float v = viewMatrix[i]; + viewMatrix[i] = PyFloat_AsDouble(item); + float v = viewMatrix[i]; //printf("view %d to %f\n", i,v); + } + } + else + { + for (i = 0; i < len; i++) + { + item = PyTuple_GET_ITEM(seq,i); + viewMatrix[i] = PyFloat_AsDouble(item); + } + } + } else + { + valid = 0; } } - else - { - for (i = 0; i < len; i++) - { - item = PyTuple_GET_ITEM(seq,i); - viewMatrix[i] = PyFloat_AsDouble(item); - } - } - } else - { - valid = 0; - } - } + { - seq = PySequence_Fast(objProjMat, "expected a sequence"); - len = PySequence_Size(objProjMat); - //printf("projMat len = %d\n", len); - if (len==16) - { - if (PyList_Check(seq)) - { - for (i = 0; i < len; i++) - { - item = PyList_GET_ITEM(seq, i); - projectionMatrix[i] = PyFloat_AsDouble(item); - } - } - else - { - for (i = 0; i < len; i++) - { - item = PyTuple_GET_ITEM(seq,i); - projectionMatrix[i] = PyFloat_AsDouble(item); - } - } - } else - { - valid = 0; - } - } - + seq = PySequence_Fast(objProjMat, "expected a sequence"); + len = PySequence_Size(objProjMat); + //printf("projMat len = %d\n", len); + if (len==16) + { + if (PyList_Check(seq)) + { + for (i = 0; i < len; i++) + { + item = PyList_GET_ITEM(seq, i); + projectionMatrix[i] = PyFloat_AsDouble(item); + } + } + else + { + for (i = 0; i < len; i++) + { + item = PyTuple_GET_ITEM(seq,i); + projectionMatrix[i] = PyFloat_AsDouble(item); + } + } + } else + { + valid = 0; + } + } Py_DECREF(seq); if (valid) { + b3SharedMemoryCommandHandle command; + + command = b3InitRequestCameraImage(sm); + //printf("set b3RequestCameraImageSetCameraMatrices\n"); b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); - } - } - - if (b3CanSubmitCommand(sm)) - { - b3SharedMemoryStatusHandle statusHandle; - int statusType; - statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); - statusType = b3GetStatusType(statusHandle); - if (statusType==CMD_CAMERA_IMAGE_COMPLETED) - { - PyObject *item2; - PyObject* pyResultList;//store 4 elements in this result: width, height, rgbData, depth - - b3GetCameraImageData(sm, &imageData); - //todo: error handling if image size is 0 - pyResultList = PyTuple_New(4); - PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth)); - PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight)); - - PyObject *pylistPos; - PyObject* pylistDep; - - //printf("image width = %d, height = %d\n", imageData.m_pixelWidth, imageData.m_pixelHeight); - { - - PyObject *item; - int bytesPerPixel = 3;//Red, Green, Blue, each 8 bit values - int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight; - pylistPos = PyTuple_New(num); - pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight); - - for (int i=0;i Date: Tue, 7 Jun 2016 17:02:47 -0700 Subject: [PATCH 011/115] don't pass width/height into renderObject --- examples/RenderingExamples/TinyRendererSetup.cpp | 2 +- examples/SharedMemory/TinyRendererVisualShapeConverter.cpp | 2 +- .../StandaloneMain/main_sw_tinyrenderer_single_example.cpp | 2 +- examples/StandaloneMain/main_tinyrenderer_single_example.cpp | 2 +- examples/TinyRenderer/TinyRenderer.cpp | 5 ++++- examples/TinyRenderer/TinyRenderer.h | 2 +- examples/TinyRenderer/main.cpp | 2 +- 7 files changed, 10 insertions(+), 7 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index 8df1a76ad..fd3f80e41 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -363,7 +363,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime) } } - TinyRenderer::renderObject(*m_internalData->m_renderObjects[o], m_internalData->m_width,m_internalData->m_height); + TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]); } //m_app->drawText("hello",500,500); render->activateTexture(m_internalData->m_textureHandle); diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 7c3507b25..3bb5e893e 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -576,7 +576,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_lightDirWorld = lightDirWorld; } } - TinyRenderer::renderObject(*renderObj,m_data->m_swWidth,m_data->m_swHeight); + TinyRenderer::renderObject(*renderObj); } } //printf("write tga \n"); diff --git a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp index 786e0eed1..1fa1b0ccd 100644 --- a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp +++ b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp @@ -110,7 +110,7 @@ public: int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices); if (shapeIndex>=0) { - TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer); + TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer); float rgbaColor[4] = {1,1,1,1}; swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor); //swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices); diff --git a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp index 157ab233c..565b771e7 100644 --- a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp +++ b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp @@ -253,7 +253,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface { int shapeIndex = m_swRenderObjects.size(); - TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer); + TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer); float rgbaColor[4] = {1,1,1,1}; swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor); //swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index e13f97077..aebf0440e 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -231,8 +231,11 @@ TinyRenderObjectData::~TinyRenderObjectData() delete m_model; } -void TinyRenderer::renderObject(TinyRenderObjectData& renderData, int width, int height) +void TinyRenderer::renderObject(TinyRenderObjectData& renderData) { + int width = renderData.m_rgbColorBuffer.get_width(); + int height = renderData.m_rgbColorBuffer.get_height(); + Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); Model* model = renderData.m_model; if (0==model) diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index cfe857eca..c6f4f9821 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -47,7 +47,7 @@ struct TinyRenderObjectData class TinyRenderer { public: - static void renderObject(TinyRenderObjectData& renderData, int width, int height); + static void renderObject(TinyRenderObjectData& renderData); }; #endif // TINY_RENDERER_Hbla diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp index 9995b8f66..32f5e7edd 100644 --- a/examples/TinyRenderer/main.cpp +++ b/examples/TinyRenderer/main.cpp @@ -86,7 +86,7 @@ int main(int argc, char* argv[]) b3AlignedObjectArray depthBuffer; depthBuffer.resize(gWidth*gHeight); - TinyRenderObjectData renderData(textureWidth, textureHeight,rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj"); + TinyRenderObjectData renderData(rgbColorBuffer,depthBuffer);//, "african_head/african_head.obj");//floor.obj"); //renderData.loadModel("african_head/african_head.obj"); renderData.loadModel("floor.obj"); From 98d2f91f3cca1a0f9e77a3cde62a4a04aea2d942 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 9 Jun 2016 12:12:46 -0700 Subject: [PATCH 012/115] fix flipped tinyrenderer image --- examples/SharedMemory/PhysicsClientExample.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 4 +++- examples/pybullet/pybullet.c | 16 +++++++++------- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index e7e02ba51..e7d797fa6 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -631,7 +631,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime) int bytesPerPixel = 4; int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel; - m_canvas->setPixel(m_canvasIndex,i,camVisualizerHeight-1-j, + m_canvas->setPixel(m_canvasIndex,i,j, imageData.m_rgbColorData[pixelIndex], imageData.m_rgbColorData[pixelIndex+1], diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 3bb5e893e..ebe11877a 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -580,7 +580,9 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo } } //printf("write tga \n"); - m_data->m_rgbColorBuffer.write_tga_file("camera.tga"); + //m_data->m_rgbColorBuffer.write_tga_file("camera.tga"); +// printf("flipped!\n"); + m_data->m_rgbColorBuffer.flip_vertically(); } diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0bac58313..41625b8cf 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -459,15 +459,16 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) } Py_DECREF(seq); - if (valid) { b3SharedMemoryCommandHandle command; command = b3InitRequestCameraImage(sm); - + if (valid) + { //printf("set b3RequestCameraImageSetCameraMatrices\n"); b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); - + } + b3RequestCameraImageSetPixelResolution(command,width,height); if (b3CanSubmitCommand(sm)) @@ -489,24 +490,25 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) PyObject *pylistPos; PyObject* pylistDep; + int i,j,p; //printf("image width = %d, height = %d\n", imageData.m_pixelWidth, imageData.m_pixelHeight); { PyObject *item; - int bytesPerPixel = 3;//Red, Green, Blue, each 8 bit values + int bytesPerPixel = 4;//Red, Green, Blue, each 8 bit values int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight; pylistPos = PyTuple_New(num); pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight); - for (int i=0;i Date: Fri, 10 Jun 2016 15:07:41 -0700 Subject: [PATCH 013/115] render image with ability to set pixel resolution and initial camera position --- examples/pybullet/pybullet.c | 301 ++++++++++++++++------------------- 1 file changed, 138 insertions(+), 163 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 41625b8cf..8e916234b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -19,7 +19,7 @@ enum eCONNECT_METHOD static PyObject *SpamError; static b3PhysicsClientHandle sm=0; - +// Step through one timestep of the simulation static PyObject * pybullet_stepSimulation(PyObject *self, PyObject *args) { @@ -118,7 +118,11 @@ pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args) return Py_None; } - +// Load a URDF file indicating the links and joints of an object +// function can be called without arguments and will default +// to position (0,0,1) with orientation(0,0,0,1) +// else, loadURDF(x,y,z) or +// loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w) static PyObject * pybullet_loadURDF(PyObject* self, PyObject* args) { @@ -128,13 +132,13 @@ pybullet_loadURDF(PyObject* self, PyObject* args) int bodyIndex = -1; const char* urdfFileName=""; float startPosX =0; - float startPosY =0; - float startPosZ = 1; + float startPosY =0; + float startPosZ = 1; float startOrnX = 0; float startOrnY = 0; float startOrnZ = 0; float startOrnW = 1; - //printf("size=%d\n", size); + if (0==sm) { PyErr_SetString(SpamError, "Not connected to physics server."); @@ -157,14 +161,13 @@ pybullet_loadURDF(PyObject* self, PyObject* args) &startPosX,&startPosY,&startPosZ, &startOrnX,&startOrnY,&startOrnZ, &startOrnW)) return NULL; - } { b3SharedMemoryStatusHandle statusHandle; int statusType; b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(sm, urdfFileName); - //printf("urdf filename = %s\n", urdfFileName); + //setting the initial position, orientation and other arguments are optional b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); @@ -178,6 +181,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args) } return PyLong_FromLong(bodyIndex); } + +// Reset the simulation to remove all loaded objects static PyObject * pybullet_resetSimulation(PyObject* self, PyObject* args) { @@ -195,6 +200,7 @@ pybullet_resetSimulation(PyObject* self, PyObject* args) return Py_None; } +// Set the gravity of the world with (x, y, z) arguments static PyObject * pybullet_setGravity(PyObject* self, PyObject* args) { @@ -229,6 +235,8 @@ pybullet_setGravity(PyObject* self, PyObject* args) } +// Internal function used to get the base position and orientation +// Orientation is returned in quaternions static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3]) { basePosition[0] = 0.; @@ -272,6 +280,10 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double } } +// Get the positions (x,y,z) and orientation (x,y,z,w) in quaternion +// values for the base link of your object +// Object is retrieved based on body index, which is the order +// the object was loaded into the simulation (0-based) static PyObject * pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args) { @@ -331,7 +343,9 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args) } - +// Return the number of joints in an object based on +// body index; body index is based on order of sequence +// the object is loaded into simulation static PyObject * pybullet_getNumJoints(PyObject* self, PyObject* args) { @@ -359,6 +373,7 @@ pybullet_getNumJoints(PyObject* self, PyObject* args) } } +// TODO(hellojas): set joint positions for a body static PyObject* pybullet_setJointPositions(PyObject* self, PyObject* args) { @@ -372,179 +387,139 @@ pybullet_setJointPositions(PyObject* self, PyObject* args) return Py_None; } - // const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes - // const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats +// const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes +// const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats + +// Render an image from the current timestep of the simulation +// +// Examples: +// renderImage() - default image resolution and camera position +// renderImage(w, h) - image resolution of (w,h), default camera +// renderImage(w, h, view[16], projection[16]) - set both resolution +// and initialize camera to the view and projection values +// +// Note if the (w,h) is too small, the objects may not appear based on +// where the camera has been set +// +// TODO(hellojas): fix image is cut off at head +// TODO(hellojas): should we add check to give minimum image resolution +// to see object based on camera position? static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) { - if (0==sm) + + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + ///request an image from a simulated camera, using a software renderer. + struct b3CameraImageData imageData; + PyObject* objViewMat,* objProjMat; + int width, height; + int size= PySequence_Size(args); + float viewMatrix[16]; + float projectionMatrix[16]; + + // inialize cmd + b3SharedMemoryCommandHandle command; + command = b3InitRequestCameraImage(sm); + + if (size==2) // only set camera resolution + { + if (PyArg_ParseTuple(args, "ii", &width, &height)) + { + b3RequestCameraImageSetPixelResolution(command,width,height); + } + } + + if (size==4) // set camera resoluation and view and projection matrix + { + if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat)) + { + b3RequestCameraImageSetPixelResolution(command,width,height); + + // set camera matrices only if set matrix function succeeds + if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && + (pybullet_internalSetMatrix(objProjMat, projectionMatrix))) + { + b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); + } + } + } + + if (b3CanSubmitCommand(sm)) { - PyErr_SetString(SpamError, "Not connected to physics server."); - return NULL; - } - - ///request an image from a simulated camera, using a software renderer. - struct b3CameraImageData imageData; - PyObject* objViewMat,* objProjMat; - int width, height; - - if (PyArg_ParseTuple(args, "iiOO", &width, &height, &objViewMat, &objProjMat)) - { - - PyObject* seq; - int i, len; - PyObject* item; - float viewMatrix[16]; - float projectionMatrix[16]; - int valid = 1; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + statusType = b3GetStatusType(statusHandle); + if (statusType==CMD_CAMERA_IMAGE_COMPLETED) { - seq = PySequence_Fast(objViewMat, "expected a sequence"); - len = PySequence_Size(objViewMat); - //printf("objViewMat size = %d\n", len); - if (len==16) - { - - if (PyList_Check(seq)) - { - for (i = 0; i < len; i++) - { - item = PyList_GET_ITEM(seq, i); - viewMatrix[i] = PyFloat_AsDouble(item); - float v = viewMatrix[i]; - //printf("view %d to %f\n", i,v); - - } - } - else - { - for (i = 0; i < len; i++) - { - item = PyTuple_GET_ITEM(seq,i); - viewMatrix[i] = PyFloat_AsDouble(item); - } - } - } else - { - valid = 0; - } - } - - - { - seq = PySequence_Fast(objProjMat, "expected a sequence"); - len = PySequence_Size(objProjMat); - //printf("projMat len = %d\n", len); - if (len==16) - { - if (PyList_Check(seq)) - { - for (i = 0; i < len; i++) - { - item = PyList_GET_ITEM(seq, i); - projectionMatrix[i] = PyFloat_AsDouble(item); - } - } - else - { - for (i = 0; i < len; i++) - { - item = PyTuple_GET_ITEM(seq,i); - projectionMatrix[i] = PyFloat_AsDouble(item); - } - } - } else - { - valid = 0; - } - } + PyObject *item2; + PyObject* pyResultList;//store 4 elements in this result: width, height, rgbData, depth - Py_DECREF(seq); - { - b3SharedMemoryCommandHandle command; - - command = b3InitRequestCameraImage(sm); - if (valid) - { - //printf("set b3RequestCameraImageSetCameraMatrices\n"); - b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); - } + b3GetCameraImageData(sm, &imageData); + //TODO(hellojas): error handling if image size is 0 + pyResultList = PyTuple_New(4); + PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth)); + PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight)); + + PyObject *pylistRGB; + PyObject* pylistDep; + int i, j, p; - b3RequestCameraImageSetPixelResolution(command,width,height); - - if (b3CanSubmitCommand(sm)) { - b3SharedMemoryStatusHandle statusHandle; - int statusType; - statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); - statusType = b3GetStatusType(statusHandle); - if (statusType==CMD_CAMERA_IMAGE_COMPLETED) + + PyObject *item; + int bytesPerPixel = 4;//Red, Green, Blue, and Alpha each 8 bit values + int num=bytesPerPixel*imageData.m_pixelWidth*imageData.m_pixelHeight; + pylistRGB = PyTuple_New(num); + pylistDep = PyTuple_New(imageData.m_pixelWidth*imageData.m_pixelHeight); + + for (i=0;i Date: Fri, 10 Jun 2016 15:07:52 -0700 Subject: [PATCH 014/115] render image with ability to set pixel resolution and initial camera position --- examples/SharedMemory/PhysicsClientExample.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index e7d797fa6..bcd84d321 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -628,7 +628,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime) int yIndex = int(float(j)*(float(imageData.m_pixelHeight)/float(camVisualizerHeight))); btClamp(yIndex,0,imageData.m_pixelHeight); btClamp(xIndex,0,imageData.m_pixelWidth); - int bytesPerPixel = 4; + int bytesPerPixel = 4; //RGBA int pixelIndex = (xIndex+yIndex*imageData.m_pixelWidth)*bytesPerPixel; m_canvas->setPixel(m_canvasIndex,i,j, @@ -636,8 +636,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime) imageData.m_rgbColorData[pixelIndex], imageData.m_rgbColorData[pixelIndex+1], imageData.m_rgbColorData[pixelIndex+2], - 255); -// imageData.m_rgbColorData[pixelIndex+3]); + 255); //alpha set to 255 } } m_canvas->refreshImageData(m_canvasIndex); From 9c5a7925f0e3f2b63ccc0a0a0b40b710b7a759a1 Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Fri, 10 Jun 2016 15:14:00 -0700 Subject: [PATCH 015/115] add internal set matrix function --- examples/pybullet/pybullet.c | 39 ++++++++++++++++++++++++++++++++++++ 1 file changed, 39 insertions(+) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 8e916234b..f056b5b57 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -390,6 +390,45 @@ pybullet_setJointPositions(PyObject* self, PyObject* args) // const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes // const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats +// internal function to set a float matrix[16] +// used to initialize camera position with +// a view and projection matrix in renderImage() +static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) +{ + + int i, len; + PyObject* item; + PyObject* seq; + + seq = PySequence_Fast(objMat, "expected a sequence"); + len = PySequence_Size(objMat); + if (len==16) + { + + if (PyList_Check(seq)) + { + for (i = 0; i < len; i++) + { + item = PyList_GET_ITEM(seq, i); + matrix[i] = PyFloat_AsDouble(item); + } + } + else + { + for (i = 0; i < len; i++) + { + item = PyTuple_GET_ITEM(seq,i); + matrix[i] = PyFloat_AsDouble(item); + } + } + Py_DECREF(seq); + return 1; + } else + { + Py_DECREF(seq); + return 0; + } +} // Render an image from the current timestep of the simulation // From 6523df336e6925c0b7597fd77bcc5b3e08047e95 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 13 Jun 2016 10:11:28 -0700 Subject: [PATCH 016/115] Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. Improve CMake Windows support to build PyBullet (BUILD_PYBULLET) Implement b3LoadSdfCommandInit in shared memory API Implement pybullet SDF loading binding, in loadSDF API TODO for SDF support is provide way to query object/link/joint information. --- CMakeLists.txt | 5 +- examples/SharedMemory/PhysicsClientC_API.cpp | 31 ++++ examples/SharedMemory/PhysicsClientC_API.h | 2 + .../SharedMemory/PhysicsClientExample.cpp | 70 +++++--- .../PhysicsClientSharedMemory.cpp | 38 ++++- .../PhysicsServerCommandProcessor.cpp | 156 +++++++++++++++++- .../PhysicsServerCommandProcessor.h | 4 + examples/SharedMemory/SharedMemoryCommands.h | 25 +++ examples/SharedMemory/SharedMemoryPublic.h | 1 + examples/pybullet/pybullet.c | 93 +++++++++-- 10 files changed, 377 insertions(+), 48 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index b34c7f996..083835f6e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -191,14 +191,15 @@ IF (APPLE) ENDIF() OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON) + +FIND_PACKAGE(PythonLibs) OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF) + IF(BUILD_PYBULLET) IF(WIN32) - FIND_PACKAGE(PythonLibs 3.4 REQUIRED) SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE) ELSE(WIN32) - FIND_PACKAGE(PythonLibs 2.7 REQUIRED) SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE) ENDIF(WIN32) ENDIF(BUILD_PYBULLET) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index c6468cb89..ae1a54782 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -519,6 +519,33 @@ int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle) return CMD_INVALID_STATUS; } +int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity) +{ + int numBodies = 0; + const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; + b3Assert(status); + + if (status) + { + switch (status->m_type) + { + case CMD_SDF_LOADING_COMPLETED: + { + int i,maxBodies; + numBodies = status->m_sdfLoadedArgs.m_numBodies; + maxBodies = btMin(bodyIndicesCapacity, numBodies); + for (i=0;im_sdfLoadedArgs.m_bodyUniqueIds[i]; + } + break; + } + } + } + + return numBodies; +} + int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle) { const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; @@ -558,6 +585,10 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, const double* jointReactionForces[]) { const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; const SendActualStateArgs &args = status->m_sendActualStateArgs; + btAssert(status->m_type == CMD_URDF_LOADING_COMPLETED); + if (status->m_type != CMD_URDF_LOADING_COMPLETED) + return false; + if (bodyUniqueId) { *bodyUniqueId = args.m_bodyUniqueId; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index b67f078ae..468347ef5 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -40,6 +40,8 @@ b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClien /// Get the physics server return status type. See EnumSharedMemoryServerStatus in SharedMemoryPublic.h for error codes. int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle); +int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity); + int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle); int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index bcd84d321..acce1dfde 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -77,9 +77,9 @@ protected: virtual void resetCamera() { - float dist = 1.1; - float pitch = 50; - float yaw = 35; + float dist = 4; + float pitch = 193; + float yaw = 25; float targetPos[3]={0,0,0.5};//-3,2.8,-2.5}; m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); @@ -223,9 +223,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) { case CMD_LOAD_URDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf"); - //setting the initial position, orientation and other arguments are optional double startPosX = 0; static double startPosY = 0; @@ -234,7 +232,13 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) startPosY += 2.f; // ret = b3LoadUrdfCommandSetUseFixedBase(commandHandle, 1); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - + break; + } + + case CMD_LOAD_SDF: + { + b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf"); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } case CMD_REQUEST_CAMERA_IMAGE_DATA: @@ -452,6 +456,7 @@ void PhysicsClientExample::createButtons() m_guiHelper->getParameterInterface()->removeAllParameters(); createButton("Load URDF",CMD_LOAD_URDF, isTrigger); + createButton("Load SDF",CMD_LOAD_SDF, isTrigger); createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger); createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger); @@ -649,11 +654,40 @@ void PhysicsClientExample::stepSimulation(float deltaTime) b3Warning("Camera image FAILED\n"); } - - if (statusType == CMD_URDF_LOADING_COMPLETED) + if (statusType == CMD_SDF_LOADING_COMPLETED) { - int bodyIndex = b3GetStatusBodyIndex(status); - if (bodyIndex>=0) + //int bodyIndex = b3GetStatusBodyIndex(status); + /*if (bodyIndex>=0) + { + int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex); + + for (int i=0;igetParameterInterface()->registerComboBox(comboParams); + } + */ + } + + + if (statusType == CMD_URDF_LOADING_COMPLETED) + { + int bodyIndex = b3GetStatusBodyIndex(status); + if (bodyIndex>=0) { int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex); @@ -662,7 +696,6 @@ void PhysicsClientExample::stepSimulation(float deltaTime) b3JointInfo info; b3GetJointInfo(m_physicsClientHandle,bodyIndex,i,&info); b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex); - } ComboBoxParams comboParams; comboParams.m_comboboxId = bodyIndex; @@ -676,12 +709,8 @@ void PhysicsClientExample::stepSimulation(float deltaTime) comboParams.m_items=blarray;//{&bla}; m_guiHelper->getParameterInterface()->registerComboBox(comboParams); - - } - } - } } if (b3CanSubmitCommand(m_physicsClientHandle)) @@ -734,13 +763,12 @@ void PhysicsClientExample::stepSimulation(float deltaTime) if (m_numMotors) { enqueueCommand(CMD_SEND_DESIRED_STATE); - enqueueCommand(CMD_STEP_FORWARD_SIMULATION); - if (m_options != eCLIENTEXAMPLE_SERVER) - { - enqueueCommand(CMD_REQUEST_DEBUG_LINES); - } - //enqueueCommand(CMD_REQUEST_ACTUAL_STATE); } + enqueueCommand(CMD_STEP_FORWARD_SIMULATION); + if (m_options != eCLIENTEXAMPLE_SERVER) + { + enqueueCommand(CMD_REQUEST_DEBUG_LINES); + } } } diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 728358b93..a4c57574d 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -40,7 +40,7 @@ struct PhysicsClientSharedMemoryInternalData { SharedMemoryStatus m_lastServerStatus; int m_counter; - bool m_serverLoadUrdfOK; + bool m_isConnected; bool m_waitingForServer; bool m_hasLastServerStatus; @@ -54,7 +54,6 @@ struct PhysicsClientSharedMemoryInternalData { m_counter(0), m_cachedCameraPixelsWidth(0), m_cachedCameraPixelsHeight(0), - m_serverLoadUrdfOK(false), m_isConnected(false), m_waitingForServer(false), m_hasLastServerStatus(false), @@ -204,8 +203,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { } break; } + case CMD_SDF_LOADING_COMPLETED: { + + if (m_data->m_verboseOutput) { + b3Printf("Server loading the SDF OK\n"); + } + break; + } case CMD_URDF_LOADING_COMPLETED: { - m_data->m_serverLoadUrdfOK = true; + if (m_data->m_verboseOutput) { b3Printf("Server loading the URDF OK\n"); } @@ -265,7 +271,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (m_data->m_verboseOutput) { b3Printf("Server failed loading the URDF...\n"); } - m_data->m_serverLoadUrdfOK = false; + + break; + } + + case CMD_SDF_LOADING_FAILED: { + if (m_data->m_verboseOutput) { + b3Printf("Server failed loading the SDF...\n"); + } + break; } @@ -490,6 +504,22 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { m_data->m_waitingForServer = true; } + /*if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) + { + int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; + if (numBodies>0) + { + SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; + //now transfer the information of the individual objects etc. + command.m_type = CMD_REQUEST_SDF_INFO; + command.m_updateFlags = SDF_REQUEST_INFO_BODY; + command.m_sdfRequestInfoArgs.m_infoIndex = 0; + submitClientCommand(command); + return 0; + } + } + */ + if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED) { SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 89490caa6..98994ea68 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -393,6 +393,7 @@ struct PhysicsServerCommandProcessorInternalData btMultiBodyDynamicsWorld* m_dynamicsWorld; SharedMemoryDebugDrawer* m_remoteDebugDrawer; + btAlignedObjectArray m_sdfRecentLoadedBodies; @@ -681,6 +682,128 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb) } +bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes) +{ + btAssert(m_data->m_dynamicsWorld); + if (!m_data->m_dynamicsWorld) + { + b3Error("loadSdf: No valid m_dynamicsWorld"); + return false; + } + + m_data->m_sdfRecentLoadedBodies.clear(); + + BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter); + + bool useFixedBase = false; + bool loadOk = u2b.loadSDF(fileName, useFixedBase); + if (loadOk) + { + for (int i=0;im_collisionShapes.push_back(shape); + if (shape->isCompound()) + { + btCompoundShape* compound = (btCompoundShape*) shape; + for (int childIndex=0;childIndexgetNumChildShapes();childIndex++) + { + m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex)); + } + } + + } + + btTransform rootTrans; + rootTrans.setIdentity(); + if (m_data->m_verboseOutput) + { + b3Printf("loaded %s OK!", fileName); + } + + for (int m =0; mallocHandle(); + + InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId); + + { + btScalar mass = 0; + bodyHandle->m_rootLocalInertialFrame.setIdentity(); + btVector3 localInertiaDiagonal(0,0,0); + int urdfLinkIndex = u2b.getRootLinkIndex(); + u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame); + } + + + + //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user + int rootLinkIndex = u2b.getRootLinkIndex(); + b3Printf("urdf root link index = %d\n",rootLinkIndex); + MyMultiBodyCreator creation(m_data->m_guiHelper); + + u2b.getRootTransformInWorld(rootTrans); + bool useMultiBody = true; + ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),true); + + + + mb = creation.getBulletMultiBody(); + if (mb) + { + bodyHandle->m_multiBody = mb; + + m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId); + + createJointMotors(mb); + + //serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire + + UrdfLinkNameMapUtil* util2 = new UrdfLinkNameMapUtil; + m_data->m_urdfLinkNameMapper.push_back(util2); + util2->m_mb = mb; + util2->m_memSerializer = 0; + //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); + + bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks()); + for (int i=0;igetNumLinks();i++) + { + //disable serialization of the collision objects + + int urdfLinkIndex = creation.m_mb2urdfLink[i]; + btScalar mass; + btVector3 localInertiaDiagonal(0,0,0); + btTransform localInertialFrame; + u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame); + bodyHandle->m_linkLocalInertialFrames.push_back(localInertialFrame); + + std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str()); + m_data->m_strings.push_back(linkName); + + mb->getLink(i).m_linkName = linkName->c_str(); + + std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str()); + m_data->m_strings.push_back(jointName); + + mb->getLink(i).m_jointName = jointName->c_str(); + } + std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex())); + m_data->m_strings.push_back(baseName); + mb->setBaseName(baseName->c_str()); + } else + { + b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later."); + } + + } + } + return loadOk; +} bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn, bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes) @@ -731,8 +854,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix()); - - ///todo(erwincoumans) refactor this memory allocation issue for (int i=0;im_multiBody = mb; + createJointMotors(mb); @@ -805,12 +928,13 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer); util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb); - return true; + return true; } else { b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later."); return false; } + } else { btAssert(0); @@ -1047,6 +1171,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } + case CMD_LOAD_SDF: + { + const SdfArgs& sdfArgs = clientCmd.m_sdfArguments; + if (m_data->m_verboseOutput) + { + b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName); + } + + bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes); + + //serverStatusOut.m_type = CMD_SDF_LOADING_FAILED; + serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size(); + int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies); + for (int i=0;im_sdfRecentLoadedBodies[i]; + } + + serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED; + hasStatus = true; + break; + } case CMD_LOAD_URDF: { diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index dca5f8930..242a41176 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -19,6 +19,10 @@ class PhysicsServerCommandProcessor protected: + + + bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes); + bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn, bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index fa67d7673..a4c93180e 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -33,6 +33,7 @@ #define MAX_SDF_FILENAME_LENGTH 1024 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH #define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM +#define MAX_SDF_BODIES 1024 struct TmpFloat3 { @@ -298,6 +299,28 @@ struct CreateBoxShapeArgs double m_colorRGBA[4]; }; +struct SdfLoadedArgs +{ + int m_numBodies; + int m_bodyUniqueIds[MAX_SDF_BODIES]; + + ///@todo(erwincoumans) load cameras, lights etc + //int m_numCameras; + //int m_numLights; +}; + + +struct SdfRequestInfoArgs +{ + int m_infoIndex; +}; + +enum EnumSdfRequestInfoFlags +{ + SDF_REQUEST_INFO_BODY=1, + //SDF_REQUEST_INFO_CAMERA=2, +}; + struct SharedMemoryCommand { int m_type; @@ -312,6 +335,7 @@ struct SharedMemoryCommand { struct UrdfArgs m_urdfArguments; struct SdfArgs m_sdfArguments; + struct SdfRequestInfoArgs m_sdfRequestInfoArgs; struct InitPoseArgs m_initPoseArgs; struct SendPhysicsSimulationParameters m_physSimParamArgs; struct BulletDataStreamArgs m_dataStreamArguments; @@ -340,6 +364,7 @@ struct SharedMemoryStatus union { struct BulletDataStreamArgs m_dataStreamArguments; + struct SdfLoadedArgs m_sdfLoadedArgs; struct SendActualStateArgs m_sendActualStateArgs; struct SendDebugLinesArgs m_sendDebugLinesArgs; struct SendPixelDataArgs m_sendPixelDataArguments; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 2f676e057..a038ecf51 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -19,6 +19,7 @@ enum EnumSharedMemoryClientCommand CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE? CMD_REQUEST_ACTUAL_STATE, CMD_REQUEST_DEBUG_LINES, + CMD_REQUEST_SDF_INFO, CMD_STEP_FORWARD_SIMULATION, CMD_RESET_SIMULATION, CMD_PICK_BODY, diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index f056b5b57..b735caeb1 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -182,6 +182,61 @@ pybullet_loadURDF(PyObject* self, PyObject* args) return PyLong_FromLong(bodyIndex); } +#define MAX_SDF_BODIES 512 + +static PyObject* +pybullet_loadSDF(PyObject* self, PyObject* args) +{ + const char* sdfFileName=""; + int size= PySequence_Size(args); + int numBodies = 0; + int i; + int bodyIndicesOut[MAX_SDF_BODIES]; + PyObject* pylist=0; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + b3SharedMemoryCommandHandle command; + + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (size==1) + { + if (!PyArg_ParseTuple(args, "s", &sdfFileName)) + return NULL; + } + + command = b3LoadSdfCommandInit(sm, sdfFileName); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + statusType = b3GetStatusType(statusHandle); + if (statusType!=CMD_SDF_LOADING_COMPLETED) + { + PyErr_SetString(SpamError, "Cannot load SDF file."); + return NULL; + } + + numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES); + if (numBodies > MAX_SDF_BODIES) + { + PyErr_SetString(SpamError, "SDF exceeds body capacity"); + return NULL; + } + + pylist = PyTuple_New(numBodies); + + if (numBodies >0 && numBodies <= MAX_SDF_BODIES) + { + for (i=0;i Date: Mon, 13 Jun 2016 18:33:18 -0700 Subject: [PATCH 017/115] remove unused findex from btTypedConstraint.h --- src/BulletDynamics/ConstraintSolver/btTypedConstraint.h | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index b55db0c1b..8a2a2d1ae 100644 --- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -145,11 +145,6 @@ public: // lo and hi limits for variables (set to -/+ infinity on entry). btScalar *m_lowerLimit,*m_upperLimit; - // findex vector for variables. see the LCP solver interface for a - // description of what this does. this is set to -1 on entry. - // note that the returned indexes are relative to the first index of - // the constraint. - int *findex; // number of solver iterations int m_numIterations; From 566ed87c93cc222cc451cedac68ca799ed24e154 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 13 Jun 2016 18:58:52 -0700 Subject: [PATCH 018/115] fix a regression in a test --- examples/SharedMemory/PhysicsClientC_API.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index ae1a54782..81a58a992 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -585,8 +585,8 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, const double* jointReactionForces[]) { const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; const SendActualStateArgs &args = status->m_sendActualStateArgs; - btAssert(status->m_type == CMD_URDF_LOADING_COMPLETED); - if (status->m_type != CMD_URDF_LOADING_COMPLETED) + btAssert(status->m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED); + if (status->m_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) return false; if (bodyUniqueId) { From 4f4eb3a9c6cfe5328a5410b0cce52036f5b11385 Mon Sep 17 00:00:00 2001 From: Giorgos Tzampanakis Date: Tue, 14 Jun 2016 13:40:38 +0000 Subject: [PATCH 019/115] Fixed: Error because of unparameterized btVectorX --- src/BulletInverseDynamics/details/IDLinearMathInterface.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp index c77ba3cba..d81647b68 100644 --- a/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp +++ b/src/BulletInverseDynamics/details/IDLinearMathInterface.hpp @@ -48,9 +48,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; } class vecx : public btVectorX { public: - vecx(int size) : btVectorX(size) {} + vecx(int size) : btVectorX(size) {} const vecx& operator=(const btVectorX& rhs) { - *static_cast(this) = rhs; + *static_cast*>(this) = rhs; return *this; } From b06e1cb873546d940003834121e2f928190adddb Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 14 Jun 2016 07:53:15 -0700 Subject: [PATCH 020/115] Update CollisionShape2TriangleMesh.cpp fix memory leak, thanks Ilya Kostrikov for the report. --- examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp b/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp index 1105955dc..2bc8a0ea4 100644 --- a/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp +++ b/examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp @@ -167,6 +167,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans } } } + delete hull; } } else { From eeaff0747b47c46b1eb86e239475475e684762d8 Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Tue, 14 Jun 2016 14:08:24 -0700 Subject: [PATCH 021/115] return joint state given a joint index and body index --- examples/pybullet/pybullet.c | 182 ++++++++++++++++++++++++++++++++++- 1 file changed, 179 insertions(+), 3 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index f056b5b57..e4ffeeedf 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -235,6 +235,7 @@ pybullet_setGravity(PyObject* self, PyObject* args) } + // Internal function used to get the base position and orientation // Orientation is returned in quaternions static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3]) @@ -260,12 +261,18 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double const int status_type = b3GetStatusType(status_handle); const double* actualStateQ; + // const double* jointReactionForces[]; + int i; b3GetStatusActualState(status_handle, 0/* body_unique_id */, 0/* num_degree_of_freedom_q */, 0/* num_degree_of_freedom_u */, 0 /*root_local_inertial_frame*/, &actualStateQ , 0 /* actual_state_q_dot */, 0 /* joint_reaction_forces */); + // printf("joint reaction forces="); + // for (i=0; i < (sizeof(jointReactionForces)/sizeof(double)); i++) { + // printf("%f ", jointReactionForces[i]); + // } //now, position x,y,z = actualStateQ[0],actualStateQ[1],actualStateQ[2] //and orientation x,y,z,w = actualStateQ[3],actualStateQ[4],actualStateQ[5],actualStateQ[6] basePosition[0] = actualStateQ[0]; @@ -300,6 +307,7 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args) return NULL; } + double basePosition[3]; double baseOrientation[4]; @@ -375,14 +383,173 @@ pybullet_getNumJoints(PyObject* self, PyObject* args) // TODO(hellojas): set joint positions for a body static PyObject* -pybullet_setJointPositions(PyObject* self, PyObject* args) +pybullet_initializeJointPositions(PyObject* self, PyObject* args) { if (0==sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - + + + Py_INCREF(Py_None); + return Py_None; +} + + +// TODO(hellojas): get joint positions for a body +static PyObject* +pybullet_getJointInfo(PyObject* self, PyObject* args) +{ + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + Py_INCREF(Py_None); + return Py_None; +} + + +// Returns the state of a specific joint in a given bodyIndex +// The state of a joint includes the following: +// position, velocity, force torque (6 values), and motor torque +// The returned pylist is an array of [float, float, float[6], float] + +// TODO(hellojas): check accuracy of position and velocity +// TODO(hellojas): check force torque values + +static PyObject* +pybullet_getJointState(PyObject* self, PyObject* args) +{ + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + + PyObject *pyListJointForceTorque; + PyObject *pyListJointState; + PyObject *item; + + struct b3JointInfo info; + struct b3JointSensorState sensorState; + + int bodyIndex = -1; + int jointIndex = -1; + int sensorStateSize = 4; // size of struct b3JointSensorState + int forceTorqueSize = 6; // size of force torque list from b3JointSensorState + int i, j; + + + int size= PySequence_Size(args); + + if (size==2) // get body index and joint index + { + if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) + { + + b3SharedMemoryCommandHandle cmd_handle = + b3RequestActualStateCommandInit(sm, bodyIndex); + b3SharedMemoryStatusHandle status_handle = + b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); + + pyListJointState = PyTuple_New(sensorStateSize); + pyListJointForceTorque = PyTuple_New(forceTorqueSize); + + + // double m_jointPosition; + // double m_jointVelocity; + // double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ + // double m_jointMotorTorque; + b3GetJointState(sm, status_handle, jointIndex, &sensorState); + // printf("Joint%d: position=%f velocity=%f motortorque=%f\n", + // jointIndex, + // sensorState.m_jointPosition, + // sensorState.m_jointVelocity, + // sensorState.m_jointMotorTorque); + + PyTuple_SetItem(pyListJointState, 0, + PyFloat_FromDouble(sensorState.m_jointPosition)); + PyTuple_SetItem(pyListJointState, 1, + PyFloat_FromDouble(sensorState.m_jointVelocity)); + + // joint force torque is list of 6 + /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ + // printf(" jointForceTorque = "); + for (j = 0; j < forceTorqueSize; j++) { + // printf("%f ", sensorState.m_jointForceTorque[j]); + PyTuple_SetItem(pyListJointForceTorque, j, + PyFloat_FromDouble(sensorState.m_jointForceTorque[j])); + } + + PyTuple_SetItem(pyListJointState, 2, + pyListJointForceTorque); + + PyTuple_SetItem(pyListJointState, 3, + PyFloat_FromDouble(sensorState.m_jointMotorTorque)); + + return pyListJointState; + } + } + + Py_INCREF(Py_None); + return Py_None; +} + + +// TODO(hellojas): get joint positions for a body +static PyObject* +pybullet_getJointPositionAndVelocity(PyObject* self, PyObject* args) +{ + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + struct b3JointInfo info; + int bodyIndex = 0; + int forceTorqueSize = 6; + PyObject *pylistJointPos; + PyObject *item; + int i, j, numJoints; + struct b3JointSensorState sensorState; + + b3SharedMemoryCommandHandle cmd_handle = + b3RequestActualStateCommandInit(sm, bodyIndex); + b3SharedMemoryStatusHandle status_handle = + b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); + + numJoints = b3GetNumJoints(sm,bodyIndex); + + const char *pyListJointNames[numJoints]; + pylistJointPos = PyTuple_New(numJoints); + + +// double m_jointPosition; +// double m_jointVelocity; +// double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ +// double m_jointMotorTorque; + for (i = 0; i < numJoints; ++i) { + b3GetJointState(sm, status_handle, i, &sensorState); + printf("Joint%d: position=%f velocity=%f motortorque=%f\n", + i, + sensorState.m_jointPosition, + sensorState.m_jointVelocity, + sensorState.m_jointMotorTorque); + + // item = PyFloat_FromDouble(basePosition[i]); + + printf(" jointForceTorque = "); + for (j = 0; j < forceTorqueSize; j++) { + printf("%f ", sensorState.m_jointPosition); + } + printf("\n"); +} + Py_INCREF(Py_None); return Py_None; } @@ -565,9 +732,18 @@ static PyMethodDef SpamMethods[] = { {"setGravity", pybullet_setGravity, METH_VARARGS, "Set the gravity acceleration (x,y,z)."}, - {"initializeJointPositions", pybullet_setJointPositions, METH_VARARGS, + {"initializeJointPositions", pybullet_initializeJointPositions, METH_VARARGS, "Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."}, + // {"getJointPositions", pybullet_getJointPositions, METH_VARARGS, + // "Get the joint positions for all joints."}, + // + {"getJointInfo", pybullet_getJointInfo, METH_VARARGS, + "Get the joint metadata info for a joint on a body. This includes joint index, name, type, q-index and u-index."}, + + {"getJointState", pybullet_getJointState, METH_VARARGS, + "Get the joint metadata info for a joint on a body."}, + {"renderImage", pybullet_renderImage, METH_VARARGS, "Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"}, From d53d6366deebfbd223e0075009e9d4d7dce4a911 Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Tue, 14 Jun 2016 14:35:45 -0700 Subject: [PATCH 022/115] get the state of a specific joint given a body index --- examples/pybullet/pybullet.c | 59 +++++++++++++++++++++++++++++++++++- 1 file changed, 58 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 8cd657d81..afcdcb76d 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -306,7 +306,6 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double { - { b3SharedMemoryCommandHandle cmd_handle = b3RequestActualStateCommandInit(sm, bodyIndex); @@ -463,6 +462,64 @@ pybullet_getJointInfo(PyObject* self, PyObject* args) return NULL; } + PyObject *pyListJointInfo; + + struct b3JointInfo info; + + int bodyIndex = -1; + int jointIndex = -1; + int jointInfoSize = 8; //size of struct b3JointInfo + + int size= PySequence_Size(args); + + if (size==2) // get body index and joint index + { + if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) + { + + // printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex); + + b3SharedMemoryCommandHandle cmd_handle = + b3RequestActualStateCommandInit(sm, bodyIndex); + b3SharedMemoryStatusHandle status_handle = + b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); + + pyListJointInfo = PyTuple_New(jointInfoSize); + + b3GetJointInfo(sm, bodyIndex, jointIndex, &info); + + // printf("Joint%d %s, type %d, at q-index %d and u-index %d\n", + // info.m_jointIndex, + // info.m_jointName, + // info.m_jointType, + // info.m_qIndex, + // info.m_uIndex); + // printf(" flags=%d jointDamping=%f jointFriction=%f\n", + // info.m_flags, + // info.m_jointDamping, + // info.m_jointFriction); + + PyTuple_SetItem(pyListJointInfo, 0, + PyInt_FromLong(info.m_jointIndex)); + PyTuple_SetItem(pyListJointInfo, 1, + PyString_FromString(info.m_jointName)); + PyTuple_SetItem(pyListJointInfo, 2, + PyInt_FromLong(info.m_jointType)); + PyTuple_SetItem(pyListJointInfo, 3, + PyInt_FromLong(info.m_qIndex)); + PyTuple_SetItem(pyListJointInfo, 4, + PyInt_FromLong(info.m_uIndex)); + PyTuple_SetItem(pyListJointInfo, 5, + PyInt_FromLong(info.m_flags)); + PyTuple_SetItem(pyListJointInfo, 6, + PyFloat_FromDouble(info.m_jointDamping)); + PyTuple_SetItem(pyListJointInfo, 7, + PyFloat_FromDouble(info.m_jointFriction)); + + return pyListJointInfo; + } + } + Py_INCREF(Py_None); return Py_None; } From d6ab1ab43416df3207d5d9f48231cd9548b5ae9f Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Tue, 14 Jun 2016 14:58:36 -0700 Subject: [PATCH 023/115] initialize a single joint position for a given body index --- examples/pybullet/pybullet.c | 119 +++++++++++++++++------------------ 1 file changed, 57 insertions(+), 62 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index afcdcb76d..b645045b3 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -436,7 +436,7 @@ pybullet_getNumJoints(PyObject* self, PyObject* args) } } -// TODO(hellojas): set joint positions for a body +// Initalize all joint positions given a list of values static PyObject* pybullet_initializeJointPositions(PyObject* self, PyObject* args) { @@ -445,13 +445,65 @@ pybullet_initializeJointPositions(PyObject* self, PyObject* args) PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - + // TODO(hellojas): initialize all joint positions given a pylist of values Py_INCREF(Py_None); return Py_None; } +// Initalize a single joint position for a specific body index +// +// This method skips any physics simulation and +// teleports all joints to the new positions. +// TODO(hellojas): test accuracy of joint position values +static PyObject* +pybullet_initializeJointPosition(PyObject* self, PyObject* args) +{ + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + int i; + int bodyIndex = -1; + int jointIndex = -1; + double jointPos = 0.0; + + int size= PySequence_Size(args); + + if (size==3) // get body index, joint index, and joint position value + { + if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &jointPos)) + { + b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex); + + printf("initializing joint %d at %f\n", jointIndex, jointPos); + b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos); + + b3SharedMemoryStatusHandle status_handle = + b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); + + const int status_type = b3GetStatusType(status_handle); + + } + } + + Py_INCREF(Py_None); + return Py_None; +} + + +// Get the a single joint info for a specific bodyIndex +// +// Joint information includes: +// index, name, type, q-index, u-index, +// flags, joint damping, joint friction +// +// The format of the returned list is +// [int, str, int, int, int, int, float, float] +// // TODO(hellojas): get joint positions for a body static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args) @@ -613,60 +665,6 @@ pybullet_getJointState(PyObject* self, PyObject* args) } -// TODO(hellojas): get joint positions for a body -static PyObject* -pybullet_getJointPositionAndVelocity(PyObject* self, PyObject* args) -{ - if (0==sm) - { - PyErr_SetString(SpamError, "Not connected to physics server."); - return NULL; - } - - struct b3JointInfo info; - int bodyIndex = 0; - int forceTorqueSize = 6; - PyObject *pylistJointPos; - PyObject *item; - int i, j, numJoints; - struct b3JointSensorState sensorState; - - b3SharedMemoryCommandHandle cmd_handle = - b3RequestActualStateCommandInit(sm, bodyIndex); - b3SharedMemoryStatusHandle status_handle = - b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); - - numJoints = b3GetNumJoints(sm,bodyIndex); - - const char *pyListJointNames[numJoints]; - pylistJointPos = PyTuple_New(numJoints); - - -// double m_jointPosition; -// double m_jointVelocity; -// double m_jointForceTorque[6]; /* note to roboticists: this is NOT the motor torque/force, but the spatial reaction force vector at joint */ -// double m_jointMotorTorque; - for (i = 0; i < numJoints; ++i) { - b3GetJointState(sm, status_handle, i, &sensorState); - printf("Joint%d: position=%f velocity=%f motortorque=%f\n", - i, - sensorState.m_jointPosition, - sensorState.m_jointVelocity, - sensorState.m_jointMotorTorque); - - // item = PyFloat_FromDouble(basePosition[i]); - - printf(" jointForceTorque = "); - for (j = 0; j < forceTorqueSize; j++) { - printf("%f ", sensorState.m_jointPosition); - } - printf("\n"); -} - - Py_INCREF(Py_None); - return Py_None; -} - // const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes // const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats @@ -852,9 +850,9 @@ static PyMethodDef SpamMethods[] = { {"initializeJointPositions", pybullet_initializeJointPositions, METH_VARARGS, "Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."}, - // {"getJointPositions", pybullet_getJointPositions, METH_VARARGS, - // "Get the joint positions for all joints."}, - // + {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS, + "Initialize the joint position for one joint. This method skips any physics simulation and teleports the joint to the new position."}, + {"getJointInfo", pybullet_getJointInfo, METH_VARARGS, "Get the joint metadata info for a joint on a body. This includes joint index, name, type, q-index and u-index."}, @@ -866,9 +864,6 @@ static PyMethodDef SpamMethods[] = { {"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS, "Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."}, - - {"getNumsetGravity", pybullet_setGravity, METH_VARARGS, - "Set the gravity acceleration (x,y,z)."}, {"getNumJoints", pybullet_getNumJoints, METH_VARARGS, "Get the number of joints for an object."}, From 934725554f61ee567e76207d13c6d8e7e6c9447a Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Tue, 14 Jun 2016 15:21:50 -0700 Subject: [PATCH 024/115] remove initializeJointPosition as setting one joint is not supported --- examples/pybullet/pybullet.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index b645045b3..b8bf684c2 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -479,7 +479,7 @@ pybullet_initializeJointPosition(PyObject* self, PyObject* args) { b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex); - printf("initializing joint %d at %f\n", jointIndex, jointPos); + // printf("initializing joint %d at %f\n", jointIndex, jointPos); b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos); b3SharedMemoryStatusHandle status_handle = @@ -850,9 +850,9 @@ static PyMethodDef SpamMethods[] = { {"initializeJointPositions", pybullet_initializeJointPositions, METH_VARARGS, "Initialize the joint positions for all joints. This method skips any physics simulation and teleports all joints to the new positions."}, - {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS, - "Initialize the joint position for one joint. This method skips any physics simulation and teleports the joint to the new position."}, - + // {"initializeJointPosition", pybullet_initializeJointPosition, METH_VARARGS, + // "Initialize the joint position for one joint. This method skips any physics simulation and teleports the joint to the new position."}, + // {"getJointInfo", pybullet_getJointInfo, METH_VARARGS, "Get the joint metadata info for a joint on a body. This includes joint index, name, type, q-index and u-index."}, From fd88d73e3c0d064ee0815640deb2297954bcf4f4 Mon Sep 17 00:00:00 2001 From: David Date: Wed, 15 Jun 2016 01:36:10 +0100 Subject: [PATCH 025/115] Typos in readme --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 711ebcf98..942500cb9 100644 --- a/README.md +++ b/README.md @@ -34,7 +34,7 @@ The entire collision detection and rigid body dynamics is executed on the GPU. A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better. We succesfully tested the software under Windows, Linux and Mac OSX. The software currently doesn't work on OpenCL CPU devices. It might run -on a laptop GPU but performance is likely not very good. Note that +on a laptop GPU but performance will not likely be very good. Note that often an OpenCL drivers fails to compile a kernel. Some unit tests exist to track down the issue, but more work is required to cover all OpenCL kernels. @@ -88,7 +88,7 @@ You can just run it though a terminal/command prompt, or by clicking it. [--fixed_timestep= 0.0] Use either a real-time delta time (0.0) or a fixed step size (0.016666) ``` -You can use mouse picking to grab objects. When holding the ALT of CONTROL key, you have Maya style camera mouse controls. -Press F1 to create series of screenshot. Hit ESCAPE to exit the demo app. +You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls. +Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app. See docs folder for further information. From 456c844a6b9d243f211971471c0a2970ef207935 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 14 Jun 2016 18:41:19 -0700 Subject: [PATCH 026/115] work-in-progress send object/joint information after loading SDF file --- .../SharedMemory/PhysicsClientExample.cpp | 28 ++++- examples/SharedMemory/PhysicsDirect.cpp | 102 +++++++++++------- examples/SharedMemory/PhysicsDirect.h | 2 + .../PhysicsServerCommandProcessor.cpp | 56 ++++++++-- .../PhysicsServerCommandProcessor.h | 2 + examples/SharedMemory/SharedMemoryCommands.h | 2 +- examples/SharedMemory/SharedMemoryPublic.h | 4 +- test/SharedMemory/test.c | 19 +++- 8 files changed, 169 insertions(+), 46 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index acce1dfde..691dbb9c6 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -237,7 +237,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) case CMD_LOAD_SDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf"); b3SubmitClientCommand(m_physicsClientHandle, commandHandle); break; } @@ -656,6 +656,32 @@ void PhysicsClientExample::stepSimulation(float deltaTime) if (statusType == CMD_SDF_LOADING_COMPLETED) { + int bodyIndicesOut[1024]; + int bodyCapacity = 1024; + int numBodies = b3GetStatusBodyIndices(status, bodyIndicesOut, bodyCapacity); + if (numBodies > bodyCapacity) + { + b3Warning("loadSDF number of bodies (%d) exceeds the internal body capacity (%d)",numBodies, bodyCapacity); + } else + { + /* + for (int i=0;i=0) { diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 478e31031..36212cc8c 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -248,6 +248,47 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand) } + +void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd) +{ + bParse::btBulletFile bf( + &m_data->m_bulletStreamDataServerToClient[0], + serverCmd.m_dataStreamArguments.m_streamChunkLength); + bf.setFileDNAisMemoryDNA(); + bf.parse(false); + + + BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2; + m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); + + for (int i = 0; i < bf.m_multiBodies.size(); i++) + { + int flag = bf.getFlags(); + if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) + { + Bullet::btMultiBodyDoubleData* mb = + (Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i]; + + addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); + } else + { + Bullet::btMultiBodyFloatData* mb = + (Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i]; + + addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); + } + } + if (bf.ok()) { + if (m_data->m_verboseOutput) + { + b3Printf("Received robot description ok!\n"); + } + } else + { + b3Warning("Robot description not received"); + } +} + bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command) { if (command.m_type==CMD_REQUEST_DEBUG_LINES) @@ -296,46 +337,35 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman break; } + case CMD_SDF_LOADING_COMPLETED: + { + //we'll stream further info from the physics server + //so serverCmd will be invalid, make a copy + + + int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; + for (int i=0;im_commandProcessor->processCommand(infoRequestCommand,infoStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + if (hasStatus) + { + processBodyJointInfo(bodyUniqueId, infoStatus); + } + } + break; + } case CMD_URDF_LOADING_COMPLETED: { + if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) { - bParse::btBulletFile bf( - &m_data->m_bulletStreamDataServerToClient[0], - serverCmd.m_dataStreamArguments.m_streamChunkLength); - bf.setFileDNAisMemoryDNA(); - bf.parse(false); - int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId; - - BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2; - m_data->m_bodyJointMap.insert(bodyIndex,bodyJoints); - - for (int i = 0; i < bf.m_multiBodies.size(); i++) - { - int flag = bf.getFlags(); - if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) - { - Bullet::btMultiBodyDoubleData* mb = - (Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i]; - - addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); - } else - { - Bullet::btMultiBodyFloatData* mb = - (Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i]; - - addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); - } - } - if (bf.ok()) { - if (m_data->m_verboseOutput) - { - b3Printf("Received robot description ok!\n"); - } - } else - { - b3Warning("Robot description not received"); - } + int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId; + processBodyJointInfo(bodyIndex,serverCmd); } break; } diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h index 9dea925d3..1e9ebbcf3 100644 --- a/examples/SharedMemory/PhysicsDirect.h +++ b/examples/SharedMemory/PhysicsDirect.h @@ -21,6 +21,8 @@ protected: bool processCamera(const struct SharedMemoryCommand& orgCommand); + void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd); + public: PhysicsDirect(); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 98994ea68..e3a9b7f48 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -762,12 +762,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe createJointMotors(mb); - //serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire - - UrdfLinkNameMapUtil* util2 = new UrdfLinkNameMapUtil; - m_data->m_urdfLinkNameMapper.push_back(util2); - util2->m_mb = mb; - util2->m_memSerializer = 0; + //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks()); @@ -963,7 +958,44 @@ void PhysicsServerCommandProcessor::replayLogCommand(char* bufferServerToClient, } } +int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes) +{ + int streamSizeInBytes = 0; + //serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire + InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId); + btMultiBody* mb = bodyHandle->m_multiBody; + if (mb) + { + UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil; + m_data->m_urdfLinkNameMapper.push_back(util); + util->m_mb = mb; + util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient); + //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); + util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0); + + bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks()); + for (int i=0;igetNumLinks();i++) + { + //disable serialization of the collision objects + util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0); + util->m_memSerializer->registerNameForPointer(mb->getLink(i).m_linkName,mb->getLink(i).m_linkName); + util->m_memSerializer->registerNameForPointer(mb->getLink(i).m_jointName,mb->getLink(i).m_jointName); + } + + util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName()); + + util->m_memSerializer->insertHeader(); + + int len = mb->calculateSerializeBufferSize(); + btChunk* chunk = util->m_memSerializer->allocate(len,1); + const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer); + util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb); + streamSizeInBytes = util->m_memSerializer->getCurrentBufferSize(); + + } + return streamSizeInBytes; +} bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes ) { @@ -1171,6 +1203,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } + case CMD_REQUEST_BODY_INFO: + { + const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs; + //stream info into memory + int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); + + serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED; + serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId; + serverStatusOut.m_dataStreamArguments.m_streamChunkLength = streamSizeInBytes; + hasStatus = true; + break; + } case CMD_LOAD_SDF: { const SdfArgs& sdfArgs = clientCmd.m_sdfArguments; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index 242a41176..bc74a0a27 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -27,6 +27,8 @@ protected: bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes); bool supportsJointMotor(class btMultiBody* body, int linkIndex); + + int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes); public: PhysicsServerCommandProcessor(); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index a4c93180e..83fd91c34 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -312,7 +312,7 @@ struct SdfLoadedArgs struct SdfRequestInfoArgs { - int m_infoIndex; + int m_bodyUniqueId; }; enum EnumSdfRequestInfoFlags diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index a038ecf51..5e6da5c50 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -19,7 +19,7 @@ enum EnumSharedMemoryClientCommand CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE? CMD_REQUEST_ACTUAL_STATE, CMD_REQUEST_DEBUG_LINES, - CMD_REQUEST_SDF_INFO, + CMD_REQUEST_BODY_INFO, CMD_STEP_FORWARD_SIMULATION, CMD_RESET_SIMULATION, CMD_PICK_BODY, @@ -55,6 +55,8 @@ enum EnumSharedMemoryServerStatus CMD_RESET_SIMULATION_COMPLETED, CMD_CAMERA_IMAGE_COMPLETED, CMD_CAMERA_IMAGE_FAILED, + CMD_BODY_INFO_COMPLETED, + CMD_BODY_INFO_FAILED, CMD_INVALID_STATUS, CMD_MAX_SERVER_COMMANDS }; diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c index c6417b802..f6b95f37e 100644 --- a/test/SharedMemory/test.c +++ b/test/SharedMemory/test.c @@ -35,6 +35,7 @@ void testSharedMemory(b3PhysicsClientHandle sm) int sensorJointIndexLeft=-1; int sensorJointIndexRight=-1; const char* urdfFileName = "r2d2.urdf"; + const char* sdfFileName = "kuka_iiwa/model.sdf"; double gravx=0, gravy=0, gravz=-9.8; double timeStep = 1./60.; double startPosX, startPosY,startPosZ; @@ -52,7 +53,23 @@ void testSharedMemory(b3PhysicsClientHandle sm) ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED); } - + { + b3SharedMemoryStatusHandle statusHandle; + int statusType; + int bodyIndicesOut[10];//MAX_SDF_BODIES = 10 + int numJoints, numBodies; + b3SharedMemoryCommandHandle command = b3LoadSdfCommandInit(sm, sdfFileName); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + statusType = b3GetStatusType(statusHandle); + ASSERT_EQ(statusType, CMD_SDF_LOADING_COMPLETED); + + numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10); + ASSERT_EQ(numBodies,1); + numJoints = b3GetNumJoints(sm,bodyIndicesOut[0]); + printf("numJoints: %d\n", numJoints); + //ASSERT_EQ(numBodies ==1); + } + { b3SharedMemoryStatusHandle statusHandle; int statusType; From 03fded3dc7b6d730c7fcaad083115689387f9837 Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Wed, 15 Jun 2016 14:21:04 -0700 Subject: [PATCH 027/115] getJointPositions returns a list of all joint positions for a given bodyIndex --- examples/pybullet/pybullet.c | 180 +++++++++++++++++++++++++++-------- 1 file changed, 142 insertions(+), 38 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index b8bf684c2..17c092b2d 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -121,7 +121,7 @@ pybullet_disconnectPhysicsServer(PyObject *self, PyObject *args) // Load a URDF file indicating the links and joints of an object // function can be called without arguments and will default // to position (0,0,1) with orientation(0,0,0,1) -// else, loadURDF(x,y,z) or +// els(x,y,z) or // loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w) static PyObject * pybullet_loadURDF(PyObject* self, PyObject* args) @@ -337,6 +337,7 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double baseOrientation[1] = actualStateQ[4]; baseOrientation[2] = actualStateQ[5]; baseOrientation[3] = actualStateQ[6]; + } } } @@ -451,52 +452,146 @@ pybullet_initializeJointPositions(PyObject* self, PyObject* args) return Py_None; } + +// CURRENTLY NOT SUPPORTED // Initalize a single joint position for a specific body index // // This method skips any physics simulation and // teleports all joints to the new positions. -// TODO(hellojas): test accuracy of joint position values -static PyObject* -pybullet_initializeJointPosition(PyObject* self, PyObject* args) -{ - if (0==sm) - { - PyErr_SetString(SpamError, "Not connected to physics server."); - return NULL; - } +// TODO(hellojas): initializing one joint currently not supported +// static PyObject* +// pybullet_initializeJointPosition(PyObject* self, PyObject* args) +// { +// if (0==sm) +// { +// PyErr_SetString(SpamError, "Not connected to physics server."); +// return NULL; +// } +// +// int i; +// int bodyIndex = -1; +// int jointIndex = -1; +// double jointPos = 0.0; +// +// int size= PySequence_Size(args); +// +// if (size==3) // get body index, joint index, and joint position value +// { +// if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &jointPos)) +// { +// b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex); +// +// // printf("initializing joint %d at %f\n", jointIndex, jointPos); +// b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos); +// +// b3SharedMemoryStatusHandle status_handle = +// b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); +// +// const int status_type = b3GetStatusType(status_handle); +// +// } +// } +// +// Py_INCREF(Py_None); +// return Py_None; +// } + +static void pybullet_internalGetJointPositions(int bodyIndex, int numJoints, double jointPositions[]) { + int i, j; + int numDegreeQ; + int numDegreeU; + int arrSizeOfPosAndOrn = 7; - int i; - int bodyIndex = -1; - int jointIndex = -1; - double jointPos = 0.0; - - int size= PySequence_Size(args); - - if (size==3) // get body index, joint index, and joint position value - { - if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &jointPos)) - { - b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex); - - // printf("initializing joint %d at %f\n", jointIndex, jointPos); - b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos); - - b3SharedMemoryStatusHandle status_handle = - b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); - - const int status_type = b3GetStatusType(status_handle); - - } + for (i =0;i Date: Wed, 15 Jun 2016 18:01:41 -0700 Subject: [PATCH 028/115] implement getJointInfo for objects loaded through SDF --- examples/SharedMemory/PhysicsClient.h | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 4 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- .../PhysicsClientSharedMemory.cpp | 99 +++++++++++++++++-- .../SharedMemory/PhysicsClientSharedMemory.h | 4 +- examples/SharedMemory/PhysicsDirect.cpp | 9 +- examples/SharedMemory/PhysicsDirect.h | 2 +- examples/SharedMemory/PhysicsLoopBack.cpp | 4 +- examples/SharedMemory/PhysicsLoopBack.h | 2 +- test/SharedMemory/test.c | 14 ++- 10 files changed, 122 insertions(+), 20 deletions(-) diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h index 59a1a4e90..07b10aa13 100644 --- a/examples/SharedMemory/PhysicsClient.h +++ b/examples/SharedMemory/PhysicsClient.h @@ -26,7 +26,7 @@ public: virtual int getNumJoints(int bodyIndex) const = 0; - virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const = 0; + virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const = 0; virtual void setSharedMemoryKey(int key) = 0; diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 81a58a992..a627e08af 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -653,10 +653,10 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId) } -void b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info) +int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info) { PhysicsClient* cl = (PhysicsClient* ) physClient; - cl->getJointInfo(bodyIndex, linkIndex,*info); + return cl->getJointInfo(bodyIndex, linkIndex,*info); } b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX, diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 468347ef5..4ae1a5235 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -57,7 +57,7 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex); ///given a body and link index, return the joint information. See b3JointInfo in SharedMemoryPublic.h -void b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info); +int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info); ///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index a4c57574d..3ca2aa5c5 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -37,6 +37,9 @@ struct PhysicsClientSharedMemoryInternalData { btAlignedObjectArray m_cachedCameraPixelsRGBA; btAlignedObjectArray m_cachedCameraDepthBuffer; + btAlignedObjectArray m_bodyIdsRequestInfo; + SharedMemoryStatus m_tempBackupServerStatus; + SharedMemoryStatus m_lastServerStatus; int m_counter; @@ -82,15 +85,16 @@ int PhysicsClientSharedMemory::getNumJoints(int bodyIndex) const } -void PhysicsClientSharedMemory::getJointInfo(int bodyIndex, int jointIndex, b3JointInfo& info) const +bool PhysicsClientSharedMemory::getJointInfo(int bodyIndex, int jointIndex, b3JointInfo& info) const { BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex]; if (bodyJointsPtr && *bodyJointsPtr) { BodyJointInfoCache* bodyJoints = *bodyJointsPtr; info = bodyJoints->m_jointInfo[jointIndex]; + return true; } - + return false; } PhysicsClientSharedMemory::PhysicsClientSharedMemory() @@ -167,6 +171,48 @@ bool PhysicsClientSharedMemory::connect() { return true; } + +///todo(erwincoumans) refactor this: merge with PhysicsDirect::processBodyJointInfo +void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const SharedMemoryStatus& serverCmd) +{ + bParse::btBulletFile bf( + &this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0], + serverCmd.m_dataStreamArguments.m_streamChunkLength); + bf.setFileDNAisMemoryDNA(); + bf.parse(false); + + + BodyJointInfoCache* bodyJoints = new BodyJointInfoCache; + m_data->m_bodyJointMap.insert(bodyUniqueId,bodyJoints); + + for (int i = 0; i < bf.m_multiBodies.size(); i++) + { + int flag = bf.getFlags(); + if ((flag & bParse::FD_DOUBLE_PRECISION) != 0) + { + Bullet::btMultiBodyDoubleData* mb = + (Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i]; + + addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); + } else + { + Bullet::btMultiBodyFloatData* mb = + (Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i]; + + addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); + } + } + if (bf.ok()) { + if (m_data->m_verboseOutput) + { + b3Printf("Received robot description ok!\n"); + } + } else + { + b3Warning("Robot description not received"); + } +} + const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { SharedMemoryStatus* stat = 0; @@ -208,6 +254,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { if (m_data->m_verboseOutput) { b3Printf("Server loading the SDF OK\n"); } + break; } case CMD_URDF_LOADING_COMPLETED: { @@ -275,6 +322,16 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { break; } + case CMD_BODY_INFO_COMPLETED: + { + if (m_data->m_verboseOutput) { + b3Printf("Received body info\n"); + } + int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId; + processBodyJointInfo(bodyUniqueId, serverCmd); + + break; + } case CMD_SDF_LOADING_FAILED: { if (m_data->m_verboseOutput) { b3Printf("Server failed loading the SDF...\n"); @@ -504,21 +561,49 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { m_data->m_waitingForServer = true; } - /*if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) + if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) { int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; if (numBodies>0) { + m_data->m_tempBackupServerStatus = m_data->m_lastServerStatus; + + for (int i=0;im_bodyIdsRequestInfo.push_back(serverCmd.m_sdfLoadedArgs.m_bodyUniqueIds[i]); + } + + int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size()-1]; + m_data->m_bodyIdsRequestInfo.pop_back(); + SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; //now transfer the information of the individual objects etc. - command.m_type = CMD_REQUEST_SDF_INFO; - command.m_updateFlags = SDF_REQUEST_INFO_BODY; - command.m_sdfRequestInfoArgs.m_infoIndex = 0; + command.m_type = CMD_REQUEST_BODY_INFO; + command.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyId; submitClientCommand(command); return 0; } } - */ + + if (serverCmd.m_type == CMD_BODY_INFO_COMPLETED) + { + //are there any bodies left to be processed? + if (m_data->m_bodyIdsRequestInfo.size()) + { + int bodyId = m_data->m_bodyIdsRequestInfo[m_data->m_bodyIdsRequestInfo.size()-1]; + m_data->m_bodyIdsRequestInfo.pop_back(); + + SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; + //now transfer the information of the individual objects etc. + command.m_type = CMD_REQUEST_BODY_INFO; + command.m_sdfRequestInfoArgs.m_bodyUniqueId = bodyId; + submitClientCommand(command); + return 0; + } else + { + m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus; + } + } if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED) { diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h index 1081771e5..a47fc551a 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.h +++ b/examples/SharedMemory/PhysicsClientSharedMemory.h @@ -11,7 +11,9 @@ class PhysicsClientSharedMemory : public PhysicsClient { protected: virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem); + void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd); + public: PhysicsClientSharedMemory(); virtual ~PhysicsClientSharedMemory(); @@ -34,7 +36,7 @@ public: virtual int getNumJoints(int bodyIndex) const; - virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; + virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; virtual void setSharedMemoryKey(int key); diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 36212cc8c..511290778 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -393,14 +393,19 @@ int PhysicsDirect::getNumJoints(int bodyIndex) const return 0; } -void PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const +bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const { BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex]; if (bodyJointsPtr && *bodyJointsPtr) { BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; - info = bodyJoints->m_jointInfo[jointIndex]; + if (jointIndex < bodyJoints->m_jointInfo.size()) + { + info = bodyJoints->m_jointInfo[jointIndex]; + return true; + } } + return false; } ///todo: move this out of the diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h index 1e9ebbcf3..aaa2d8639 100644 --- a/examples/SharedMemory/PhysicsDirect.h +++ b/examples/SharedMemory/PhysicsDirect.h @@ -48,7 +48,7 @@ public: virtual int getNumJoints(int bodyIndex) const; - virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; + virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; ///todo: move this out of the virtual void setSharedMemoryKey(int key); diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp index 985352113..ada37ce88 100644 --- a/examples/SharedMemory/PhysicsLoopBack.cpp +++ b/examples/SharedMemory/PhysicsLoopBack.cpp @@ -79,9 +79,9 @@ int PhysicsLoopBack::getNumJoints(int bodyIndex) const return m_data->m_physicsClient->getNumJoints(bodyIndex); } -void PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const +bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const { - m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info); + return m_data->m_physicsClient->getJointInfo(bodyIndex,jointIndex,info); } ///todo: move this out of the diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h index edc71ceb9..8c0e187b6 100644 --- a/examples/SharedMemory/PhysicsLoopBack.h +++ b/examples/SharedMemory/PhysicsLoopBack.h @@ -40,7 +40,7 @@ public: virtual int getNumJoints(int bodyIndex) const; - virtual void getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; + virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const; ///todo: move this out of the virtual void setSharedMemoryKey(int key); diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c index f6b95f37e..01d0a16a8 100644 --- a/test/SharedMemory/test.c +++ b/test/SharedMemory/test.c @@ -65,8 +65,18 @@ void testSharedMemory(b3PhysicsClientHandle sm) numBodies = b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, 10); ASSERT_EQ(numBodies,1); - numJoints = b3GetNumJoints(sm,bodyIndicesOut[0]); - printf("numJoints: %d\n", numJoints); + int bodyUniqueId = bodyIndicesOut[0]; + + numJoints = b3GetNumJoints(sm,bodyUniqueId); + b3Printf("numJoints: %d\n", numJoints); + for (i=0;i Date: Thu, 16 Jun 2016 11:48:37 -0700 Subject: [PATCH 029/115] Set view and projection matrices from camera and frustum parameters. --- examples/SharedMemory/PhysicsClientC_API.cpp | 79 ++++++++++++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 2 + 2 files changed, 81 insertions(+) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index a627e08af..ae001176d 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1,6 +1,7 @@ #include "PhysicsClientC_API.h" #include "PhysicsClientSharedMemory.h" #include "Bullet3Common/b3Scalar.h" +#include "Bullet3Common/b3Vector3.h" #include #include "SharedMemoryCommands.h" @@ -766,6 +767,84 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHa command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } +void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]) +{ + b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]); + b3Vector3 center = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]); + b3Vector3 up = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]); + b3Vector3 f = (center - eye).normalized(); + b3Vector3 u = up.normalized(); + b3Vector3 s = (f.cross(u)).normalized(); + u = s.cross(f); + + float viewMatrix[16]; + + viewMatrix[0*4+0] = s.x; + viewMatrix[1*4+0] = s.y; + viewMatrix[2*4+0] = s.z; + + viewMatrix[0*4+1] = u.x; + viewMatrix[1*4+1] = u.y; + viewMatrix[2*4+1] = u.z; + + viewMatrix[0*4+2] =-f.x; + viewMatrix[1*4+2] =-f.y; + viewMatrix[2*4+2] =-f.z; + + viewMatrix[0*4+3] = 0.f; + viewMatrix[1*4+3] = 0.f; + viewMatrix[2*4+3] = 0.f; + + viewMatrix[3*4+0] = -s.dot(eye); + viewMatrix[3*4+1] = -u.dot(eye); + viewMatrix[3*4+2] = f.dot(eye); + viewMatrix[3*4+3] = 1.f; + + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + for (int i=0;i<16;i++) + { + command->m_requestPixelDataArguments.m_viewMatrix[i] = viewMatrix[i]; + } + command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; + +} + +void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal) +{ + float frustum[16]; + + frustum[0*4+0] = (float(2) * nearVal) / (right - left); + frustum[0*4+1] = float(0); + frustum[0*4+2] = float(0); + frustum[0*4+3] = float(0); + + frustum[1*4+0] = float(0); + frustum[1*4+1] = (float(2) * nearVal) / (top - bottom); + frustum[1*4+2] = float(0); + frustum[1*4+3] = float(0); + + frustum[2*4+0] = (right + left) / (right - left); + frustum[2*4+1] = (top + bottom) / (top - bottom); + frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal); + frustum[2*4+3] = float(-1); + + frustum[3*4+0] = float(0); + frustum[3*4+1] = float(0); + frustum[3*4+2] = -(float(2) * farVal * nearVal) / (farVal - nearVal); + frustum[3*4+3] = float(0); + + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + for (int i=0;i<16;i++) + { + command->m_requestPixelDataArguments.m_projectionMatrix[i] = frustum[i]; + } + command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; +} + void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle commandHandle, int width, int height ) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 4ae1a5235..1bff499c5 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -70,6 +70,8 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); +void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]); +void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal); void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); From 53a0772257e2b1bb144df2f3129a784502652ab4 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 16 Jun 2016 18:46:34 -0700 Subject: [PATCH 030/115] fix some issues related to controlling a robot/multibody beyond body index 0 (most testing happened with a single robot/multibody so far) preliminary pybullet.setJointControl implementation --- examples/SharedMemory/PhysicsClientC_API.cpp | 8 +- examples/SharedMemory/PhysicsClientC_API.h | 4 +- .../SharedMemory/PhysicsClientExample.cpp | 82 ++++++-- .../PhysicsServerCommandProcessor.cpp | 24 +-- examples/pybullet/pybullet.c | 195 +++++++++++++++--- .../Featherstone/btMultiBodyLink.h | 3 + test/SharedMemory/test.c | 2 +- 7 files changed, 248 insertions(+), 70 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index a627e08af..77e6060bf 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -150,7 +150,7 @@ b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHand } -b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int controlMode) +b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); @@ -159,7 +159,7 @@ b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle phy b3Assert(command); command->m_type = CMD_SEND_DESIRED_STATE; command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode; - command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = 0; + command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId; command->m_updateFlags = 0; return (b3SharedMemoryCommandHandle) command; } @@ -433,7 +433,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar -b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient) +b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); @@ -444,7 +444,7 @@ b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle phys command->m_type = CMD_CREATE_SENSOR; command->m_updateFlags = 0; command->m_createSensorArguments.m_numJointSensorChanges = 0; - command->m_createSensorArguments.m_bodyUniqueId = 0; + command->m_createSensorArguments.m_bodyUniqueId = bodyUniqueId; return (b3SharedMemoryCommandHandle) command; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 4ae1a5235..3813fab88 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -95,7 +95,7 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien ///Set joint control variables such as desired position/angle, desired velocity, ///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE) -b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode); +b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode); ///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value); int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); @@ -132,7 +132,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar ///We are currently not reading the sensor information from the URDF file, and programmatically assign sensors. ///This is rather inconsistent, to mix programmatical creation with loading from file. -b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient); +b3SharedMemoryCommandHandle b3CreateSensorCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId); int b3CreateSensorEnable6DofJointForceTorqueSensor(b3SharedMemoryCommandHandle commandHandle, int jointIndex, int enable); ///b3CreateSensorEnableIMUForLink is not implemented yet. ///For now, if the IMU is located in the root link, use the root world transform to mimic an IMU. diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 691dbb9c6..e0338153a 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -37,6 +37,9 @@ protected: bool m_wantsTermination; btAlignedObjectArray m_userCommandRequests; + btAlignedObjectArray m_bodyUniqueIds; + + int m_sharedMemoryKey; int m_selectedBody; int m_prevSelectedBody; @@ -66,7 +69,8 @@ protected: { if (m_guiHelper && m_guiHelper->getParameterInterface()) { - int bodyIndex = comboIndex; + int itemIndex = int(atoi(name)); + int bodyIndex = m_bodyUniqueIds[itemIndex]; if (m_selectedBody != bodyIndex) { m_selectedBody = bodyIndex; @@ -154,14 +158,20 @@ protected: void prepareControlCommand(b3SharedMemoryCommandHandle commandHandle) { + for (int i=0;i=0) + { + // b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_VELOCITY); + b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD); + // b3Printf("prepare control command for body %d", m_selectedBody); + prepareControlCommand(command); + + b3SubmitClientCommand(m_physicsClientHandle, command); - break; + } + break; } case CMD_RESET_SIMULATION: { @@ -471,9 +488,36 @@ void PhysicsClientExample::createButtons() createButton("Initialize Pose",CMD_INIT_POSE, isTrigger); createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger); + if (m_bodyUniqueIds.size()) + { + if (m_selectedBody<0) + m_selectedBody = 0; + + ComboBoxParams comboParams; + comboParams.m_comboboxId = 0; + comboParams.m_numItems = m_bodyUniqueIds.size(); + comboParams.m_startItem = m_selectedBody; + comboParams.m_callback = MyComboBoxCallback; + comboParams.m_userPointer = this; + //todo: get the real object name + + const char** blarray = new const char*[m_bodyUniqueIds.size()]; + + for (int i=0;igetParameterInterface()->registerComboBox(comboParams); + } + if (m_physicsClientHandle && m_selectedBody>=0) { + m_numMotors = 0; + int numJoints = b3GetNumJoints(m_physicsClientHandle,m_selectedBody); for (int i=0;i0) + { + m_selectedBody = bodyUniqueId; + } +/* int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyUniqueId); b3Printf("numJoints = %d", numJoints); for (int i=0;i=0) { + m_bodyUniqueIds.push_back(bodyIndex); + m_selectedBody = bodyIndex; int numJoints = b3GetNumJoints(m_physicsClientHandle,bodyIndex); for (int i=0;igetParameterInterface()->registerComboBox(comboParams); + } } } @@ -759,6 +800,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime) { m_selectedBody = -1; m_numMotors=0; + m_bodyUniqueIds.clear(); createButtons(); b3SharedMemoryCommandHandle commandHandle = b3InitResetSimulationCommand(m_physicsClientHandle); if (m_options == eCLIENTEXAMPLE_SERVER) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index e3a9b7f48..33d7d3153 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -382,7 +382,6 @@ struct PhysicsServerCommandProcessorInternalData btAlignedObjectArray m_worldImporters; btAlignedObjectArray m_urdfLinkNameMapper; - btHashMap m_multiBodyJointMotorMap; btAlignedObjectArray m_strings; btAlignedObjectArray m_collisionShapes; @@ -560,7 +559,6 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() } m_data->m_urdfLinkNameMapper.clear(); - m_data->m_multiBodyJointMotorMap.clear(); for (int i=0;im_strings.size();i++) { @@ -672,7 +670,7 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb) btScalar desiredVelocity = 0.f; btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,dof,desiredVelocity,maxMotorImpulse); //motor->setMaxAppliedImpulse(0); - m_data->m_multiBodyJointMotorMap.insert(mbLinkIndex,motor); + mb->getLink(mbLinkIndex).m_userPtr = motor; m_data->m_dynamicsWorld->addMultiBodyConstraint(motor); motor->finalizeMultiDof(); @@ -1436,10 +1434,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (supportsJointMotor(mb,link)) { - btMultiBodyJointMotor** motorPtr = m_data->m_multiBodyJointMotorMap[link]; - if (motorPtr) + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; + + + if (motor) { - btMultiBodyJointMotor* motor = *motorPtr; btScalar desiredVelocity = 0.f; if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_QDOT)!=0) desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex]; @@ -1479,10 +1478,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (supportsJointMotor(mb,link)) { - btMultiBodyJointMotor** motorPtr = m_data->m_multiBodyJointMotorMap[link]; - if (motorPtr) + + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; + + if (motor) { - btMultiBodyJointMotor* motor = *motorPtr; btScalar desiredVelocity = 0.f; if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_QDOT)!=0) @@ -1644,10 +1644,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (supportsJointMotor(mb,l)) { - btMultiBodyJointMotor** motorPtr = m_data->m_multiBodyJointMotorMap[l]; - if (motorPtr && m_data->m_physicsDeltaTime>btScalar(0)) + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)body->m_multiBody->getLink(l).m_userPtr; + + if (motor && m_data->m_physicsDeltaTime>btScalar(0)) { - btMultiBodyJointMotor* motor = *motorPtr; btScalar force =motor->getAppliedImpulse(0)/m_data->m_physicsDeltaTime; serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = force; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 17c092b2d..fbd070ff9 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1,6 +1,6 @@ -#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" #include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h" +#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" #ifdef __APPLE__ @@ -16,6 +16,8 @@ enum eCONNECT_METHOD eCONNECT_SHARED_MEMORY=3, }; + + static PyObject *SpamError; static b3PhysicsClientHandle sm=0; @@ -182,6 +184,25 @@ pybullet_loadURDF(PyObject* self, PyObject* args) return PyLong_FromLong(bodyIndex); } +static float pybullet_internalGetFloatFromSequence(PyObject* seq, int index) +{ + float v = 0.f; + PyObject* item; + + if (PyList_Check(seq)) + { + item = PyList_GET_ITEM(seq, index); + v = PyFloat_AsDouble(item); + } + else + { + item = PyTuple_GET_ITEM(seq,index); + v = PyFloat_AsDouble(item); + } + return v; +} + + #define MAX_SDF_BODIES 512 static PyObject* @@ -255,6 +276,109 @@ pybullet_resetSimulation(PyObject* self, PyObject* args) return Py_None; } +static int pybullet_setJointControl(PyObject* self, PyObject* args) +{ + //todo(erwincoumans): set max forces, kp, kd + + int size; + + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + size= PySequence_Size(args); + + if (size==3) + { + int bodyIndex, controlMode; + PyObject* targetValues; + if (PyArg_ParseTuple(args, "iiO", &bodyIndex, &controlMode, &targetValues)) + { + PyObject* seq; + int numJoints, len; + seq = PySequence_Fast(targetValues, "expected a sequence"); + len = PySequence_Size(targetValues); + numJoints = b3GetNumJoints(sm,bodyIndex); + b3SharedMemoryCommandHandle commandHandle; + + if (len!=numJoints) + { + PyErr_SetString(SpamError, "Number of control target values doesn't match the number of joints."); + Py_DECREF(seq); + return NULL; + } + + if ((controlMode != CONTROL_MODE_VELOCITY) && + (controlMode != CONTROL_MODE_TORQUE) && + (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)) + { + PyErr_SetString(SpamError, "Illegral control mode."); + Py_DECREF(seq); + return NULL; + } + + commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode); + + for (int qIndex=0;qIndex=0) || (sensorJointIndexRight>=0)) { - b3SharedMemoryCommandHandle command = b3CreateSensorCommandInit(sm); + b3SharedMemoryCommandHandle command = b3CreateSensorCommandInit(sm, bodyIndex); b3SharedMemoryStatusHandle statusHandle; if (imuLinkIndex>=0) { From 26f6618f00b640c676b8bbe842c5b44f964ad910 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 17 Jun 2016 12:07:38 -0700 Subject: [PATCH 031/115] colors for sdf --- data/kuka_iiwa/model.sdf | 8 ++- .../Importers/ImportURDFDemo/UrdfParser.cpp | 60 ++++++++++++------- 2 files changed, 45 insertions(+), 23 deletions(-) diff --git a/data/kuka_iiwa/model.sdf b/data/kuka_iiwa/model.sdf index 1b6f8320d..0df20cff7 100644 --- a/data/kuka_iiwa/model.sdf +++ b/data/kuka_iiwa/model.sdf @@ -32,6 +32,12 @@ meshes/link_0.stl + + 1 0 0 1 + 0 0 1 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + @@ -407,4 +413,4 @@ - \ No newline at end of file + diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index 430593b5e..17f6ef93f 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -490,29 +490,45 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement* // Material TiXmlElement *mat = config->FirstChildElement("material"); //todo(erwincoumans) skip materials in SDF for now (due to complexity) - if (mat && !m_parseSDF) + if (mat) { - // get material name - if (!mat->Attribute("name")) - { - logger->reportError("Visual material must contain a name attribute"); - return false; - } - visual.m_materialName = mat->Attribute("name"); - - // try to parse material element in place - - TiXmlElement *t = mat->FirstChildElement("texture"); - TiXmlElement *c = mat->FirstChildElement("color"); - if (t||c) - { - if (parseMaterial(visual.m_localMaterial, mat,logger)) - { - UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial); - model.m_materials.insert(matPtr->m_name.c_str(),matPtr); - visual.m_hasLocalMaterial = true; - } - } + if (m_parseSDF) + { + UrdfMaterial* matPtr = new UrdfMaterial; + matPtr->m_name = "mat"; + std::string diffuseText = mat->FirstChildElement("diffuse")->GetText(); + btVector4 rgba(1,0,0,1); + parseVector4(rgba,diffuseText); + matPtr->m_rgbaColor = rgba; + matPtr->m_textureFilename = "textureTest.png"; + model.m_materials.insert(matPtr->m_name.c_str(),matPtr); + visual.m_materialName = "mat"; + visual.m_hasLocalMaterial = true; + } + else + { + // get material name + if (!mat->Attribute("name")) + { + logger->reportError("Visual material must contain a name attribute"); + return false; + } + visual.m_materialName = mat->Attribute("name"); + + // try to parse material element in place + + TiXmlElement *t = mat->FirstChildElement("texture"); + TiXmlElement *c = mat->FirstChildElement("color"); + if (t||c) + { + if (parseMaterial(visual.m_localMaterial, mat,logger)) + { + UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial); + model.m_materials.insert(matPtr->m_name.c_str(),matPtr); + visual.m_hasLocalMaterial = true; + } + } + } } return true; From d51320be2ce7632ea0b006088c252387d53e37ae Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 17 Jun 2016 15:47:11 -0700 Subject: [PATCH 032/115] Check diffuse field in sdf. --- .../Importers/ImportURDFDemo/UrdfParser.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index 17f6ef93f..0e720a7c2 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -496,14 +496,16 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement* { UrdfMaterial* matPtr = new UrdfMaterial; matPtr->m_name = "mat"; - std::string diffuseText = mat->FirstChildElement("diffuse")->GetText(); - btVector4 rgba(1,0,0,1); - parseVector4(rgba,diffuseText); - matPtr->m_rgbaColor = rgba; - matPtr->m_textureFilename = "textureTest.png"; - model.m_materials.insert(matPtr->m_name.c_str(),matPtr); - visual.m_materialName = "mat"; - visual.m_hasLocalMaterial = true; + TiXmlElement *diffuse = mat->FirstChildElement("diffuse"); + if (diffuse) { + std::string diffuseText = diffuse->GetText(); + btVector4 rgba(1,0,0,1); + parseVector4(rgba,diffuseText); + matPtr->m_rgbaColor = rgba; + model.m_materials.insert(matPtr->m_name.c_str(),matPtr); + visual.m_materialName = "mat"; + visual.m_hasLocalMaterial = true; + } } else { From e3b2b1a9693ee743e5da9df9ebd74f518681c224 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 18 Jun 2016 18:02:20 -0700 Subject: [PATCH 033/115] add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer) --- data/sphere2.urdf | 2 +- data/two_cubes.sdf | 26 ++++---- .../ImportMeshUtility/b3ImportMeshUtility.cpp | 29 +-------- .../ImportMeshUtility/b3ImportMeshUtility.h | 1 - .../ImportObjDemo/ImportObjExample.cpp | 28 ++++++++- .../ImportURDFDemo/BulletUrdfImporter.cpp | 57 ++++++++++++++++-- .../ImportURDFDemo/ImportURDFSetup.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 60 +++++++++++++++---- 8 files changed, 143 insertions(+), 62 deletions(-) diff --git a/data/sphere2.urdf b/data/sphere2.urdf index 891e018cb..fb0108b3d 100644 --- a/data/sphere2.urdf +++ b/data/sphere2.urdf @@ -9,7 +9,7 @@ - + diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf index 10dce545e..e19b73b43 100644 --- a/data/two_cubes.sdf +++ b/data/two_cubes.sdf @@ -122,11 +122,13 @@ - - 1 1 1 - - + + 1 1 1 + cube.obj + + + 1 1 1 1 + 1 1 1 1 0 diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp index 3f6553b81..85aeb7e21 100644 --- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp +++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp @@ -1,11 +1,8 @@ #include "b3ImportMeshUtility.h" #include -#include "../../OpenGLWindow/GLInstancingRenderer.h" #include"Wavefront/tiny_obj_loader.h" -#include "../../OpenGLWindow/GLInstanceGraphicsShape.h" -#include "btBulletDynamicsCommon.h" -#include "../../OpenGLWindow/SimpleOpenGL3App.h" +#include "LinearMath/btVector3.h" #include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h" #include "../../Utils/b3ResourcePath.h" #include "Bullet3Common/b3FileUtils.h" @@ -88,28 +85,4 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& return false; } -int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer) -{ - int shapeId = -1; - b3ImportMeshData meshData; - if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData)) - { - int textureIndex = -1; - - if (meshData.m_textureImage) - { - textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight); - } - - shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], - meshData.m_gfxShape->m_numvertices, - &meshData.m_gfxShape->m_indices->at(0), - meshData.m_gfxShape->m_numIndices, - B3_GL_TRIANGLES, - textureIndex); - delete meshData.m_gfxShape; - delete meshData.m_textureImage; - } - return shapeId; -} diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h index 96c061eaf..7bf6af841 100644 --- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h +++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h @@ -15,7 +15,6 @@ struct b3ImportMeshData class b3ImportMeshUtility { public: -static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer); static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData); diff --git a/examples/Importers/ImportObjDemo/ImportObjExample.cpp b/examples/Importers/ImportObjDemo/ImportObjExample.cpp index a8995c148..2fc11afa3 100644 --- a/examples/Importers/ImportObjDemo/ImportObjExample.cpp +++ b/examples/Importers/ImportObjDemo/ImportObjExample.cpp @@ -56,7 +56,31 @@ ImportObjSetup::~ImportObjSetup() - +int loadAndRegisterMeshFromFile2(const std::string& fileName, CommonRenderInterface* renderer) +{ + int shapeId = -1; + + b3ImportMeshData meshData; + if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData)) + { + int textureIndex = -1; + + if (meshData.m_textureImage) + { + textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight); + } + + shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], + meshData.m_gfxShape->m_numvertices, + &meshData.m_gfxShape->m_indices->at(0), + meshData.m_gfxShape->m_numIndices, + B3_GL_TRIANGLES, + textureIndex); + delete meshData.m_gfxShape; + delete meshData.m_textureImage; + } + return shapeId; +} @@ -77,7 +101,7 @@ void ImportObjSetup::initPhysics() btVector3 scaling(1,1,1); btVector3 color(1,1,1); - int shapeId = b3ImportMeshUtility::loadAndRegisterMeshFromFile(m_fileName, m_guiHelper->getRenderInterface()); + int shapeId = loadAndRegisterMeshFromFile2(m_fileName, m_guiHelper->getRenderInterface()); if (shapeId>=0) { //int id = diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 4838079a0..9b6eb8ae1 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -13,7 +13,7 @@ subject to the following restrictions: #include "BulletUrdfImporter.h" - +#include "../../CommonInterfaces/CommonRenderInterface.h" #include "URDFImporterInterface.h" #include "btBulletCollisionCommon.h" @@ -26,12 +26,20 @@ subject to the following restrictions: #include #include "../../Utils/b3ResourcePath.h" +#include "../ImportMeshUtility/b3ImportMeshUtility.h" #include #include #include "UrdfParser.h" +struct MyTexture +{ + int m_width; + int m_height; + unsigned char* textureData; +}; + struct BulletURDFInternalData { UrdfParser m_urdfParser; @@ -589,7 +597,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co } -static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut) +static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut) { @@ -693,7 +701,23 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha { case FILE_OBJ: { - glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); +// glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); + + b3ImportMeshData meshData; + if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData)) + { + + if (meshData.m_textureImage) + { + MyTexture texData; + texData.m_width = meshData.m_textureWidth; + texData.m_height = meshData.m_textureHeight; + texData.textureData = meshData.m_textureImage; + texturesOut.push_back(texData); + } + glmesh = meshData.m_gfxShape; + } + break; } @@ -914,7 +938,8 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP btAlignedObjectArray vertices; btAlignedObjectArray indices; btTransform startTrans; startTrans.setIdentity(); - + btAlignedObjectArray textures; + const UrdfModel& model = m_data->m_urdfParser.getModel(); UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex); if (linkPtr) @@ -934,14 +959,34 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP //printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]); m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor); } - convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices); + convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures); } } if (vertices.size() && indices.size()) { - graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); +// graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); + //graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); + + CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface(); + + if (renderer) + { + int textureIndex = -1; + if (textures.size()) + { + textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height); + } + graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex); + + } + } + + //delete textures + for (int i=0;i #include #include "../Importers/ImportURDFDemo/UrdfParser.h" @@ -41,6 +41,13 @@ enum MyFileType MY_FILE_OBJ=3, }; +struct MyTexture2 +{ + unsigned char* textureData; + int m_width; + int m_height; +}; + struct TinyRendererObjectArray { btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects; @@ -95,7 +102,7 @@ TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter() -void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut) +void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut) { @@ -201,7 +208,23 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref { case MY_FILE_OBJ: { - glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); + //glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); + b3ImportMeshData meshData; + if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData)) + { + + if (meshData.m_textureImage) + { + MyTexture2 texData; + texData.m_width = meshData.m_textureWidth; + texData.m_height = meshData.m_textureHeight; + texData.textureData = meshData.m_textureImage; + texturesOut.push_back(texData); + } + glmesh = meshData.m_gfxShape; + } + + break; } @@ -420,11 +443,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj) { - btAlignedObjectArray vertices; - btAlignedObjectArray indices; - btTransform startTrans; startTrans.setIdentity(); - int graphicsIndex = -1; - + UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex); if (linkPtr) { @@ -433,6 +452,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const for (int v = 0; v < link->m_visualArray.size();v++) { + btAlignedObjectArray textures; + btAlignedObjectArray vertices; + btAlignedObjectArray indices; + btTransform startTrans; startTrans.setIdentity(); + int graphicsIndex = -1; + const UrdfVisual& vis = link->m_visualArray[v]; btTransform childTrans = vis.m_linkLocalFrame; btHashString matName(vis.m_materialName.c_str()); @@ -458,14 +483,29 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const btAssert(visualsPtr); TinyRendererObjectArray* visuals = *visualsPtr; - convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices); + convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures); if (vertices.size() && indices.size()) { TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer); - tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor); + unsigned char* textureImage=0; + int textureWidth=0; + int textureHeight=0; + if (textures.size()) + { + textureImage = textures[0].textureData; + textureWidth = textures[0].m_width; + textureHeight = textures[0].m_height; + } + + tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor, + textureImage,textureWidth,textureHeight); visuals->m_renderObjects.push_back(tinyObj); } + for (int i=0;i Date: Sun, 19 Jun 2016 17:35:25 -0700 Subject: [PATCH 034/115] fix cmake and premake build systems, after adding texture support in SDF, in a nutshell, add the following two files: examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp examples/ThirdPartyLibs/stb_image/stb_image.cpp --- examples/ExtendedTutorials/premake4.lua | 12 ++++++++---- .../ImportMeshUtility/b3ImportMeshUtility.cpp | 4 ++-- examples/InverseDynamics/premake4.lua | 12 ++++++++---- examples/SharedMemory/premake4.lua | 3 ++- examples/pybullet/CMakeLists.txt | 4 +++- test/InverseDynamics/premake4.lua | 2 ++ test/SharedMemory/CMakeLists.txt | 3 ++- test/SharedMemory/premake4.lua | 12 +++++++++--- 8 files changed, 36 insertions(+), 16 deletions(-) diff --git a/examples/ExtendedTutorials/premake4.lua b/examples/ExtendedTutorials/premake4.lua index ea1fc507e..92ac12d45 100644 --- a/examples/ExtendedTutorials/premake4.lua +++ b/examples/ExtendedTutorials/premake4.lua @@ -38,7 +38,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } @@ -89,7 +90,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } if os.is("Linux") then initX11() end @@ -153,7 +155,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } if os.is("Linux") then initX11() end @@ -213,6 +216,7 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp index 85aeb7e21..67b64fd26 100644 --- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp +++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp @@ -1,12 +1,12 @@ #include "b3ImportMeshUtility.h" #include -#include"Wavefront/tiny_obj_loader.h" +#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h" #include "LinearMath/btVector3.h" #include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h" #include "../../Utils/b3ResourcePath.h" #include "Bullet3Common/b3FileUtils.h" -#include "stb_image/stb_image.h" +#include "../../ThirdPartyLibs/stb_image/stb_image.h" bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData) diff --git a/examples/InverseDynamics/premake4.lua b/examples/InverseDynamics/premake4.lua index 3871526ce..53c4fa2ce 100644 --- a/examples/InverseDynamics/premake4.lua +++ b/examples/InverseDynamics/premake4.lua @@ -38,7 +38,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } @@ -89,7 +90,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } if os.is("Linux") then initX11() end @@ -153,7 +155,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } if os.is("Linux") then initX11() end @@ -211,6 +214,7 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index 0616a8865..e923b412f 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -78,6 +78,7 @@ files { "../ThirdPartyLibs/tinyxml/tinyxml.cpp", "../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp", "../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp", - +"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt index 672187557..5540d10de 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pybullet/CMakeLists.txt @@ -49,6 +49,7 @@ SET(pybullet_SRCS ../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h + ../../examples/ThirdPartyLibs/stb_image/stb_image.cpp ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp @@ -57,7 +58,8 @@ SET(pybullet_SRCS ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp - ../../examples/MultiThreading/b3PosixThreadSupport.cpp + ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp + ../../examples/MultiThreading/b3PosixThreadSupport.cpp ../../examples/MultiThreading/b3Win32ThreadSupport.cpp ../../examples/MultiThreading/b3ThreadSupportInterface.cpp diff --git a/test/InverseDynamics/premake4.lua b/test/InverseDynamics/premake4.lua index 498cf94d8..9d6770347 100644 --- a/test/InverseDynamics/premake4.lua +++ b/test/InverseDynamics/premake4.lua @@ -78,6 +78,8 @@ "../../examples/Importers/ImportURDFDemo/UrdfParser.h", "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp", "../../examples/Importers/ImportURDFDemo/URDF2Bullet.h", + "../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../../examples/ThirdPartyLibs/stb_image/stb_image.cpp", "../../examples/Utils/b3Clock.cpp", "../../Extras/Serialize/BulletWorldImporter/*", "../../Extras/Serialize/BulletFileLoader/*", diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt index 868841237..d39f36df4 100644 --- a/test/SharedMemory/CMakeLists.txt +++ b/test/SharedMemory/CMakeLists.txt @@ -71,7 +71,8 @@ ENDIF() ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp - + ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp + ../../examples/ThirdPartyLibs/stb_image/stb_image.cpp ) diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua index ef70b0139..952b4c98a 100644 --- a/test/SharedMemory/premake4.lua +++ b/test/SharedMemory/premake4.lua @@ -91,7 +91,9 @@ project ("Test_PhysicsServerLoopBack") "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp", "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp", "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp", - } + "../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../../examples/ThirdPartyLibs/stb_image/stb_image.cpp", + } project ("Test_PhysicsServerDirect") @@ -157,6 +159,8 @@ project ("Test_PhysicsServerLoopBack") "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp", "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp", "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp", + "../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../../examples/ThirdPartyLibs/stb_image/stb_image.cpp", } @@ -255,8 +259,10 @@ project ("Test_PhysicsServerInProcessExampleBrowser") "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp", "../../examples/MultiThreading/b3PosixThreadSupport.cpp", "../../examples/MultiThreading/b3Win32ThreadSupport.cpp", - "../../examples/MultiThreading/b3ThreadSupportInterface.cpp", - } + "../../examples/MultiThreading/b3ThreadSupportInterface.cpp", + "../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../../examples/ThirdPartyLibs/stb_image/stb_image.cpp", + } if os.is("Linux") then initX11() end From 251fab0d75cd403ce5907b0f6b50006b8a2facc5 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 20 Jun 2016 12:40:08 -0700 Subject: [PATCH 035/115] expand b3ResourcePath automagic resource localization capability. --- examples/Utils/b3ResourcePath.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/examples/Utils/b3ResourcePath.cpp b/examples/Utils/b3ResourcePath.cpp index d27b61e99..fdd546d5e 100644 --- a/examples/Utils/b3ResourcePath.cpp +++ b/examples/Utils/b3ResourcePath.cpp @@ -77,6 +77,12 @@ int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePat { return strlen(resourcePath); } + sprintf(resourcePath,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName); + //printf("try resource at %s\n", resourcePath); + if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes)) + { + return strlen(resourcePath); + } } } From c7c01e6b325bf2c9a20c96da3925b861309af737 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 20 Jun 2016 14:09:37 -0700 Subject: [PATCH 036/115] add one more test, related to b3CreatePoseCommandInit --- test/SharedMemory/test.c | 22 +++++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c index 9d80eed63..a74cb34a6 100644 --- a/test/SharedMemory/test.c +++ b/test/SharedMemory/test.c @@ -68,6 +68,9 @@ void testSharedMemory(b3PhysicsClientHandle sm) int bodyUniqueId = bodyIndicesOut[0]; numJoints = b3GetNumJoints(sm,bodyUniqueId); + ASSERT_EQ(numJoints,7); + +#if 0 b3Printf("numJoints: %d\n", numJoints); for (i=0;i Date: Mon, 20 Jun 2016 14:58:56 -0700 Subject: [PATCH 037/115] fix C99 issue, use malloc, not variable sized array. . --- examples/pybullet/pybullet.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index fbd070ff9..eb1e88f6d 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -707,7 +707,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args) int i; int numJoints = b3GetNumJoints(sm,bodyIndex); - double jointPositions[numJoints]; + double* jointPositions = malloc(numJoints*sizeof(double)); pyListJointPos = PyTuple_New(numJoints); @@ -718,7 +718,7 @@ pybullet_getJointPositions(PyObject* self, PyObject* args) item = PyFloat_FromDouble(jointPositions[i]); PyTuple_SetItem(pyListJointPos, i, item); } - + free(jointPositions); return pyListJointPos; } From 01cad7c2a5e5a3a14e78bede0e8108b50cd6c99b Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 20 Jun 2016 15:00:35 -0700 Subject: [PATCH 038/115] fix return type in pybullet . --- examples/pybullet/pybullet.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index eb1e88f6d..3731f4c4d 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -276,7 +276,7 @@ pybullet_resetSimulation(PyObject* self, PyObject* args) return Py_None; } -static int pybullet_setJointControl(PyObject* self, PyObject* args) +static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) { //todo(erwincoumans): set max forces, kp, kd From 51da3863452f6bfe967ab9a24afe3104f2e8fffe Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 20 Jun 2016 15:05:14 -0700 Subject: [PATCH 039/115] also compile pybullet in one of the tests --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index bb6dcde2e..8d309af7d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -8,7 +8,7 @@ compiler: script: - echo "CXX="$CXX - echo "CC="$CC - - cmake . -G "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror + - cmake . -G -DBUILD_PYBULLET=ON "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror - make -j8 - ctest -j8 --output-on-failure # Build again with double precision From 07ee9673efe9886d87c6b39131af355d39795de1 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 21 Jun 2016 08:43:04 -0700 Subject: [PATCH 040/115] try to get python dependency in travis (pybullet) --- .travis.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.travis.yml b/.travis.yml index 8d309af7d..df480e393 100644 --- a/.travis.yml +++ b/.travis.yml @@ -5,6 +5,9 @@ os: compiler: - gcc - clang +python: + - "2.7" + - "3.4" script: - echo "CXX="$CXX - echo "CC="$CC From 08b88c445a2c03dcd1db5e7f547488cfafa93d07 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 21 Jun 2016 08:51:43 -0700 Subject: [PATCH 041/115] more travis/python testing fun --- .travis.yml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/.travis.yml b/.travis.yml index df480e393..25053a90d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -5,13 +5,14 @@ os: compiler: - gcc - clang -python: - - "2.7" - - "3.4" +addons: + apt: + packages: + - python3 script: - echo "CXX="$CXX - echo "CC="$CC - - cmake . -G -DBUILD_PYBULLET=ON "Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror + - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror - make -j8 - ctest -j8 --output-on-failure # Build again with double precision From 0b249361c243e27430838ee188dd08d9ff0e4cf4 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 21 Jun 2016 09:01:27 -0700 Subject: [PATCH 042/115] fix a c99 issue in pybullet --- examples/pybullet/pybullet.c | 21 ++------------------- 1 file changed, 2 insertions(+), 19 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 3731f4c4d..9235f3e5a 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -302,6 +302,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) len = PySequence_Size(targetValues); numJoints = b3GetNumJoints(sm,bodyIndex); b3SharedMemoryCommandHandle commandHandle; + int qIndex; if (len!=numJoints) { @@ -321,7 +322,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode); - for (int qIndex=0;qIndex Date: Wed, 22 Jun 2016 09:59:25 -0700 Subject: [PATCH 043/115] support single-scalar scale values in URDF, even though "officially" it should be a vector3. This will load quadcopter.urdf in Drake: https://github.com/RobotLocomotion/drake/blob/master/drake/examples/Quadrotor/quadrotor.urdf --- .../Importers/ImportURDFDemo/UrdfParser.cpp | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index 0e720a7c2..a6ec0a5c4 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -393,13 +393,22 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger* } geom.m_meshFileName = shape->Attribute("filename"); - - if (shape->Attribute("scale")) + geom.m_meshScale.setValue(1,1,1); + + if (shape->Attribute("scale")) { - parseVector3(geom.m_meshScale,shape->Attribute("scale"),logger); + if (!parseVector3(geom.m_meshScale,shape->Attribute("scale"),logger)) + { + logger->reportWarning("scale should be a vector3, not single scalar. Workaround activated.\n"); + std::string scalar_str = shape->Attribute("scale"); + double scaleFactor = urdfLexicalCast(scalar_str.c_str()); + if (scaleFactor) + { + geom.m_meshScale.setValue(scaleFactor,scaleFactor,scaleFactor); + } + } } else { - geom.m_meshScale.setValue(1,1,1); } } } From f5ffb11bc55bc041312e88a3c46d5350906080be Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 23 Jun 2016 05:10:00 +0000 Subject: [PATCH 044/115] fix bus error on Raspberry Pi, unaligned float access when loading STL files fix pybullet Python 3 issue (PyString_FromString -> PyBytes_FromString and PyInt_FromLong -> PyLong_FromLong) --- examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h | 11 ++++++----- examples/pybullet/pybullet.c | 8 ++++++-- 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h b/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h index f670dfeec..65bdd330b 100644 --- a/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h +++ b/examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h @@ -66,17 +66,18 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName) for (int i=0;ivertex0[v]; - v1.xyzw[v] = tri->vertex1[v]; - v2.xyzw[v] = tri->vertex2[v]; - v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v]; + v0.xyzw[v] = tmp.vertex0[v]; + v1.xyzw[v] = tmp.vertex1[v]; + v2.xyzw[v] = tmp.vertex2[v]; + v0.normal[v] = v1.normal[v] = v2.normal[v] = tmp.normal[v]; } v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 9235f3e5a..2a3545bb3 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -9,6 +9,12 @@ #include #endif + +#if PY_MAJOR_VERSION >= 3 +#define PyInt_FromLong PyLong_FromLong +#define PyString_FromString PyBytes_FromString +#endif + enum eCONNECT_METHOD { eCONNECT_GUI=1, @@ -769,7 +775,6 @@ pybullet_getJointInfo(PyObject* self, PyObject* args) // info.m_flags, // info.m_jointDamping, // info.m_jointFriction); - PyTuple_SetItem(pyListJointInfo, 0, PyInt_FromLong(info.m_jointIndex)); PyTuple_SetItem(pyListJointInfo, 1, @@ -786,7 +791,6 @@ pybullet_getJointInfo(PyObject* self, PyObject* args) PyFloat_FromDouble(info.m_jointDamping)); PyTuple_SetItem(pyListJointInfo, 7, PyFloat_FromDouble(info.m_jointFriction)); - return pyListJointInfo; } } From 8b96e2de3cb53f02c492853d44709850d92123fa Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 22 Jun 2016 23:21:47 -0700 Subject: [PATCH 045/115] a few pybullet tweaks to set desired joint motor targets (pos/vel/torque) --- examples/SharedMemory/PhysicsClientC_API.cpp | 1 + .../PhysicsServerCommandProcessor.cpp | 6 +- examples/pybullet/pybullet.c | 90 +++++++++++++------ 3 files changed, 67 insertions(+), 30 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index f5a339fc1..a952111c2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -218,6 +218,7 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value; + command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE; return 0; } diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 33d7d3153..b2c3c5c05 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1389,6 +1389,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm mb->clearForcesAndTorques(); int torqueIndex = 0; + #if 0 + //it is inconsistent to allow application of base force/torque, there is no 'joint' motor. Use a separate API for this. + btVector3 f(0,0,0); btVector3 t(0,0,0); @@ -1404,7 +1407,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm torqueIndex+=6; mb->addBaseForce(f); mb->addBaseTorque(t); - for (int link=0;linkgetNumLinks();link++) + #endif + for (int link=0;linkgetNumLinks();link++) { for (int dof=0;dofgetLink(link).m_dofCount;dof++) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 2a3545bb3..d06eff27c 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -222,7 +222,7 @@ pybullet_loadSDF(PyObject* self, PyObject* args) PyObject* pylist=0; b3SharedMemoryStatusHandle statusHandle; int statusType; - b3SharedMemoryCommandHandle command; + b3SharedMemoryCommandHandle commandHandle; if (0==sm) { @@ -236,8 +236,8 @@ pybullet_loadSDF(PyObject* self, PyObject* args) return NULL; } - command = b3LoadSdfCommandInit(sm, sdfFileName); - statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + commandHandle = b3LoadSdfCommandInit(sm, sdfFileName); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusType = b3GetStatusType(statusHandle); if (statusType!=CMD_SDF_LOADING_COMPLETED) { @@ -308,10 +308,11 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) len = PySequence_Size(targetValues); numJoints = b3GetNumJoints(sm,bodyIndex); b3SharedMemoryCommandHandle commandHandle; - int qIndex; + b3SharedMemoryStatusHandle statusHandle; + int qIndex; if (len!=numJoints) - { + { PyErr_SetString(SpamError, "Number of control target values doesn't match the number of joints."); Py_DECREF(seq); return NULL; @@ -336,20 +337,24 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) { case CONTROL_MODE_VELOCITY: { - b3JointControlSetDesiredVelocity(commandHandle, qIndex, value); - break; + b3JointControlSetDesiredVelocity(commandHandle, 6+qIndex, value); + b3JointControlSetKd(commandHandle,6+qIndex,1); + b3JointControlSetMaximumForce(commandHandle,6+qIndex,10000); + break; } case CONTROL_MODE_TORQUE: { - b3JointControlSetDesiredForceTorque(commandHandle, qIndex, value); + b3JointControlSetDesiredForceTorque(commandHandle, 6+qIndex, value); break; } case CONTROL_MODE_POSITION_VELOCITY_PD: { - b3JointControlSetDesiredPosition( commandHandle, qIndex, value); - break; + b3JointControlSetDesiredPosition( commandHandle, 7+qIndex, value); + b3JointControlSetKp(commandHandle,6+qIndex,1); + b3JointControlSetMaximumForce(commandHandle,6+qIndex,10000); + break; } default: { @@ -357,6 +362,9 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) } }; } + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + Py_DECREF(seq); Py_INCREF(Py_None); return Py_None; @@ -554,35 +562,59 @@ pybullet_getNumJoints(PyObject* self, PyObject* args) static PyObject* pybullet_initializeJointPositions(PyObject* self, PyObject* args) { + int size; if (0==sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - // TODO(hellojas): initialize all joint positions given a pylist of values - // - // - /* - ///b3CreatePoseCommandInit will initialize (teleport) the pose of a body/robot. You can individually set the base position, - ///base orientation and joint angles. This will set all velocities of base and joints to zero. - ///This is not a robot control command using actuators/joint motors, but manual repositioning the robot. - b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex); - int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ); - int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW); - int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions); - int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition); - - */ - // - // - - Py_INCREF(Py_None); - return Py_None; + size= PySequence_Size(args); + + if (size==2) + { + int bodyIndex; + PyObject* targetValues; + if (PyArg_ParseTuple(args, "iO", &bodyIndex, &targetValues)) + { + PyObject* seq; + int numJoints, len; + seq = PySequence_Fast(targetValues, "expected a sequence"); + len = PySequence_Size(targetValues); + numJoints = b3GetNumJoints(sm,bodyIndex); + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + int qIndex; + + if (len!=numJoints) + { + PyErr_SetString(SpamError, "Number of joint position values doesn't match the number of joints."); + Py_DECREF(seq); + return NULL; + } + + commandHandle = b3CreatePoseCommandInit(sm, bodyIndex); + + for (qIndex=0;qIndex Date: Thu, 23 Jun 2016 08:40:36 -0700 Subject: [PATCH 046/115] re-introduce old method in pybullet for temporary back-wards compatibility b3JointControlCommandInit requires 3 args, but it was only 2, use b3JointControlCommandInit2 for now. --- examples/SharedMemory/PhysicsClientC_API.cpp | 7 ++++++- examples/SharedMemory/PhysicsClientC_API.h | 9 +++++++-- examples/SharedMemory/PhysicsClientExample.cpp | 2 +- examples/pybullet/pybullet.c | 2 +- 4 files changed, 15 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index a952111c2..57121f0c8 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -151,7 +151,12 @@ b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHand } -b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode) +b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode) +{ + return b3JointControlCommandInit2(physClient,0,controlMode); +} + +b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index e12cf75eb..0f036415c 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -95,10 +95,15 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName); +///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead +b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode); + + ///Set joint control variables such as desired position/angle, desired velocity, ///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE) -b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode); -///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD +b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode); + + ///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value); int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index e0338153a..a4199071a 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -377,7 +377,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) if (m_selectedBody>=0) { // b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_VELOCITY); - b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD); + b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD); // b3Printf("prepare control command for body %d", m_selectedBody); prepareControlCommand(command); diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index d06eff27c..0d2303fc5 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -327,7 +327,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) return NULL; } - commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode); + commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode); for (qIndex=0;qIndex Date: Thu, 23 Jun 2016 14:00:44 -0700 Subject: [PATCH 047/115] fix loading urdf at default position (0,0,0) and adding b3 cmd to change orientation if args provided --- examples/pybullet/pybullet.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 9235f3e5a..3cc230128 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -135,7 +135,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args) const char* urdfFileName=""; float startPosX =0; float startPosY =0; - float startPosZ = 1; + float startPosZ = 0; float startOrnX = 0; float startOrnY = 0; float startOrnZ = 0; @@ -165,6 +165,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args) return NULL; } { + printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW); b3SharedMemoryStatusHandle statusHandle; int statusType; @@ -172,6 +173,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args) //setting the initial position, orientation and other arguments are optional b3LoadUrdfCommandSetStartPosition(command, startPosX,startPosY,startPosZ); + b3LoadUrdfCommandSetStartOrientation(command, startOrnX, startOrnY,startOrnZ, startOrnW ); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusType = b3GetStatusType(statusHandle); if (statusType!=CMD_URDF_LOADING_COMPLETED) From a21889e225d8020577fc5c36dda89e9c7929b74e Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Thu, 23 Jun 2016 14:01:57 -0700 Subject: [PATCH 048/115] remove print debugger --- examples/pybullet/pybullet.so | 1 + 1 file changed, 1 insertion(+) create mode 120000 examples/pybullet/pybullet.so diff --git a/examples/pybullet/pybullet.so b/examples/pybullet/pybullet.so new file mode 120000 index 000000000..59de5c3df --- /dev/null +++ b/examples/pybullet/pybullet.so @@ -0,0 +1 @@ +libpybullet.dylib \ No newline at end of file From 976e228be0c3b035386168fe415188d53468ad3c Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Thu, 23 Jun 2016 14:05:36 -0700 Subject: [PATCH 049/115] remove print debugger --- examples/pybullet/pybullet.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 3cc230128..a8ad37b30 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -165,7 +165,7 @@ pybullet_loadURDF(PyObject* self, PyObject* args) return NULL; } { - printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW); + // printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW); b3SharedMemoryStatusHandle statusHandle; int statusType; From d2a27972015ec8915810d876afc8c072a697d350 Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Thu, 23 Jun 2016 14:06:14 -0700 Subject: [PATCH 050/115] accidently added pybullet.so --- examples/pybullet/pybullet.so | 1 - 1 file changed, 1 deletion(-) delete mode 120000 examples/pybullet/pybullet.so diff --git a/examples/pybullet/pybullet.so b/examples/pybullet/pybullet.so deleted file mode 120000 index 59de5c3df..000000000 --- a/examples/pybullet/pybullet.so +++ /dev/null @@ -1 +0,0 @@ -libpybullet.dylib \ No newline at end of file From 6d1948e79e5caf74cfa2e3344ee308bd81fe2c33 Mon Sep 17 00:00:00 2001 From: "Erwin Coumans (Google)" Date: Fri, 24 Jun 2016 07:31:17 -0700 Subject: [PATCH 051/115] tweaks in pybullet and shared memory C-API: allow to reset the state of a single joint allow to set the target/mode for a single joint motor at a time rename pybullet API: initializeJointPositions -> resetJointState --- examples/BasicDemo/BasicExample.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 33 + examples/SharedMemory/PhysicsClientC_API.h | 7 +- .../PhysicsServerCommandProcessor.cpp | 579 +++++++++--------- examples/SharedMemory/SharedMemoryCommands.h | 4 + examples/pybullet/pybullet.c | 247 ++++---- test/SharedMemory/test.c | 4 +- 7 files changed, 463 insertions(+), 413 deletions(-) diff --git a/examples/BasicDemo/BasicExample.cpp b/examples/BasicDemo/BasicExample.cpp index f5bd9486c..b6365df36 100644 --- a/examples/BasicDemo/BasicExample.cpp +++ b/examples/BasicDemo/BasicExample.cpp @@ -42,7 +42,7 @@ struct BasicExample : public CommonRigidBodyBase float dist = 41; float pitch = 52; float yaw = 35; - float targetPos[3]={0,0.46,0}; + float targetPos[3]={0,0,0}; m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); } }; diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 57121f0c8..203e0ebbe 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -167,6 +167,10 @@ b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsClientHandle ph command->m_sendDesiredStateCommandArgument.m_controlMode = controlMode; command->m_sendDesiredStateCommandArgument.m_bodyUniqueId = bodyUniqueId; command->m_updateFlags = 0; + for (int i=0;im_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[i] = 0; + } return (b3SharedMemoryCommandHandle) command; } @@ -176,6 +180,7 @@ int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateQ[qIndex] = value; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_Q; + command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[qIndex] |= SIM_DESIRED_STATE_HAS_Q; return 0; } @@ -186,6 +191,8 @@ int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, b3Assert(command); command->m_sendDesiredStateCommandArgument.m_Kp[dofIndex] = value; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KP; + command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_KP; + return 0; } @@ -195,6 +202,7 @@ int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, b3Assert(command); command->m_sendDesiredStateCommandArgument.m_Kd[dofIndex] = value; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_KD; + command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_KD; return 0; } @@ -205,6 +213,8 @@ int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex] = value; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_QDOT; + command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_QDOT; + return 0; } @@ -215,6 +225,8 @@ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE; + command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_MAX_FORCE; + return 0; } @@ -224,6 +236,8 @@ int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandl b3Assert(command); command->m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex] = value; command->m_updateFlags |= SIM_DESIRED_STATE_HAS_MAX_FORCE; + command->m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] |= SIM_DESIRED_STATE_HAS_MAX_FORCE; + return 0; } @@ -372,6 +386,7 @@ int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHan b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex) { + PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); b3Assert(cl->canSubmitCommand()); @@ -380,6 +395,11 @@ b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physCl command->m_type = CMD_INIT_POSE; command->m_updateFlags =0; command->m_initPoseArgs.m_bodyUniqueId = bodyIndex; + //a bit slow, initialing the full range to zero... + for (int i=0;im_initPoseArgs.m_hasInitialStateQ[i] = 0; + } return (b3SharedMemoryCommandHandle) command; } @@ -392,6 +412,11 @@ int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle command->m_initPoseArgs.m_initialStateQ[0] = startPosX; command->m_initPoseArgs.m_initialStateQ[1] = startPosY; command->m_initPoseArgs.m_initialStateQ[2] = startPosZ; + + command->m_initPoseArgs.m_hasInitialStateQ[0] = 1; + command->m_initPoseArgs.m_hasInitialStateQ[1] = 1; + command->m_initPoseArgs.m_hasInitialStateQ[2] = 1; + return 0; } @@ -405,6 +430,12 @@ int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHan command->m_initPoseArgs.m_initialStateQ[4] = startOrnY; command->m_initPoseArgs.m_initialStateQ[5] = startOrnZ; command->m_initPoseArgs.m_initialStateQ[6] = startOrnW; + + command->m_initPoseArgs.m_hasInitialStateQ[3] = 1; + command->m_initPoseArgs.m_hasInitialStateQ[4] = 1; + command->m_initPoseArgs.m_hasInitialStateQ[5] = 1; + command->m_initPoseArgs.m_hasInitialStateQ[6] = 1; + return 0; } @@ -417,6 +448,7 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand for (int i=0;im_initPoseArgs.m_initialStateQ[i+7] = jointPositions[i]; + command->m_initPoseArgs.m_hasInitialStateQ[i+7] = 1; } return 0; } @@ -433,6 +465,7 @@ int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3Shar if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0) { command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition; + command->m_initPoseArgs.m_hasInitialStateQ[info.m_qIndex] = 1; } return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 0f036415c..aee561d8f 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -99,15 +99,16 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode); -///Set joint control variables such as desired position/angle, desired velocity, +///Set joint motor control variables such as desired position/angle, desired velocity, ///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE) b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode); - ///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD +///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value); int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); -//Only use when controlMode is CONTROL_MODE_VELOCITY + +///Only use when controlMode is CONTROL_MODE_VELOCITY int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); /* find a better name for dof/q/u indices, point to b3JointInfo */ int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value); ///Only use if when controlMode is CONTROL_MODE_TORQUE, diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index b2c3c5c05..3cdaac902 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -55,12 +55,12 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw virtual void draw3dText(const btVector3& location,const char* textString) { } - + virtual void setDebugMode(int debugMode) { m_debugMode = debugMode; } - + virtual int getDebugMode() const { return m_debugMode; @@ -100,11 +100,11 @@ struct InternalBodyHandle : public InteralBodyData BT_DECLARE_ALIGNED_ALLOCATOR(); int m_nextFreeHandle; - void SetNextFree(int next) + void SetNextFree(int next) { m_nextFreeHandle = next; } - int GetNextFree() const + int GetNextFree() const { return m_nextFreeHandle; } @@ -153,7 +153,7 @@ public: struct CommandLogger { FILE* m_file; - + void writeHeader(unsigned char* buffer) const { @@ -185,15 +185,15 @@ struct CommandLogger buffer[9] = 0; buffer[10] = 0; buffer[11] = 0; - + int ver = btGetVersion(); if (ver>=0 && ver<999) { sprintf((char*)&buffer[9],"%d",ver); } - + } - + void logCommand(const SharedMemoryCommand& command) { btCommandChunk chunk; @@ -240,10 +240,10 @@ struct CommandLogPlayback } unsigned char c = m_header[7]; m_fileIs64bit = (c=='-'); - + const bool VOID_IS_8 = ((sizeof(void*)==8)); m_bitsVary = (VOID_IS_8 != m_fileIs64bit); - + } @@ -260,7 +260,7 @@ struct CommandLogPlayback if (m_file) { size_t s = 0; - + if (m_fileIs64bit) { @@ -271,7 +271,7 @@ struct CommandLogPlayback bCommandChunkPtr4 chunk4; s = fread((void*)&chunk4,sizeof(bCommandChunkPtr4),1,m_file); } - + if (s==1) { s = fread(cmd,sizeof(SharedMemoryCommand),1,m_file); @@ -324,7 +324,7 @@ struct PhysicsServerCommandProcessorInternalData { m_numUsedHandles = 0; m_firstFreeHandle = -1; - + increaseHandleCapacity(1); } @@ -349,10 +349,10 @@ struct PhysicsServerCommandProcessorInternalData int additionalCapacity= m_bodyHandles.size(); increaseHandleCapacity(additionalCapacity); - + getHandle(handle)->SetNextFree(m_firstFreeHandle); } - + return handle; } @@ -369,16 +369,16 @@ struct PhysicsServerCommandProcessorInternalData } ///end handle management - - + + CommandLogger* m_commandLogger; CommandLogPlayback* m_logPlayback; - + btScalar m_physicsDeltaTime; btAlignedObjectArray m_multiBodyJointFeedbacks; - + btAlignedObjectArray m_worldImporters; btAlignedObjectArray m_urdfLinkNameMapper; @@ -391,17 +391,17 @@ struct PhysicsServerCommandProcessorInternalData btDefaultCollisionConfiguration* m_collisionConfiguration; btMultiBodyDynamicsWorld* m_dynamicsWorld; SharedMemoryDebugDrawer* m_remoteDebugDrawer; - - btAlignedObjectArray m_sdfRecentLoadedBodies; - - + btAlignedObjectArray m_sdfRecentLoadedBodies; + + + struct GUIHelperInterface* m_guiHelper; int m_sharedMemoryKey; bool m_verboseOutput; - - + + //data for picking objects class btRigidBody* m_pickedBody; class btTypedConstraint* m_pickedConstraint; @@ -426,7 +426,7 @@ struct PhysicsServerCommandProcessorInternalData m_pickedConstraint(0), m_pickingMultiBodyPoint2Point(0) { - + initHandles(); #if 0 btAlignedObjectArray bla; @@ -478,16 +478,16 @@ struct PhysicsServerCommandProcessorInternalData void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiHelper) { - + if (guiHelper) { - + guiHelper->createPhysicsDebugDrawer(m_data->m_dynamicsWorld); } else { if (m_data->m_guiHelper && m_data->m_dynamicsWorld && m_data->m_dynamicsWorld->getDebugDrawer()) { - + m_data->m_dynamicsWorld->setDebugDrawer(0); } } @@ -521,45 +521,45 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() ///collision configuration contains default setup for memory, collision setup m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration(); //m_collisionConfiguration->setConvexConvexMultipointIterations(); - + ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration); - + m_data->m_broadphase = new btDbvtBroadphase(); - + m_data->m_solver = new btMultiBodyConstraintSolver; - + m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer(); - - + + m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); } void PhysicsServerCommandProcessor::deleteDynamicsWorld() { - + for (int i=0;im_multiBodyJointFeedbacks.size();i++) { delete m_data->m_multiBodyJointFeedbacks[i]; } m_data->m_multiBodyJointFeedbacks.clear(); - - + + for (int i=0;im_worldImporters.size();i++) { delete m_data->m_worldImporters[i]; } m_data->m_worldImporters.clear(); - + for (int i=0;im_urdfLinkNameMapper.size();i++) { delete m_data->m_urdfLinkNameMapper[i]; } m_data->m_urdfLinkNameMapper.clear(); - - + + for (int i=0;im_strings.size();i++) { delete m_data->m_strings[i]; @@ -568,11 +568,11 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() btAlignedObjectArray constraints; btAlignedObjectArray mbconstraints; - - + + if (m_data->m_dynamicsWorld) { - + int i; for (i = m_data->m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--) { @@ -586,7 +586,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld() mbconstraints.push_back(mbconstraint); m_data->m_dynamicsWorld->removeMultiBodyConstraint(mbconstraint); } - + for (i = m_data->m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) { btCollisionObject* obj = m_data->m_dynamicsWorld->getCollisionObjectArray()[i]; @@ -662,7 +662,7 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb) for (int i=0;igetLink(mbLinkIndex).m_userPtr = motor; m_data->m_dynamicsWorld->addMultiBodyConstraint(motor); motor->finalizeMultiDof(); - + } } @@ -688,11 +688,11 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe b3Error("loadSdf: No valid m_dynamicsWorld"); return false; } - + m_data->m_sdfRecentLoadedBodies.clear(); - + BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter); - + bool useFixedBase = false; bool loadOk = u2b.loadSDF(fileName, useFixedBase); if (loadOk) @@ -709,16 +709,16 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe m_data->m_collisionShapes.push_back(compound->getChildShape(childIndex)); } } - + } - + btTransform rootTrans; rootTrans.setIdentity(); if (m_data->m_verboseOutput) { b3Printf("loaded %s OK!", fileName); } - + for (int m =0; mallocHandle(); - + InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId); { @@ -737,8 +737,8 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe int urdfLinkIndex = u2b.getRootLinkIndex(); u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame); } - - + + //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user int rootLinkIndex = u2b.getRootLinkIndex(); @@ -748,26 +748,26 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe u2b.getRootTransformInWorld(rootTrans); bool useMultiBody = true; ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),true); - - - + + + mb = creation.getBulletMultiBody(); if (mb) { bodyHandle->m_multiBody = mb; - + m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId); - + createJointMotors(mb); - + //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks()); for (int i=0;igetNumLinks();i++) { //disable serialization of the collision objects - + int urdfLinkIndex = creation.m_mb2urdfLink[i]; btScalar mass; btVector3 localInertiaDiagonal(0,0,0); @@ -777,12 +777,12 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str()); m_data->m_strings.push_back(linkName); - + mb->getLink(i).m_linkName = linkName->c_str(); std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str()); m_data->m_strings.push_back(jointName); - + mb->getLink(i).m_jointName = jointName->c_str(); } std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex())); @@ -792,10 +792,10 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe { b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later."); } - + } } - return loadOk; + return loadOk; } bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVector3& pos, const btQuaternion& orn, @@ -809,13 +809,13 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto } - + BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter); - + bool loadOk = u2b.loadURDF(fileName, useFixedBase); - - + + if (loadOk) { //get a body index @@ -836,7 +836,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto { b3Printf("loaded %s OK!", fileName); } - + btTransform tr; tr.setIdentity(); tr.setOrigin(pos); @@ -844,9 +844,9 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto //int rootLinkIndex = u2b.getRootLinkIndex(); // printf("urdf root link index = %d\n",rootLinkIndex); MyMultiBodyCreator creation(m_data->m_guiHelper); - + ConvertURDF2Bullet(u2b,creation, tr,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix()); - + for (int i=0;im_collisionShapes.push_back(compound->getChildShape(childIndex)); } } - + } - + btMultiBody* mb = creation.getBulletMultiBody(); if (useMultiBody) { - - + + if (mb) { - + bodyHandle->m_multiBody = mb; - + createJointMotors(mb); @@ -905,17 +905,17 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str()); mb->getLink(i).m_jointName = jointName->c_str(); } - + std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex())); m_data->m_strings.push_back(baseName); - + util->m_memSerializer->registerNameForPointer(baseName->c_str(),baseName->c_str()); mb->setBaseName(baseName->c_str()); - - + + util->m_memSerializer->insertHeader(); - + int len = mb->calculateSerializeBufferSize(); btChunk* chunk = util->m_memSerializer->allocate(len,1); const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer); @@ -927,16 +927,16 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later."); return false; } - + } else { btAssert(0); - + return true; } - + } - + return false; } @@ -944,10 +944,10 @@ void PhysicsServerCommandProcessor::replayLogCommand(char* bufferServerToClient, { if (m_data->m_logPlayback) { - + SharedMemoryCommand clientCmd; SharedMemoryStatus serverStatus; - + bool hasCommand = m_data->m_logPlayback->processNextCommand(&clientCmd); if (hasCommand) { @@ -982,7 +982,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* } util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName()); - + util->m_memSerializer->insertHeader(); int len = mb->calculateSerializeBufferSize(); @@ -1002,12 +1002,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { ///we ignore overflow of integer for now - + { - + //until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands - - + + //const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0]; #if 1 if (m_data->m_commandLogger) @@ -1017,7 +1017,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm #endif //m_data->m_testBlock1->m_numProcessedClientCommands++; - + //no timestamp yet int timeStamp = 0; @@ -1031,11 +1031,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { b3Printf("Processed CMD_SEND_BULLET_DATA_STREAM length %d",clientCmd.m_dataStreamArguments.m_streamChunkLength); } - + btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld); m_data->m_worldImporters.push_back(worldImporter); bool completedOk = worldImporter->loadFileFromMemory(m_data->m_testBlock1->m_bulletStreamDataClientToServer,clientCmd.m_dataStreamArguments.m_streamChunkLength); - + if (completedOk) { SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED,clientCmd.m_sequenceNumber,timeStamp); @@ -1046,7 +1046,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& status = m_data->createServerStatus(CMD_BULLET_DATA_STREAM_RECEIVED_FAILED,clientCmd.m_sequenceNumber,timeStamp); m_data->submitServerStatus(status); } - + break; } #endif @@ -1054,7 +1054,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_REQUEST_DEBUG_LINES: { int curFlags =m_data->m_remoteDebugDrawer->getDebugMode(); - + int debugMode = clientCmd.m_requestDebugLinesArguments.m_debugMode;//clientCmd.btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb; int startingLineIndex = clientCmd.m_requestDebugLinesArguments.m_startingLineIndex; if (startingLineIndex<0) @@ -1062,7 +1062,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Warning("startingLineIndex should be non-negative"); startingLineIndex = 0; } - + if (clientCmd.m_requestDebugLinesArguments.m_startingLineIndex==0) { m_data->m_remoteDebugDrawer->m_lines2.resize(0); @@ -1083,9 +1083,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Warning("m_startingLineIndex exceeds total number of debug lines"); startingLineIndex =m_data->m_remoteDebugDrawer->m_lines2.size(); } - + int numLines = btMin(maxNumLines,m_data->m_remoteDebugDrawer->m_lines2.size()-startingLineIndex); - + if (numLines) { @@ -1108,66 +1108,66 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm linesColor[i*3+2] = m_data->m_remoteDebugDrawer->m_lines2[i+startingLineIndex].m_color.z(); } } - + serverStatusOut.m_type = CMD_DEBUG_LINES_COMPLETED; serverStatusOut.m_sendDebugLinesArgs.m_numDebugLines = numLines; serverStatusOut.m_sendDebugLinesArgs.m_startingLineIndex = startingLineIndex; serverStatusOut.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_remoteDebugDrawer->m_lines2.size()-(startingLineIndex+numLines); hasStatus = true; - + break; } case CMD_REQUEST_CAMERA_IMAGE_DATA: { - + int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex; int width, height; int numPixelsCopied = 0; - + if ( - (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) && + (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) && (clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0) { m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth, clientCmd.m_requestPixelDataArguments.m_pixelHeight); - } - + } + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0) { m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0); - } + } else { m_data->m_visualConverter.getWidthAndHeight(width,height); } - - - + + + int numTotalPixels = width*height; int numRemainingPixels = numTotalPixels - startPixelIndex; - - + + if (numRemainingPixels>0) { int maxNumPixels = bufferSizeInBytes/8-1; unsigned char* pixelRGBA = (unsigned char*)bufferServerToClient; int numRequestedPixels = btMin(maxNumPixels,numRemainingPixels); - + float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4); - + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0) { m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied); } else { - + if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) { // printf("-------------------------------\nRendering\n"); - - + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0) { m_data->m_visualConverter.render( @@ -1177,19 +1177,19 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { m_data->m_visualConverter.render(); } - + } - + m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied); } - + //each pixel takes 4 RGBA values and 1 float = 8 bytes - + } else { - + } - + serverStatusOut.m_type = CMD_CAMERA_IMAGE_COMPLETED; serverStatusOut.m_sendPixelDataArguments.m_numPixelsCopied = numPixelsCopied; serverStatusOut.m_sendPixelDataArguments.m_numRemainingPixels = numRemainingPixels - numPixelsCopied; @@ -1197,7 +1197,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverStatusOut.m_sendPixelDataArguments.m_imageWidth = width; serverStatusOut.m_sendPixelDataArguments.m_imageHeight= height; hasStatus = true; - + break; } @@ -1206,7 +1206,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm const SdfRequestInfoArgs& sdfInfoArgs = clientCmd.m_sdfRequestInfoArgs; //stream info into memory int streamSizeInBytes = createBodyInfoStream(sdfInfoArgs.m_bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - + serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId; serverStatusOut.m_dataStreamArguments.m_streamChunkLength = streamSizeInBytes; @@ -1220,9 +1220,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { b3Printf("Processed CMD_LOAD_SDF:%s", sdfArgs.m_sdfFileName); } - + bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes); - + //serverStatusOut.m_type = CMD_SDF_LOADING_FAILED; serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size(); int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies); @@ -1230,14 +1230,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i]; } - + serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED; hasStatus = true; break; } case CMD_LOAD_URDF: { - + const UrdfArgs& urdfArgs = clientCmd.m_urdfArguments; if (m_data->m_verboseOutput) { @@ -1267,32 +1267,32 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm bool completedOk = loadUrdf(urdfArgs.m_urdfFileName, initialPos,initialOrn, useMultiBody, useFixedBase,&bodyUniqueId, bufferServerToClient, bufferSizeInBytes); - - + + if (completedOk) { - + m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); - + serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED; serverStatusOut.m_dataStreamArguments.m_streamChunkLength = 0; - + if (m_data->m_urdfLinkNameMapper.size()) { serverStatusOut.m_dataStreamArguments.m_streamChunkLength = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); } serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; hasStatus = true; - + } else { serverStatusOut.m_type = CMD_URDF_LOADING_FAILED; hasStatus = true; } - - - + + + break; } case CMD_CREATE_SENSOR: @@ -1322,7 +1322,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm mb->getLink(jointIndex).m_jointFeedback = fb; m_data->m_multiBodyJointFeedbacks.push_back(fb); }; - + } else { if (mb->getLink(jointIndex).m_jointFeedback) @@ -1337,7 +1337,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } } - + } else { b3Warning("No btMultiBody in the world. btRigidBody/btTypedConstraint sensor not hooked up yet"); @@ -1352,15 +1352,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm btJointFeedback* fb = new btJointFeedback(); m_data->m_jointFeedbacks.push_back(fb); c->setJointFeedback(fb); - - + + } */ #endif - + serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED; hasStatus = true; - + break; } case CMD_SEND_DESIRED_STATE: @@ -1369,7 +1369,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { b3Printf("Processed CMD_SEND_DESIRED_STATE"); } - + int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId; InteralBodyData* body = m_data->getHandle(bodyUniqueId); @@ -1377,7 +1377,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { btMultiBody* mb = body->m_multiBody; btAssert(mb); - + switch (clientCmd.m_sendDesiredStateCommandArgument.m_controlMode) { case CONTROL_MODE_TORQUE: @@ -1386,38 +1386,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { b3Printf("Using CONTROL_MODE_TORQUE"); } - mb->clearForcesAndTorques(); - + // mb->clearForcesAndTorques(); int torqueIndex = 0; - #if 0 - //it is inconsistent to allow application of base force/torque, there is no 'joint' motor. Use a separate API for this. - - btVector3 f(0,0,0); - btVector3 t(0,0,0); - - if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) - { - f = btVector3 (clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[0], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[1], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[2]); - t = btVector3 (clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[3], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[4], - clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[5]); - } - torqueIndex+=6; - mb->addBaseForce(f); - mb->addBaseTorque(t); - #endif - for (int link=0;linkgetNumLinks();link++) + if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) { - - for (int dof=0;dofgetLink(link).m_dofCount;dof++) - { - double torque = 0.f; - if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) - torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex]; - mb->addJointTorqueMultiDof(link,dof,torque); - torqueIndex++; + for (int link=0;linkgetNumLinks();link++) + { + + for (int dof=0;dofgetLink(link).m_dofCount;dof++) + { + double torque = 0.f; + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[torqueIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + { + torque = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[torqueIndex]; + mb->addJointTorqueMultiDof(link,dof,torque); + } + torqueIndex++; + } } } break; @@ -1428,7 +1413,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { b3Printf("Using CONTROL_MODE_VELOCITY"); } - + int numMotors = 0; //find the joint motors and apply the desired velocity and maximum force/torque { @@ -1437,22 +1422,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { if (supportsJointMotor(mb,link)) { - + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; - - + + if (motor) { btScalar desiredVelocity = 0.f; - if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_QDOT)!=0) - desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex]; - motor->setVelocityTarget(desiredVelocity); + bool hasDesiredVelocity = false; - btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; - if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) - maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime; - - motor->setMaxAppliedImpulse(maxImp); + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_QDOT)!=0) + { + desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex]; + motor->setVelocityTarget(desiredVelocity); + hasDesiredVelocity = true; + } + if (hasDesiredVelocity) + { + btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + { + maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[dofIndex]*m_data->m_physicsDeltaTime; + } + motor->setMaxAppliedImpulse(maxImp); + } numMotors++; } @@ -1470,7 +1463,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Printf("Using CONTROL_MODE_POSITION_VELOCITY_PD"); } //compute the force base on PD control - mb->clearForcesAndTorques(); int numMotors = 0; //find the joint motors and apply the desired velocity and maximum force/torque @@ -1481,44 +1473,61 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { if (supportsJointMotor(mb,link)) { - + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr; - + if (motor) { - - btScalar desiredVelocity = 0.f; - if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_QDOT)!=0) - desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex]; - btScalar desiredPosition = 0.f; - if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_Q)!=0) - desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex]; + bool hasDesiredPosOrVel = false; btScalar kp = 0.f; - if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_KP)!=0) - kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex]; - btScalar kd = 0.f; - if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_KD)!=0) - kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex]; + btScalar kd = 0.f; + btScalar desiredVelocity = 0.f; + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_QDOT)!=0) + { + hasDesiredPosOrVel = true; + desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[velIndex]; + kd = 0.1; + } + btScalar desiredPosition = 0.f; + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[posIndex] & SIM_DESIRED_STATE_HAS_Q)!=0) + { + hasDesiredPosOrVel = true; + desiredPosition = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQ[posIndex]; + kp = 0.1; + } - int dof1 = 0; - btScalar currentPosition = mb->getJointPosMultiDof(link)[dof1]; - btScalar currentVelocity = mb->getJointVelMultiDof(link)[dof1]; - btScalar positionStabiliationTerm = (desiredPosition-currentPosition)/m_data->m_physicsDeltaTime; - btScalar velocityError = (desiredVelocity - currentVelocity); - - desiredVelocity = kp * positionStabiliationTerm + - kd * velocityError; - - motor->setVelocityTarget(desiredVelocity); - - btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; + if (hasDesiredPosOrVel) + { - if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) - maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime; - - motor->setMaxAppliedImpulse(maxImp); + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KP)!=0) + { + kp = clientCmd.m_sendDesiredStateCommandArgument.m_Kp[velIndex]; + } + + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[velIndex] & SIM_DESIRED_STATE_HAS_KD)!=0) + { + kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex]; + } + + int dof1 = 0; + btScalar currentPosition = mb->getJointPosMultiDof(link)[dof1]; + btScalar currentVelocity = mb->getJointVelMultiDof(link)[dof1]; + btScalar positionStabiliationTerm = (desiredPosition-currentPosition)/m_data->m_physicsDeltaTime; + btScalar velocityError = (desiredVelocity - currentVelocity); + + desiredVelocity = kp * positionStabiliationTerm + + kd * velocityError; + + motor->setVelocityTarget(desiredVelocity); + btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; + + if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) + maxImp = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateForceTorque[velIndex]*m_data->m_physicsDeltaTime; + + motor->setMaxAppliedImpulse(maxImp); + } numMotors++; } @@ -1535,10 +1544,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm b3Warning("m_controlMode not implemented yet"); break; } - + } } - + serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED; hasStatus = true; break; @@ -1551,7 +1560,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId; InteralBodyData* body = m_data->getHandle(bodyUniqueId); - + if (body && body->m_multiBody) { btMultiBody* mb = body->m_multiBody; @@ -1560,9 +1569,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendActualStateArgs.m_bodyUniqueId = bodyUniqueId; int totalDegreeOfFreedomQ = 0; - int totalDegreeOfFreedomU = 0; - - + int totalDegreeOfFreedomU = 0; + + //always add the base, even for static (non-moving objects) //so that we can easily move the 'fixed' base when needed //do we don't use this conditional "if (!mb->hasFixedBase())" @@ -1570,7 +1579,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm btTransform tr; tr.setOrigin(mb->getBasePos()); tr.setRotation(mb->getWorldToBaseRot().inverse()); - + serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[0] = body->m_rootLocalInertialFrame.getOrigin()[0]; serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[1] = @@ -1588,14 +1597,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm body->m_rootLocalInertialFrame.getRotation()[3]; - + //base position in world space, carthesian serverCmd.m_sendActualStateArgs.m_actualStateQ[0] = tr.getOrigin()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQ[1] = tr.getOrigin()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2]; //base orientation, quaternion x,y,z,w, in world space, carthesian - serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0]; + serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2]; serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3]; @@ -1605,7 +1614,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = mb->getBaseVel()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = mb->getBaseVel()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = mb->getBaseVel()[2]; - + //base angular velocity (in world space, carthesian) serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = mb->getBaseOmega()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = mb->getBaseOmega()[1]; @@ -1622,7 +1631,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { serverCmd.m_sendActualStateArgs.m_actualStateQdot[totalDegreeOfFreedomU++] = mb->getJointVelMultiDof(l)[d]; } - + if (0 == mb->getLink(l).m_jointFeedback) { for (int d=0;d<6;d++) @@ -1633,23 +1642,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { btVector3 sensedForce = mb->getLink(l).m_jointFeedback->m_reactionForces.getLinear(); btVector3 sensedTorque = mb->getLink(l).m_jointFeedback->m_reactionForces.getAngular(); - + serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+0] = sensedForce[0]; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+1] = sensedForce[1]; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+2] = sensedForce[2]; - + serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+3] = sensedTorque[0]; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+4] = sensedTorque[1]; serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+5] = sensedTorque[2]; } - + serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0; - + if (supportsJointMotor(mb,l)) { - + btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)body->m_multiBody->getLink(l).m_userPtr; - + if (motor && m_data->m_physicsDeltaTime>btScalar(0)) { btScalar force =motor->getAppliedImpulse(0)/m_data->m_physicsDeltaTime; @@ -1663,10 +1672,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin(); btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation(); - + btVector3 linkOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin(); btQuaternion linkRotation = mb->getLink(l).m_cachedWorldTransform.getRotation(); - + serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkOrigin.getX(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkOrigin.getY(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkOrigin.getZ(); @@ -1674,24 +1683,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkRotation.y(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkRotation.z(); serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkRotation.w(); - + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+2] = linkLocalInertialOrigin.getZ(); - + serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+3] = linkLocalInertialRotation.x(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+4] = linkLocalInertialRotation.y(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+5] = linkLocalInertialRotation.z(); serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+6] = linkLocalInertialRotation.w(); - + } - + serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ; serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU; - + hasStatus = true; - + } else { if (body && body->m_rigidBody) @@ -1711,7 +1720,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendActualStateArgs.m_actualStateQ[2] = tr.getOrigin()[2]; //base orientation, quaternion x,y,z,w, in world space, carthesian - serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0]; + serverCmd.m_sendActualStateArgs.m_actualStateQ[3] = tr.getRotation()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQ[4] = tr.getRotation()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQ[5] = tr.getRotation()[2]; serverCmd.m_sendActualStateArgs.m_actualStateQ[6] = tr.getRotation()[3]; @@ -1721,7 +1730,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendActualStateArgs.m_actualStateQdot[0] = rb->getLinearVelocity()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[1] = rb->getLinearVelocity()[1]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[2] = rb->getLinearVelocity()[2]; - + //base angular velocity (in world space, carthesian) serverCmd.m_sendActualStateArgs.m_actualStateQdot[3] = rb->getAngularVelocity()[0]; serverCmd.m_sendActualStateArgs.m_actualStateQdot[4] = rb->getAngularVelocity()[1]; @@ -1745,7 +1754,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } case CMD_STEP_FORWARD_SIMULATION: { - + if (m_data->m_verboseOutput) { b3Printf("Step simulation request"); @@ -1756,13 +1765,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm applyJointDamping(i); } m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0); - + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED; hasStatus = true; break; } - + case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: { if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME) @@ -1781,12 +1790,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } } - + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; hasStatus = true; break; - + }; case CMD_INIT_POSE: { @@ -1803,6 +1812,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION) { btVector3 zero(0,0,0); + btAssert(clientCmd.m_initPoseArgs.m_hasInitialStateQ[0] && + clientCmd.m_initPoseArgs.m_hasInitialStateQ[1] && + clientCmd.m_initPoseArgs.m_hasInitialStateQ[2]); + mb->setBaseVel(zero); mb->setBasePos(btVector3( clientCmd.m_initPoseArgs.m_initialStateQ[0], @@ -1811,6 +1824,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION) { + btAssert(clientCmd.m_initPoseArgs.m_hasInitialStateQ[3] && + clientCmd.m_initPoseArgs.m_hasInitialStateQ[4] && + clientCmd.m_initPoseArgs.m_hasInitialStateQ[5] && + clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]); + mb->setBaseOmega(btVector3(0,0,0)); mb->setWorldToBaseRot(btQuaternion( clientCmd.m_initPoseArgs.m_initialStateQ[3], @@ -1823,9 +1841,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm int dofIndex = 7; for (int i=0;igetNumLinks();i++) { - if (mb->getLink(i).m_dofCount==1) + if ( (clientCmd.m_initPoseArgs.m_hasInitialStateQ[dofIndex]) && (mb->getLink(i).m_dofCount==1)) { - mb->setJointPos(i,clientCmd.m_initPoseArgs.m_initialStateQ[dofIndex]); mb->setJointVel(i,0); } @@ -1833,14 +1850,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } } } - + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; hasStatus = true; break; } - + case CMD_RESET_SIMULATION: { @@ -1857,7 +1874,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm createEmptyDynamicsWorld(); m_data->exitHandles(); m_data->initHandles(); - + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED; hasStatus = true; @@ -1887,7 +1904,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_INITIAL_ORIENTATION) { - + startTrans.setRotation(btQuaternion( clientCmd.m_createBoxShapeArguments.m_initialOrientation[0], clientCmd.m_createBoxShapeArguments.m_initialOrientation[1], @@ -1912,7 +1929,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm m_data->m_worldImporters.push_back(worldImporter); btCollisionShape* shape = 0; - + switch (shapeType) { case COLLISION_SHAPE_TYPE_CYLINDER_X: @@ -1969,8 +1986,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm shape = worldImporter->createBoxShape(halfExtents); } } - - + + bool isDynamic = (mass>0); btRigidBody* rb = worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0); rb->setRollingFriction(0.2); @@ -1985,11 +2002,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } m_data->m_guiHelper->createCollisionShapeGraphicsObject(rb->getCollisionShape()); m_data->m_guiHelper->createCollisionObjectGraphicsObject(rb,colorRGBA); - - + + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_RIGID_BODY_CREATION_COMPLETED; - + int bodyUniqueId = m_data->allocHandle(); InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId); @@ -2008,7 +2025,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm clientCmd.m_pickBodyArguments.m_rayToWorld[1], clientCmd.m_pickBodyArguments.m_rayToWorld[2])); - + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; hasStatus = true; @@ -2040,7 +2057,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm default: { b3Error("Unknown command encountered"); - + SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_UNKNOWN_COMMAND_FLUSHED; hasStatus = true; @@ -2048,7 +2065,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } }; - + } } return hasStatus; @@ -2060,10 +2077,10 @@ void PhysicsServerCommandProcessor::renderScene() if (m_data->m_guiHelper) { m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld); - + m_data->m_guiHelper->render(m_data->m_dynamicsWorld); } - + } void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags) @@ -2114,7 +2131,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject); if (multiCol && multiCol->m_multiBody) { - + m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep(); multiCol->m_multiBody->setCanSleep(false); @@ -2127,10 +2144,10 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons //it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?) btScalar scaling=1; p2p->setMaxAppliedImpulse(2*scaling); - + btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; world->addMultiBodyConstraint(p2p); - m_data->m_pickingMultiBodyPoint2Point =p2p; + m_data->m_pickingMultiBodyPoint2Point =p2p; } } @@ -2155,7 +2172,7 @@ bool PhysicsServerCommandProcessor::movePickedBody(const btVector3& rayFromWorld if (pickCon) { //keep it at the same picking distance - + btVector3 dir = rayToWorld-rayFromWorld; dir.normalize(); dir *= m_data->m_oldPickingDist; @@ -2164,21 +2181,21 @@ bool PhysicsServerCommandProcessor::movePickedBody(const btVector3& rayFromWorld pickCon->setPivotB(newPivotB); } } - + if (m_data->m_pickingMultiBodyPoint2Point) { //keep it at the same picking distance - + btVector3 dir = rayToWorld-rayFromWorld; dir.normalize(); dir *= m_data->m_oldPickingDist; btVector3 newPivotB = rayFromWorld + dir; - + m_data->m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB); } - + return false; } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 83fd91c34..9745b8eb6 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -115,6 +115,7 @@ enum EnumInitPoseFlags struct InitPoseArgs { int m_bodyUniqueId; + int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM]; double m_initialStateQ[MAX_DEGREE_OF_FREEDOM]; }; @@ -179,11 +180,14 @@ struct SendDesiredStateArgs double m_Kp[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link double m_Kd[MAX_DEGREE_OF_FREEDOM];//indexed by degree of freedom, 6 for base, and then the dofs for each link + int m_hasDesiredStateFlags[MAX_DEGREE_OF_FREEDOM]; + //desired state is only written by the client, read-only access by server is expected //m_desiredStateQ is indexed by position variables, //starting with 3 base position variables, 4 base orientation variables (quaternion), then link position variables double m_desiredStateQ[MAX_DEGREE_OF_FREEDOM]; + //m_desiredStateQdot is index by velocity degrees of freedom, 3 linear and 3 angular variables for the base and then link velocity variables double m_desiredStateQdot[MAX_DEGREE_OF_FREEDOM]; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0d2303fc5..b978feb47 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -3,6 +3,7 @@ #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" + #ifdef __APPLE__ #include #else @@ -139,9 +140,11 @@ pybullet_loadURDF(PyObject* self, PyObject* args) int bodyIndex = -1; const char* urdfFileName=""; + float startPosX =0; - float startPosY =0; - float startPosZ = 1; + float startPosY =0; + float startPosZ = 0; + float startOrnX = 0; float startOrnY = 0; float startOrnZ = 0; @@ -282,7 +285,7 @@ pybullet_resetSimulation(PyObject* self, PyObject* args) return Py_None; } -static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) +static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) { //todo(erwincoumans): set max forces, kp, kd @@ -296,25 +299,22 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) size= PySequence_Size(args); - if (size==3) + if (size==4) { - int bodyIndex, controlMode; - PyObject* targetValues; - if (PyArg_ParseTuple(args, "iiO", &bodyIndex, &controlMode, &targetValues)) + int bodyIndex, jointIndex, controlMode; + double targetValue; + + if (PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue)) { - PyObject* seq; - int numJoints, len; - seq = PySequence_Fast(targetValues, "expected a sequence"); - len = PySequence_Size(targetValues); - numJoints = b3GetNumJoints(sm,bodyIndex); + int numJoints; b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; - int qIndex; - - if (len!=numJoints) - { - PyErr_SetString(SpamError, "Number of control target values doesn't match the number of joints."); - Py_DECREF(seq); + struct b3JointInfo info; + + numJoints = b3GetNumJoints(sm,bodyIndex); + if ((jointIndex >= numJoints) || (jointIndex < 0)) + { + PyErr_SetString(SpamError, "Joint index out-of-range."); return NULL; } @@ -323,49 +323,43 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args) (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)) { PyErr_SetString(SpamError, "Illegral control mode."); - Py_DECREF(seq); return NULL; } commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode); - - for (qIndex=0;qIndex= numJoints) || (jointIndex < 0)) + { + PyErr_SetString(SpamError, "Joint index out-of-range."); return NULL; } + + commandHandle = b3CreatePoseCommandInit(sm, bodyIndex); - commandHandle = b3CreatePoseCommandInit(sm, bodyIndex); + b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex, targetValue); - for (qIndex=0;qIndex Date: Fri, 24 Jun 2016 11:06:56 -0700 Subject: [PATCH 052/115] move PD control from PhysicsServerCommandProcessor into btMultiBodyJointMotor improvements/changes in pybullet API --- build_and_run_cmake.sh | 2 +- .../PhysicsServerCommandProcessor.cpp | 24 +-- examples/pybullet/pybullet.c | 151 +++++++++++------- .../Featherstone/btMultiBodyJointMotor.cpp | 29 +++- .../Featherstone/btMultiBodyJointMotor.h | 21 ++- 5 files changed, 146 insertions(+), 81 deletions(-) diff --git a/build_and_run_cmake.sh b/build_and_run_cmake.sh index 1405060f4..28354357b 100755 --- a/build_and_run_cmake.sh +++ b/build_and_run_cmake.sh @@ -2,6 +2,6 @@ rm CMakeCache.txt mkdir build_cmake cd build_cmake -cmake .. +cmake -DBUILD_PYTHON=OFF -CMAKE_BUILD_TYPE=Release .. make -j12 examples/ExampleBrowser/App_ExampleBrowser diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 3cdaac902..99b883454 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1434,7 +1434,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex]&SIM_DESIRED_STATE_HAS_QDOT)!=0) { desiredVelocity = clientCmd.m_sendDesiredStateCommandArgument.m_desiredStateQdot[dofIndex]; - motor->setVelocityTarget(desiredVelocity); + btScalar kd = 0.1f; + if ((clientCmd.m_sendDesiredStateCommandArgument.m_hasDesiredStateFlags[dofIndex] & SIM_DESIRED_STATE_HAS_KD)!=0) + { + kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[dofIndex]; + } + + motor->setVelocityTarget(desiredVelocity,kd); + + btScalar kp = 0.f; + motor->setPositionTarget(0,kp); hasDesiredVelocity = true; } if (hasDesiredVelocity) @@ -1511,16 +1520,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm kd = clientCmd.m_sendDesiredStateCommandArgument.m_Kd[velIndex]; } - int dof1 = 0; - btScalar currentPosition = mb->getJointPosMultiDof(link)[dof1]; - btScalar currentVelocity = mb->getJointVelMultiDof(link)[dof1]; - btScalar positionStabiliationTerm = (desiredPosition-currentPosition)/m_data->m_physicsDeltaTime; - btScalar velocityError = (desiredVelocity - currentVelocity); - - desiredVelocity = kp * positionStabiliationTerm + - kd * velocityError; - - motor->setVelocityTarget(desiredVelocity); + motor->setVelocityTarget(desiredVelocity,kd); + motor->setPositionTarget(desiredPosition,kp); + btScalar maxImp = 1000000.f*m_data->m_physicsDeltaTime; if ((clientCmd.m_updateFlags & SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index b978feb47..78e770dbe 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -290,7 +290,13 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) //todo(erwincoumans): set max forces, kp, kd int size; - + int bodyIndex, jointIndex, controlMode; + double targetValue=0; + double maxForce=100000; + double gains=0.1; + int valid = 0; + + if (0==sm) { PyErr_SetString(SpamError, "Not connected to physics server."); @@ -301,69 +307,96 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) if (size==4) { - int bodyIndex, jointIndex, controlMode; - double targetValue; - if (PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue)) + if (!PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue)) { - int numJoints; - b3SharedMemoryCommandHandle commandHandle; - b3SharedMemoryStatusHandle statusHandle; - struct b3JointInfo info; + PyErr_SetString(SpamError, "Error parsing arguments"); + return NULL; + } + valid = 1; + } + if (size==5) + { + + if (!PyArg_ParseTuple(args, "iiidd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce)) + { + PyErr_SetString(SpamError, "Error parsing arguments"); + return NULL; + } + valid = 1; + } + if (size==6) + { + + if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &gains)) + { + PyErr_SetString(SpamError, "Error parsing arguments"); + return NULL; + } + valid = 1; + } + + + if (valid) + { + int numJoints; + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + struct b3JointInfo info; - numJoints = b3GetNumJoints(sm,bodyIndex); - if ((jointIndex >= numJoints) || (jointIndex < 0)) - { - PyErr_SetString(SpamError, "Joint index out-of-range."); - return NULL; - } - - if ((controlMode != CONTROL_MODE_VELOCITY) && - (controlMode != CONTROL_MODE_TORQUE) && - (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)) - { - PyErr_SetString(SpamError, "Illegral control mode."); - return NULL; - } - - commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode); - - b3GetJointInfo(sm, bodyIndex, jointIndex, &info); - - switch (controlMode) - { - case CONTROL_MODE_VELOCITY: - { - b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue); - b3JointControlSetKd(commandHandle,info.m_uIndex,1); - b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,10000); - break; - } - - case CONTROL_MODE_TORQUE: - { - b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, targetValue); - break; - } - - case CONTROL_MODE_POSITION_VELOCITY_PD: - { - b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue); - b3JointControlSetKp(commandHandle,info.m_uIndex,1); - b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,10000); - break; - } - default: - { - } - }; - - statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); - - Py_INCREF(Py_None); - return Py_None; + numJoints = b3GetNumJoints(sm,bodyIndex); + if ((jointIndex >= numJoints) || (jointIndex < 0)) + { + PyErr_SetString(SpamError, "Joint index out-of-range."); + return NULL; } + if ((controlMode != CONTROL_MODE_VELOCITY) && + (controlMode != CONTROL_MODE_TORQUE) && + (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)) + { + PyErr_SetString(SpamError, "Illegral control mode."); + return NULL; + } + + commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode); + + b3GetJointInfo(sm, bodyIndex, jointIndex, &info); + + switch (controlMode) + { + case CONTROL_MODE_VELOCITY: + { + b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue); + double kd = gains; + b3JointControlSetKd(commandHandle,info.m_uIndex,kd); + b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce); + break; + } + + case CONTROL_MODE_TORQUE: + { + b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, targetValue); + break; + } + + case CONTROL_MODE_POSITION_VELOCITY_PD: + { + b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue); + double kp = gains; + b3JointControlSetKp(commandHandle,info.m_uIndex,kp); + b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce); + break; + } + default: + { + } + }; + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + + Py_INCREF(Py_None); + return Py_None; } PyErr_SetString(SpamError, "error in setJointControl."); return NULL; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 50268611b..3d0f45b77 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -23,7 +23,10 @@ subject to the following restrictions: btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), - m_desiredVelocity(desiredVelocity) + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(0.1), + m_kp(0) { m_maxAppliedImpulse = maxMotorImpulse; @@ -51,7 +54,10 @@ void btMultiBodyJointMotor::finalizeMultiDof() btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse) //:btMultiBodyConstraint(body,0,link,-1,1,true), :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), - m_desiredVelocity(desiredVelocity) + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(0.1), + m_kp(0) { btAssert(linkDoF < body->getLink(link).m_dofCount); @@ -113,9 +119,22 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con for (int row=0;rowgetJointPosMultiDof(m_linkA)[dof]; + btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; + btScalar positionStabiliationTerm = (m_desiredPosition-currentPosition)/infoGlobal.m_timeStep; + btScalar velocityError = (m_desiredVelocity - currentVelocity); + btScalar rhs = m_kp * positionStabiliationTerm + m_kd * velocityError; + printf("m_kd = %f\n", m_kd); + printf("m_kp = %f\n", m_kp); + printf("m_desiredVelocity = %f\n", m_desiredVelocity); + printf("m_desiredPosition = %f\n", m_desiredPosition); + printf("m_maxAppliedImpulse = %f\n", m_maxAppliedImpulse); + printf("rhs = %f\n", rhs); + + + fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,rhs); constraintRow.m_orgConstraint = this; constraintRow.m_orgDofIndex = row; { diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h index d322f87e7..2a55be035 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h @@ -24,9 +24,12 @@ struct btSolverInfo; class btMultiBodyJointMotor : public btMultiBodyConstraint { protected: - - - btScalar m_desiredVelocity; + + btScalar m_desiredVelocity; + btScalar m_desiredPosition; + btScalar m_kd; + btScalar m_kp; + public: @@ -42,10 +45,18 @@ public: btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal); - virtual void setVelocityTarget(btScalar velTarget) + virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f) { - m_desiredVelocity = velTarget; + m_desiredVelocity = velTarget; + m_kd = kd; } + + virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f) + { + m_desiredPosition = posTarget; + m_kp = kp; + } + virtual void debugDraw(class btIDebugDraw* drawer) { From a15eb3035e1aa72f7e80c525e0599bbe5d939858 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 24 Jun 2016 11:12:19 -0700 Subject: [PATCH 053/115] default gains 1 -> 0.1 --- .../Featherstone/btMultiBodyJointMotor.h | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h index 2a55be035..e433515d4 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h @@ -24,11 +24,11 @@ struct btSolverInfo; class btMultiBodyJointMotor : public btMultiBodyConstraint { protected: - - btScalar m_desiredVelocity; - btScalar m_desiredPosition; - btScalar m_kd; - btScalar m_kp; + + btScalar m_desiredVelocity; + btScalar m_desiredPosition; + btScalar m_kd; + btScalar m_kp; public: @@ -45,18 +45,18 @@ public: btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal); - virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f) + virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 0.1f) { - m_desiredVelocity = velTarget; + m_desiredVelocity = velTarget; m_kd = kd; } - - virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f) + + virtual void setPositionTarget(btScalar posTarget, btScalar kp = 0.1f) { - m_desiredPosition = posTarget; + m_desiredPosition = posTarget; m_kp = kp; - } - + } + virtual void debugDraw(class btIDebugDraw* drawer) { From d339cf5b74c754064b0336b9e71f881c2e29805c Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Fri, 24 Jun 2016 15:30:43 -0700 Subject: [PATCH 054/115] ability to call renderImage with three vectors: camera position, target position, and up vector --- examples/pybullet/pybullet.c | 78 +++++++++++++++++++++++++++++++++++- 1 file changed, 77 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 8574fa308..bf55cc46a 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -976,6 +976,32 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) return 0; } +// internal function to set a float vector[3] +// used to initialize camera position with +// a view and projection matrix in renderImage() +// +// // Args: +// matrix - float[16] which will be set by values from objMat +static int pybullet_internalSetVector(PyObject* objMat, float vector[3]) +{ + int i, len; + PyObject* seq; + + seq = PySequence_Fast(objMat, "expected a sequence"); + len = PySequence_Size(objMat); + if (len==3) + { + for (i = 0; i < len; i++) + { + vector[i] = pybullet_internalGetFloatFromSequence(seq,i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); + return 0; +} + // Render an image from the current timestep of the simulation // // Examples: @@ -995,10 +1021,20 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) ///request an image from a simulated camera, using a software renderer. struct b3CameraImageData imageData; PyObject* objViewMat,* objProjMat; - int width, height; + PyObject* objCameraPos,*objTargetPos,* objCameraUp; + + int width, height; int size= PySequence_Size(args); float viewMatrix[16]; float projectionMatrix[16]; + + float cameraPos[3]; + float targetPos[3]; + float cameraUp[3]; + + float left, right, bottom, top, aspect; + float nearVal = .001; + float farVal = 1000; // inialize cmd b3SharedMemoryCommandHandle command; @@ -1035,6 +1071,46 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) } } + if (size==5) // set camera resoluation and view and projection matrix + { + if (PyArg_ParseTuple(args, "iiOOO", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp)) + { + b3RequestCameraImageSetPixelResolution(command,width,height); + if (pybullet_internalSetVector(objCameraPos, cameraPos) && + pybullet_internalSetVector(objTargetPos, targetPos) && + pybullet_internalSetVector(objCameraUp, cameraUp)) + { + printf("\ncamera pos:\n"); + for(int i =0;i<3; i++) { + printf(" %f", cameraPos[i]); + } + + printf("\ntargetPos pos:\n"); + for(int i =0;i<3; i++) { + printf(" %f", targetPos[i]); + } + + printf("\ncameraUp pos:\n"); + for(int i =0;i<3; i++) { + printf(" %f", cameraUp[i]); + } + printf("\n"); + b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp); + printf("\n"); + + } + aspect = width/height; + left = -aspect * nearVal; + right = aspect * nearVal; + bottom = -nearVal; + top = nearVal; + + b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal); + printf("\n"); + + } + } + if (b3CanSubmitCommand(sm)) { b3SharedMemoryStatusHandle statusHandle; From 013dbda023eb728646c98d4d666c3dbba8a67a3c Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 26 Jun 2016 18:18:30 -0700 Subject: [PATCH 055/115] implement a few more pybullet methods: pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep, pybullet_resetBasePositionAndOrientation, pybullet_getQuaternionFromEuler, pybullet_getEulerFromQuaternion --- examples/SharedMemory/PhysicsClientC_API.cpp | 47 ++ examples/SharedMemory/PhysicsClientC_API.h | 5 + .../PhysicsServerCommandProcessor.cpp | 64 ++ examples/SharedMemory/SharedMemoryCommands.h | 22 + examples/SharedMemory/SharedMemoryPublic.h | 7 + examples/SharedMemory/premake4.lua | 2 + examples/pybullet/pybullet.c | 549 +++++++++++++----- 7 files changed, 547 insertions(+), 149 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 203e0ebbe..e67a2c144 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -903,3 +903,50 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage } } +b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + + command->m_type = CMD_APPLY_EXTERNAL_FORCE; + command->m_updateFlags = 0; + command->m_externalForceArguments.m_numForcesAndTorques = 0; + return (b3SharedMemoryCommandHandle) command; +} + +void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flag) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_APPLY_EXTERNAL_FORCE); + int index = command->m_externalForceArguments.m_numForcesAndTorques; + command->m_externalForceArguments.m_bodyUniqueIds[index] = bodyUniqueId; + command->m_externalForceArguments.m_linkIds[index] = linkId; + command->m_externalForceArguments.m_forceFlags[index] = EF_FORCE+flag; + for (int i = 0; i < 3; ++i) { + command->m_externalForceArguments.m_forcesAndTorques[index+i] = force[i]; + command->m_externalForceArguments.m_positions[index+i] = position[i]; + } + + command->m_externalForceArguments.m_numForcesAndTorques++; +} + +void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flag) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_APPLY_EXTERNAL_FORCE); + int index = command->m_externalForceArguments.m_numForcesAndTorques; + command->m_externalForceArguments.m_bodyUniqueIds[index] = bodyUniqueId; + command->m_externalForceArguments.m_linkIds[index] = linkId; + command->m_externalForceArguments.m_forceFlags[index] = EF_TORQUE+flag; + + for (int i = 0; i < 3; ++i) { + command->m_externalForceArguments.m_forcesAndTorques[index+i] = torque[i]; + } + command->m_externalForceArguments.m_numForcesAndTorques++; +} + diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index aee561d8f..8f57f4db9 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -159,6 +159,11 @@ b3SharedMemoryCommandHandle b3MovePickedBody(b3PhysicsClientHandle physClient, d double rayToWorldZ); b3SharedMemoryCommandHandle b3RemovePickingConstraint(b3PhysicsClientHandle physClient); +/// Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates. +b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient); +void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags); +void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags); + #ifdef __cplusplus } #endif diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 99b883454..6ead18363 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2056,6 +2056,70 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm hasStatus = true; break; } + case CMD_APPLY_EXTERNAL_FORCE: + { + for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i) + { + InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]); + if (body && body->m_multiBody) + { + btMultiBody* mb = body->m_multiBody; + bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME)!=0); + + if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE)!=0) + { + btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+1], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]); + btVector3 positionLocal( + clientCmd.m_externalForceArguments.m_positions[i*3+0], + clientCmd.m_externalForceArguments.m_positions[i*3+1], + clientCmd.m_externalForceArguments.m_positions[i*3+2]); + + if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1) + { + btVector3 forceWorld = isLinkFrame ? forceLocal : mb->getBaseWorldTransform().getBasis()*forceLocal; + btVector3 relPosWorld = isLinkFrame ? positionLocal : mb->getBaseWorldTransform().getBasis()*positionLocal; + mb->addBaseForce(forceWorld); + mb->addBaseTorque(relPosWorld.cross(forceWorld)); + //b3Printf("apply base force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2],positionLocal[0],positionLocal[1],positionLocal[2]); + } else + { + int link = clientCmd.m_externalForceArguments.m_linkIds[i]; + btVector3 forceWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*forceLocal; + btVector3 relPosWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*positionLocal; + mb->addLinkForce(link, forceWorld); + mb->addLinkTorque(link,relPosWorld.cross(forceWorld)); + //b3Printf("apply link force of %f,%f,%f at %f,%f,%f\n", forceWorld[0],forceWorld[1],forceWorld[2], positionLocal[0],positionLocal[1],positionLocal[2]); + } + } + if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE)!=0) + { + btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+1], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+2]); + + if (clientCmd.m_externalForceArguments.m_linkIds[i] == -1) + { + btVector3 torqueWorld = isLinkFrame ? torqueLocal : mb->getBaseWorldTransform().getBasis()*torqueLocal; + mb->addBaseTorque(torqueWorld); + //b3Printf("apply base torque of %f,%f,%f\n", torqueWorld[0],torqueWorld[1],torqueWorld[2]); + } else + { + int link = clientCmd.m_externalForceArguments.m_linkIds[i]; + btVector3 torqueWorld = mb->getLink(link).m_cachedWorldTransform.getBasis()*torqueLocal; + mb->addLinkTorque(link, torqueWorld); + //b3Printf("apply link torque of %f,%f,%f\n", torqueWorld[0],torqueWorld[1],torqueWorld[2]); + } + } + } + } + + SharedMemoryStatus& serverCmd =serverStatusOut; + serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; + hasStatus = true; + break; + } default: { b3Error("Unknown command encountered"); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 9745b8eb6..3ddb11e91 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -319,6 +319,27 @@ struct SdfRequestInfoArgs int m_bodyUniqueId; }; +///flags for b3ApplyExternalTorque and b3ApplyExternalForce +enum EnumExternalForcePrivateFlags +{ +// EF_LINK_FRAME=1, +// EF_WORLD_FRAME=2, + EF_TORQUE=4, + EF_FORCE=8, +}; + + + +struct ExternalForceArgs +{ + int m_numForcesAndTorques; + int m_bodyUniqueIds[MAX_SDF_BODIES]; + int m_linkIds[MAX_SDF_BODIES]; + double m_forcesAndTorques[3*MAX_SDF_BODIES]; + double m_positions[3*MAX_SDF_BODIES]; + int m_forceFlags[MAX_SDF_BODIES]; +}; + enum EnumSdfRequestInfoFlags { SDF_REQUEST_INFO_BODY=1, @@ -350,6 +371,7 @@ struct SharedMemoryCommand struct RequestDebugLinesArgs m_requestDebugLinesArguments; struct RequestPixelDataArgs m_requestPixelDataArguments; struct PickBodyArgs m_pickBodyArguments; + struct ExternalForceArgs m_externalForceArguments; }; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 5e6da5c50..3aeeb8f11 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -26,6 +26,7 @@ enum EnumSharedMemoryClientCommand CMD_MOVE_PICKED_BODY, CMD_REMOVE_PICKING_CONSTRAINT_BODY, CMD_REQUEST_CAMERA_IMAGE_DATA, + CMD_APPLY_EXTERNAL_FORCE, CMD_MAX_CLIENT_COMMANDS }; @@ -143,5 +144,11 @@ enum { CONTROL_MODE_POSITION_VELOCITY_PD, }; +///flags for b3ApplyExternalTorque and b3ApplyExternalForce +enum EnumExternalForceFlags +{ + EF_LINK_FRAME=1, + EF_WORLD_FRAME=2, +}; #endif//SHARED_MEMORY_PUBLIC_H diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index e923b412f..34aea2de5 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -26,6 +26,8 @@ files { "PhysicsServer.h", "main.cpp", "PhysicsClientC_API.cpp", + "SharedMemoryCommands.h", + "SharedMemoryPublic.h", "PhysicsServer.cpp", "PosixSharedMemory.cpp", "Win32SharedMemory.cpp", diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 78e770dbe..5cdf39a59 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -437,6 +437,36 @@ pybullet_setGravity(PyObject* self, PyObject* args) return Py_None; } +static PyObject * +pybullet_setTimeStep(PyObject* self, PyObject* args) +{ + if (0==sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + { + double timeStep=0.001; + int ret; + + b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm); + b3SharedMemoryStatusHandle statusHandle; + + if (!PyArg_ParseTuple(args, "d", &timeStep)) + { + PyErr_SetString(SpamError, "setTimeStep expected a single value (double)."); + return NULL; + } + ret = b3PhysicsParamSetTimeStep(command, timeStep); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + //ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED); + } + + Py_INCREF(Py_None); + return Py_None; +} + // Internal function used to get the base position and orientation @@ -632,140 +662,88 @@ pybullet_resetJointState(PyObject* self, PyObject* args) return NULL; } - - -// CURRENTLY NOT SUPPORTED -// Initalize a single joint position for a specific body index -// -// This method skips any physics simulation and -// teleports all joints to the new positions. - -// TODO(hellojas): initializing one joint currently not supported -// static PyObject* -// pybullet_initializeJointPosition(PyObject* self, PyObject* args) -// { -// if (0==sm) -// { -// PyErr_SetString(SpamError, "Not connected to physics server."); -// return NULL; -// } -// -// int i; -// int bodyIndex = -1; -// int jointIndex = -1; -// double jointPos = 0.0; -// -// int size= PySequence_Size(args); -// -// if (size==3) // get body index, joint index, and joint position value -// { -// if (PyArg_ParseTuple(args, "iid", &bodyIndex, &jointIndex, &jointPos)) -// { -// b3SharedMemoryCommandHandle cmd_handle = b3CreatePoseCommandInit(sm, bodyIndex); -// -// // printf("initializing joint %d at %f\n", jointIndex, jointPos); -// b3CreatePoseCommandSetJointPosition(sm, cmd_handle, jointIndex, jointPos); -// -// b3SharedMemoryStatusHandle status_handle = -// b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); -// -// const int status_type = b3GetStatusType(status_handle); -// -// } -// } -// -// Py_INCREF(Py_None); -// return Py_None; -// } -#if 0 -static void pybullet_internalGetJointPositions(int bodyIndex, int numJoints, double jointPositions[]) { - int i, j; - int numDegreeQ; - int numDegreeU; - int arrSizeOfPosAndOrn = 7; - - for (i =0;i euler yaw/pitch/roll convention from URDF/SDF, see Gazebo +///https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc +static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args) +{ + + double squ; + double sqx; + double sqy; + double sqz; + + double quat[4]; + + PyObject* quatObj; + + if (PyArg_ParseTuple(args, "O", &quatObj)) + { + PyObject* seq; + int len,i; + seq = PySequence_Fast(quatObj, "expected a sequence"); + len = PySequence_Size(quatObj); + if (len==4) + { + for (i = 0; i < 4; i++) + { + quat[i] = pybullet_internalGetFloatFromSequence(seq,i); + } + } else + { + PyErr_SetString(SpamError, "Quaternion need a 4 components [x,y,z,w]."); + Py_DECREF(seq); + return NULL; + } + Py_DECREF(seq); + } else + { + PyErr_SetString(SpamError, "Quaternion need a 4 components [x,y,z,w]."); + return NULL; + } + + { + double rpy[3]; + sqx = quat[0] * quat[0]; + sqy = quat[1] * quat[1]; + sqz = quat[2] * quat[2]; + squ = quat[3] * quat[3]; + rpy[0] = atan2(2 * (quat[1]*quat[2] + quat[3]*quat[0]), squ - sqx - sqy + sqz); + double sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]); + rpy[1] = sarg <= -1.0 ? -0.5*3.141592538 : (sarg >= 1.0 ? 0.5*3.141592538 : asin(sarg)); + rpy[2] = atan2(2 * (quat[0]*quat[1] + quat[3]*quat[2]), squ + sqx - sqy - sqz); + { + PyObject *pylist; + int i; + pylist = PyTuple_New(3); + for (i=0;i<3;i++) + PyTuple_SetItem(pylist,i,PyFloat_FromDouble(rpy[i])); + return pylist; + } + } + Py_INCREF(Py_None); + return Py_None; +} + static PyMethodDef SpamMethods[] = { @@ -1109,6 +1343,9 @@ static PyMethodDef SpamMethods[] = { {"setGravity", pybullet_setGravity, METH_VARARGS, "Set the gravity acceleration (x,y,z)."}, + {"setTimeStep", pybullet_setTimeStep, METH_VARARGS, + "Set the amount of time to proceed at each call to stepSimulation. (unit is seconds, typically range is 0.01 or 0.001)"}, + {"loadURDF", pybullet_loadURDF, METH_VARARGS, "Create a multibody by loading a URDF file."}, @@ -1118,8 +1355,8 @@ static PyMethodDef SpamMethods[] = { {"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS, "Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."}, -// {"resetBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS, -// "Reset the world position and orientation of the base of the object instantaneously, not through physics simulation. (x,y,z) position vector and (x,y,z,w) quaternion orientation."}, + {"resetBasePositionAndOrientation", pybullet_resetBasePositionAndOrientation, METH_VARARGS, + "Reset the world position and orientation of the base of the object instantaneously, not through physics simulation. (x,y,z) position vector and (x,y,z,w) quaternion orientation."}, {"getNumJoints", pybullet_getNumJoints, METH_VARARGS, "Get the number of joints for an object."}, @@ -1136,18 +1373,29 @@ static PyMethodDef SpamMethods[] = { {"setJointMotorControl", pybullet_setJointMotorControl, METH_VARARGS, "Set a single joint motor control mode and desired target value. There is no immediate state change, stepSimulation will process the motors."}, + {"applyExternalForce", pybullet_applyExternalForce, METH_VARARGS, + "for objectUniqueId, linkIndex (-1 for base/root link), apply a force [x,y,z] at the a position [x,y,z], flag to select FORCE_IN_LINK_FRAME or FORCE_IN_WORLD_FRAME coordinates"}, + + {"applyExternalTorque", pybullet_applyExternalTorque, METH_VARARGS, + "for objectUniqueId, linkIndex (-1 for base/root link) apply a torque [x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or TORQUE_IN_WORLD_FRAME coordinates"}, + + {"renderImage", pybullet_renderImage, METH_VARARGS, + "Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"}, + + {"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS, + "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to quaternion [x,y,z,w]"}, + + {"getEulerFromQuaternion", pybullet_getEulerFromQuaternion, METH_VARARGS, + "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF convention"}, + + //todo(erwincoumans) //saveSnapshot //loadSnapshot + ////todo(erwincoumans) //collision info //raycast info - - //applyBaseForce - //applyLinkForce - - {"renderImage", pybullet_renderImage, METH_VARARGS, - "Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"}, - + {NULL, NULL, 0, NULL} /* Sentinel */ }; @@ -1155,7 +1403,7 @@ static PyMethodDef SpamMethods[] = { static struct PyModuleDef moduledef = { PyModuleDef_HEAD_INIT, "pybullet", /* m_name */ - "Python bindings for Bullet", /* m_doc */ + "Python bindings for Bullet Physics Robotics API (also known as Shared Memory API)", /* m_doc */ -1, /* m_size */ SpamMethods, /* m_methods */ NULL, /* m_reload */ @@ -1198,6 +1446,9 @@ initpybullet(void) PyModule_AddIntConstant (m, "VELOCITY_CONTROL", CONTROL_MODE_VELOCITY); // user read PyModule_AddIntConstant (m, "POSITION_CONTROL", CONTROL_MODE_POSITION_VELOCITY_PD); // user read + PyModule_AddIntConstant (m, "LINK_FRAME", EF_LINK_FRAME); + PyModule_AddIntConstant (m, "WORLD_FRAME", EF_WORLD_FRAME); + SpamError = PyErr_NewException("pybullet.error", NULL, NULL); Py_INCREF(SpamError); PyModule_AddObject(m, "error", SpamError); From e16082a7cd83de3bf28ac59434140d5789207f18 Mon Sep 17 00:00:00 2001 From: Benjamin Ellenberger Date: Mon, 27 Jun 2016 15:14:36 +0200 Subject: [PATCH 056/115] Refactor Newton's Cradle. Implement Newton's Cradle with Softbody ropes. --- examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + examples/ExtendedTutorials/NewtonsCradle.cpp | 27 +- examples/ExtendedTutorials/NewtonsCradle.h | 6 +- .../ExtendedTutorials/NewtonsRopeCradle.cpp | 345 ++++++++++++++++++ .../ExtendedTutorials/NewtonsRopeCradle.h | 22 ++ 6 files changed, 385 insertions(+), 19 deletions(-) create mode 100644 examples/ExtendedTutorials/NewtonsRopeCradle.cpp create mode 100644 examples/ExtendedTutorials/NewtonsRopeCradle.h diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 0af74fdb8..0546f1418 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -171,6 +171,8 @@ SET(BulletExampleBrowser_SRCS ../ExtendedTutorials/SimpleJoint.h ../ExtendedTutorials/NewtonsCradle.cpp ../ExtendedTutorials/NewtonsCradle.h + ../ExtendedTutorials/NewtonsRopeCradle.cpp + ../ExtendedTutorials/NewtonsRopeCradle.h ../ExtendedTutorials/InclinedPlane.cpp ../ExtendedTutorials/InclinedPlane.h ../ExtendedTutorials/MultiPendulum.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 10cfe33ee..97bb1ad26 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -66,6 +66,7 @@ #include "../ExtendedTutorials/RigidBodyFromObj.h" #include "../ExtendedTutorials/InclinedPlane.h" #include "../ExtendedTutorials/NewtonsCradle.h" +#include "../ExtendedTutorials/NewtonsRopeCradle.h" #include "../ExtendedTutorials/MultiPendulum.h" struct ExampleEntry @@ -279,6 +280,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Simple Bridge", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc), ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc), ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.", ET_NewtonsCradleCreateFunc), + ExampleEntry(1,"Newton's Rope Cradle", "Create a Newton's Cradle using ropes. Press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation) and the number of displaced pendula.",ET_NewtonsRopeCradleCreateFunc), ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.",ET_MultiPendulumCreateFunc), diff --git a/examples/ExtendedTutorials/NewtonsCradle.cpp b/examples/ExtendedTutorials/NewtonsCradle.cpp index a1c51f1fe..a8b8d5773 100644 --- a/examples/ExtendedTutorials/NewtonsCradle.cpp +++ b/examples/ExtendedTutorials/NewtonsCradle.cpp @@ -30,7 +30,7 @@ static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle static btScalar gDisplacedPendula = 1; // number of displaced pendula //TODO: This is an int as well -static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other +static btScalar gPendulaRestitution = 1; // pendula restitution when hitting against each other static btScalar gSphereRadius = 1; // pendula radius @@ -48,8 +48,7 @@ struct NewtonsCradleExample: public CommonRigidBodyBase { } virtual void initPhysics(); virtual void renderScene(); - virtual void createPendulum(btSphereShape* colShape, btScalar xPosition, - btScalar yPosition, btScalar zPosition, btScalar length, btScalar mass); + virtual void createPendulum(btSphereShape* colShape, btVector3 position, btScalar length, btScalar mass); virtual void changePendulaLength(btScalar length); virtual void changePendulaRestitution(btScalar restitution); virtual void stepSimulation(float deltaTime); @@ -139,12 +138,11 @@ void NewtonsCradleExample::initPhysics() { + btIDebugDraw::DBG_DrawConstraints + btIDebugDraw::DBG_DrawConstraintLimits); - { // create the pendulum starting at the indicated position below and where each pendulum has the following mass + { // create the pendula starting at the indicated position below and where each pendulum has the following mass btScalar pendulumMass(1.f); - btScalar xPosition(0.0f); // initial left-most pendulum position - btScalar yPosition(15.0f); - btScalar zPosition(0.0f); + btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position + btQuaternion orientation(0,0,0,1); // orientation of the pendula // Re-using the same collision is better for memory usage and performance btSphereShape* pendulumShape = new btSphereShape(gSphereRadius); @@ -153,11 +151,10 @@ void NewtonsCradleExample::initPhysics() { for (int i = 0; i < floor(gPendulaQty); i++) { // create pendulum - createPendulum(pendulumShape, xPosition, yPosition, zPosition, - gInitialPendulumLength, pendulumMass); + createPendulum(pendulumShape, position, gInitialPendulumLength, pendulumMass); // displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between - xPosition -= 2.1f * gSphereRadius; + position.setX(position.x()-2.1f * gSphereRadius); } } @@ -171,8 +168,7 @@ void NewtonsCradleExample::stepSimulation(float deltaTime) { } -void NewtonsCradleExample::createPendulum(btSphereShape* colShape, - btScalar xPosition, btScalar yPosition, btScalar zPosition, btScalar length, btScalar mass) { +void NewtonsCradleExample::createPendulum(btSphereShape* colShape,btVector3 position, btScalar length, btScalar mass) { // The pendulum looks like this (names when built): // O topSphere @@ -184,15 +180,14 @@ void NewtonsCradleExample::createPendulum(btSphereShape* colShape, startTransform.setIdentity(); // position the top sphere above ground with a moving x position - startTransform.setOrigin( - btVector3(btScalar(xPosition), btScalar(yPosition), btScalar(zPosition))); + startTransform.setOrigin(position); startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape); // position the bottom sphere below the top sphere startTransform.setOrigin( - btVector3(btScalar(xPosition), btScalar(yPosition - length), - btScalar(zPosition))); + btVector3(position.x(), btScalar(position.y() - length), + position.z())); startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape); diff --git a/examples/ExtendedTutorials/NewtonsCradle.h b/examples/ExtendedTutorials/NewtonsCradle.h index 9b9e2f247..028754f7e 100644 --- a/examples/ExtendedTutorials/NewtonsCradle.h +++ b/examples/ExtendedTutorials/NewtonsCradle.h @@ -13,10 +13,10 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef ET_NEWTONIAN_PENDULUM_EXAMPLE_H -#define ET_NEWTONIAN_PENDULUM_EXAMPLE_H +#ifndef ET_NEWTONS_CRADLE_EXAMPLE_H +#define ET_NEWTONS_CRADLE_EXAMPLE_H class CommonExampleInterface* ET_NewtonsCradleCreateFunc(struct CommonExampleOptions& options); -#endif //ET_NEWTONIAN_PENDULUM_EXAMPLE_H +#endif //ET_NEWTONS_CRADLE_EXAMPLE_H diff --git a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp new file mode 100644 index 000000000..d0a4b86a9 --- /dev/null +++ b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp @@ -0,0 +1,345 @@ +/* + Bullet Continuous Collision Detection and Physics Library + Copyright (c) 2015 Google Inc. http://bulletphysics.org + + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + */ + +#include "NewtonsRopeCradle.h" + +#include // TODO: Should I use another data structure? +#include + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "../CommonInterfaces/CommonRigidBodyBase.h" + +#include "BulletSoftBody/btSoftRigidDynamicsWorld.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" +#include "../CommonInterfaces/CommonParameterInterface.h" + +static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle +//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed + +static btScalar gDisplacedPendula = 1; // number of displaced pendula +//TODO: This is an int as well + +static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other + +static btScalar gSphereRadius = 1; // pendula radius + +static btScalar gInitialPendulumWidth = 4; // default pendula width + +static btScalar gInitialPendulumHeight = 8; // default pendula height + +static btScalar gRopeResolution = 1; // default rope resolution (number of links as in a chain) + +static btScalar gForcingForce = 30; // default force to displace the pendula + +struct NewtonsRopeCradleExample : public CommonRigidBodyBase { + NewtonsRopeCradleExample(struct GUIHelperInterface* helper) : + CommonRigidBodyBase(helper) { + } + virtual ~NewtonsRopeCradleExample(){} + virtual void initPhysics(); + virtual void renderScene(); + void createEmptyDynamicsWorld() + { + m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration(); + m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + + m_broadphase = new btDbvtBroadphase(); + + m_solver = new btSequentialImpulseConstraintSolver; + + m_dynamicsWorld = new btSoftRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); + m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); + + softBodyWorldInfo.m_broadphase = m_broadphase; + softBodyWorldInfo.m_dispatcher = m_dispatcher; + softBodyWorldInfo.m_gravity = m_dynamicsWorld->getGravity(); + softBodyWorldInfo.m_sparsesdf.Initialize(); + } + + virtual void createRopePendulum(btSphereShape* colShape, + btVector3 position, btQuaternion pendulumOrientation, btScalar width, btScalar height, btScalar mass); + virtual void changePendulaRestitution(btScalar restitution); + virtual void connectWithRope(btRigidBody* body1, btRigidBody* body2); + virtual bool keyboardCallback(int key, int state); + + virtual btSoftRigidDynamicsWorld* getSoftDynamicsWorld() + { + ///just make it a btSoftRigidDynamicsWorld please + ///or we will add type checking + return (btSoftRigidDynamicsWorld*) m_dynamicsWorld; + } + void resetCamera() + { + float dist = 41; + float pitch = 52; + float yaw = 35; + float targetPos[3]={0,0.46,0}; + m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); + } + + std::vector constraints; + std::vector pendula; + + btSoftBodyWorldInfo softBodyWorldInfo; + +}; + +static NewtonsRopeCradleExample* nex = NULL; + +void onRopePendulaRestitutionChanged(float pendulaRestitution); + +void floorRSliderValue(float notUsed); + +void NewtonsRopeCradleExample::initPhysics() +{ + + { // create a slider to change the number of pendula + SliderParams slider("Number of Pendula", &gPendulaQty); + slider.m_minVal = 1; + slider.m_maxVal = 50; + slider.m_callback = floorRSliderValue; // hack to get integer values + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + { // create a slider to change the number of displaced pendula + SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula); + slider.m_minVal = 0; + slider.m_maxVal = 49; + slider.m_callback = floorRSliderValue; // hack to get integer values + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + { // create a slider to change the pendula restitution + SliderParams slider("Pendula Restitution", &gPendulaRestitution); + slider.m_minVal = 0; + slider.m_maxVal = 1; + slider.m_clampToNotches = false; + slider.m_callback = onRopePendulaRestitutionChanged; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + { // create a slider to change the rope resolution + SliderParams slider("Rope Resolution", &gRopeResolution); + slider.m_minVal = 1; + slider.m_maxVal = 20; + slider.m_clampToNotches = false; + slider.m_callback = floorRSliderValue; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + { // create a slider to change the pendulum width + SliderParams slider("Pendulum Width", &gInitialPendulumWidth); + slider.m_minVal = 0; + slider.m_maxVal = 40; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + { // create a slider to change the pendulum height + SliderParams slider("Pendulum Height", &gInitialPendulumHeight); + slider.m_minVal = 0; + slider.m_maxVal = 40; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + { // create a slider to change the force to displace the lowest pendulum + SliderParams slider("Displacement force", &gForcingForce); + slider.m_minVal = 0.1; + slider.m_maxVal = 200; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( + slider); + } + + m_guiHelper->setUpAxis(1); + + createEmptyDynamicsWorld(); + + // create a debug drawer + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + if (m_dynamicsWorld->getDebugDrawer()) + m_dynamicsWorld->getDebugDrawer()->setDebugMode( + btIDebugDraw::DBG_DrawWireframe + + btIDebugDraw::DBG_DrawContactPoints + + btIDebugDraw::DBG_DrawConstraints + + btIDebugDraw::DBG_DrawConstraintLimits); + + { // create the pendula starting at the indicated position below and where each pendulum has the following mass + btScalar pendulumMass(1.0f); + + btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position + btQuaternion orientation(0,0,0,1); // orientation of the pendula + + // Re-using the same collision is better for memory usage and performance + btSphereShape* pendulumShape = new btSphereShape(gSphereRadius); + m_collisionShapes.push_back(pendulumShape); + + for (int i = 0; i < floor(gPendulaQty); i++) { + + // create pendulum + createRopePendulum(pendulumShape, position, orientation,gInitialPendulumWidth, + gInitialPendulumHeight, pendulumMass); + + // displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between) + position.setX(position.x()-2.1f * gSphereRadius); + } + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + +void NewtonsRopeCradleExample::connectWithRope(btRigidBody* body1, btRigidBody* body2) +{ + btSoftBody* softBodyRope0 = btSoftBodyHelpers::CreateRope(softBodyWorldInfo,body1->getWorldTransform().getOrigin(),body2->getWorldTransform().getOrigin(),gRopeResolution,0); + softBodyRope0->setTotalMass(0.1f); + + softBodyRope0->appendAnchor(0,body1); + softBodyRope0->appendAnchor(softBodyRope0->m_nodes.size()-1,body2); + + softBodyRope0->m_cfg.piterations = 5; + softBodyRope0->m_cfg.kDP = 0.005f; + softBodyRope0->m_cfg.kSHR = 1; + softBodyRope0->m_cfg.kCHR = 1; + softBodyRope0->m_cfg.kKHR = 1; + + getSoftDynamicsWorld()->addSoftBody(softBodyRope0); +} + +void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape, + btVector3 position, btQuaternion pendulumOrientation, btScalar width, btScalar height, btScalar mass) { + + // The pendulum looks like this (names when built): + // O O topSphere1 topSphere2 + // \ / + // O bottomSphere + + //create a dynamic pendulum + btTransform startTransform; + startTransform.setIdentity(); + + // calculate sphere positions + btVector3 topSphere1RelPosition(0,0,width); + btVector3 topSphere2RelPosition(0,0,-width); + btVector3 bottomSphereRelPosition(0,-height,0); + + + // position the top sphere above ground with appropriate orientation + startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially + startTransform.setRotation(pendulumOrientation); // pendulum rotation + startTransform.setOrigin(startTransform * topSphere1RelPosition); // rotate this position + startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position + btRigidBody* topSphere1 = createRigidBody(0, startTransform, colShape); // make top sphere static + + // position the top sphere above ground with appropriate orientation + startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially + startTransform.setRotation(pendulumOrientation); // pendulum rotation + startTransform.setOrigin(startTransform * topSphere2RelPosition); // rotate this position + startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position + btRigidBody* topSphere2 = createRigidBody(0, startTransform, colShape); // make top sphere static + + // position the bottom sphere below the top sphere + startTransform.setOrigin(btVector3(0,0,0)); // no translation intitially + startTransform.setRotation(pendulumOrientation); // pendulum rotation + startTransform.setOrigin(startTransform * bottomSphereRelPosition); // rotate this position + startTransform.setOrigin(position + startTransform.getOrigin()); // add non-rotated position to the relative position + btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape); + bottomSphere->setFriction(0); // we do not need friction here + pendula.push_back(bottomSphere); + + // disable the deactivation when objects do not move anymore + topSphere1->setActivationState(DISABLE_DEACTIVATION); + topSphere2->setActivationState(DISABLE_DEACTIVATION); + bottomSphere->setActivationState(DISABLE_DEACTIVATION); + + bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution + + // add ropes between spheres + connectWithRope(topSphere1, bottomSphere); + connectWithRope(topSphere2, bottomSphere); +} + +void NewtonsRopeCradleExample::renderScene() +{ + CommonRigidBodyBase::renderScene(); + btSoftRigidDynamicsWorld* softWorld = getSoftDynamicsWorld(); + + for ( int i=0;igetSoftBodyArray().size();i++) + { + btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i]; + //if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + { + btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer()); + btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags()); + } + } +} + +void NewtonsRopeCradleExample::changePendulaRestitution(btScalar restitution) { + for (std::vector::iterator rit = pendula.begin(); + rit != pendula.end(); rit++) { + btAssert((*rit) && "Null constraint"); + + (*rit)->setRestitution(restitution); + } +} + +bool NewtonsRopeCradleExample::keyboardCallback(int key, int state) { + //b3Printf("Key pressed: %d in state %d \n",key,state); + + // key 3 + switch (key) { + case 51 /*ASCII for 3*/: { + for (int i = 0; i < gDisplacedPendula; i++) { + if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty) + pendula[i]->applyCentralForce(btVector3(gForcingForce, 0, 0)); + } + return true; + } + } + + return false; +} + +// GUI parameter modifiers + +void onRopePendulaRestitutionChanged(float pendulaRestitution) { + if (nex){ + nex->changePendulaRestitution(pendulaRestitution); + } +} + +void floorRSliderValue(float notUsed) { + gPendulaQty = floor(gPendulaQty); + gDisplacedPendula = floor(gDisplacedPendula); + gRopeResolution = floor(gRopeResolution); +} + +CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc( + CommonExampleOptions& options) { + nex = new NewtonsRopeCradleExample(options.m_guiHelper); + return nex; +} diff --git a/examples/ExtendedTutorials/NewtonsRopeCradle.h b/examples/ExtendedTutorials/NewtonsRopeCradle.h new file mode 100644 index 000000000..3edbcd5af --- /dev/null +++ b/examples/ExtendedTutorials/NewtonsRopeCradle.h @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2015 Google Inc. http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H +#define ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H + +class CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc(struct CommonExampleOptions& options); + + +#endif //ET_NEWTONS_ROPE_CRADLE_EXAMPLE_H From 5d5e7df7c5bc93ef4b1b23c464aeb4d994e6379d Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Mon, 27 Jun 2016 11:19:57 -0700 Subject: [PATCH 057/115] exposing near/far values as params; commented out debug printf which caused failed checks --- examples/pybullet/pybullet.c | 42 +++++++++++++++++++----------------- 1 file changed, 22 insertions(+), 20 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index bf55cc46a..aa0115e95 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1033,8 +1033,9 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) float cameraUp[3]; float left, right, bottom, top, aspect; - float nearVal = .001; - float farVal = 1000; + float nearVal, farVal; + // float nearVal = .001; + // float farVal = 1000; // inialize cmd b3SharedMemoryCommandHandle command; @@ -1073,32 +1074,33 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) if (size==5) // set camera resoluation and view and projection matrix { - if (PyArg_ParseTuple(args, "iiOOO", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp)) + if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, %farVal)) { b3RequestCameraImageSetPixelResolution(command,width,height); if (pybullet_internalSetVector(objCameraPos, cameraPos) && pybullet_internalSetVector(objTargetPos, targetPos) && pybullet_internalSetVector(objCameraUp, cameraUp)) { - printf("\ncamera pos:\n"); - for(int i =0;i<3; i++) { - printf(" %f", cameraPos[i]); - } - - printf("\ntargetPos pos:\n"); - for(int i =0;i<3; i++) { - printf(" %f", targetPos[i]); - } - - printf("\ncameraUp pos:\n"); - for(int i =0;i<3; i++) { - printf(" %f", cameraUp[i]); - } - printf("\n"); + // printf("\ncamera pos:\n"); + // for(int i =0;i<3; i++) { + // printf(" %f", cameraPos[i]); + // } + // + // printf("\ntargetPos pos:\n"); + // for(int i =0;i<3; i++) { + // printf(" %f", targetPos[i]); + // } + // + // printf("\ncameraUp pos:\n"); + // for(int i =0;i<3; i++) { + // printf(" %f", cameraUp[i]); + // } + // printf("\n"); b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp); - printf("\n"); + // printf("\n"); } + aspect = width/height; left = -aspect * nearVal; right = aspect * nearVal; @@ -1106,7 +1108,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) top = nearVal; b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal); - printf("\n"); + // printf("\n"); } } From e24ec9e8c0eaa0225a774d08796f9c739c7eedab Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Mon, 27 Jun 2016 13:18:12 -0700 Subject: [PATCH 058/115] nearVal and farVal as params --- examples/pybullet/pybullet.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index aa0115e95..c12085b30 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1074,7 +1074,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) if (size==5) // set camera resoluation and view and projection matrix { - if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, %farVal)) + if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal)) { b3RequestCameraImageSetPixelResolution(command,width,height); if (pybullet_internalSetVector(objCameraPos, cameraPos) && From f6bead7152028c9ae0a0cbb0fbbf6ee2375c1a4c Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Mon, 27 Jun 2016 13:51:28 -0700 Subject: [PATCH 059/115] edit method definitions (docstring) for calling renderImage() --- examples/pybullet/pybullet.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index c12085b30..c8d2bef04 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1225,7 +1225,7 @@ static PyMethodDef SpamMethods[] = { //applyLinkForce {"renderImage", pybullet_renderImage, METH_VARARGS, - "Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"}, + "Render an image (given the pixel resolution width, height, view matrix, projection matrix, near and far vlues), and return the 8-8-8bit RGB pixel data and floating point depth values"}, {NULL, NULL, 0, NULL} /* Sentinel */ }; From 178dd54ca547dddf4891e4fba2420927a47b8076 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 27 Jun 2016 16:10:13 -0700 Subject: [PATCH 060/115] remove printf's and fix an issue in btMultiJointMotor in previous commit --- .../Featherstone/btMultiBodyJointMotor.cpp | 12 +++--------- .../Featherstone/btMultiBodyJointMotor.h | 4 ++-- 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 3d0f45b77..86c7d3a74 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -25,7 +25,7 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScal :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), m_desiredVelocity(desiredVelocity), m_desiredPosition(0), - m_kd(0.1), + m_kd(1.), m_kp(0) { @@ -56,7 +56,7 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int li :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), m_desiredVelocity(desiredVelocity), m_desiredPosition(0), - m_kd(0.1), + m_kd(1.), m_kp(0) { btAssert(linkDoF < body->getLink(link).m_dofCount); @@ -125,13 +125,7 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; btScalar positionStabiliationTerm = (m_desiredPosition-currentPosition)/infoGlobal.m_timeStep; btScalar velocityError = (m_desiredVelocity - currentVelocity); - btScalar rhs = m_kp * positionStabiliationTerm + m_kd * velocityError; - printf("m_kd = %f\n", m_kd); - printf("m_kp = %f\n", m_kp); - printf("m_desiredVelocity = %f\n", m_desiredVelocity); - printf("m_desiredPosition = %f\n", m_desiredPosition); - printf("m_maxAppliedImpulse = %f\n", m_maxAppliedImpulse); - printf("rhs = %f\n", rhs); + btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError; fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,rhs); diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h index e433515d4..a8bcf606c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h @@ -45,13 +45,13 @@ public: btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal); - virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 0.1f) + virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f) { m_desiredVelocity = velTarget; m_kd = kd; } - virtual void setPositionTarget(btScalar posTarget, btScalar kp = 0.1f) + virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f) { m_desiredPosition = posTarget; m_kp = kp; From 83543ec76b109bb4e454c5d1a4e62b712dc07cf4 Mon Sep 17 00:00:00 2001 From: Jonathan Bohren Date: Thu, 30 Jun 2016 14:02:19 -0400 Subject: [PATCH 061/115] pkg-config: Fixing regression introduced by e46b7b2 --- bullet.pc.cmake | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bullet.pc.cmake b/bullet.pc.cmake index 2863ca1f9..8b989faba 100644 --- a/bullet.pc.cmake +++ b/bullet.pc.cmake @@ -3,4 +3,4 @@ Description: Bullet Continuous Collision Detection and Physics Library Requires: Version: @BULLET_VERSION@ Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath -Cflags: @BULLET_DOUBLE_DEF@ -I@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include +Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include From 58206b7962d905982fa57d236182a3d0c1829796 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Thu, 30 Jun 2016 16:03:38 -0700 Subject: [PATCH 062/115] Add preliminary support for VR/OpenVR for HTC Vive and Oculus Rift, (Windows-only first, later Linux and OSX) Use premake to build, use --enable_openvr flag --- build3/premake4.lua | 5 + examples/BasicDemo/premake4.lua | 60 + .../OpenGLWindow/GLInstancingRenderer.cpp | 14 +- examples/OpenGLWindow/GLInstancingRenderer.h | 1 + .../StandaloneMain/hellovr_opengl_main.cpp | 1986 ++++++ .../openvr/bin/linux32/libopenvr_api.so | Bin 0 -> 347110 bytes .../openvr/bin/linux64/libopenvr_api.so | Bin 0 -> 383669 bytes .../openvr/bin/osx32/libopenvr_api.dylib | Bin 0 -> 299972 bytes .../openvr/bin/win32/openvr_api.dll | Bin 0 -> 265024 bytes .../openvr/bin/win64/openvr_api.dll | Bin 0 -> 311616 bytes .../ThirdPartyLibs/openvr/headers/openvr.h | 3227 +++++++++ .../openvr/headers/openvr_api.cs | 4187 +++++++++++ .../openvr/headers/openvr_api.json | 3347 +++++++++ .../openvr/headers/openvr_capi.h | 1626 +++++ .../openvr/headers/openvr_driver.h | 1829 +++++ .../openvr/lib/linux32/libopenvr_api.so | Bin 0 -> 2315918 bytes .../openvr/lib/linux64/libopenvr_api.so | Bin 0 -> 3129824 bytes .../openvr/lib/osx32/libopenvr_api.dylib | Bin 0 -> 300188 bytes .../openvr/lib/win32/openvr_api.lib | Bin 0 -> 4864 bytes .../openvr/lib/win64/openvr_api.lib | Bin 0 -> 4806 bytes .../openvr/samples/shared/Matrices.cpp | 581 ++ .../openvr/samples/shared/Matrices.h | 909 +++ .../openvr/samples/shared/Vectors.h | 530 ++ .../openvr/samples/shared/lodepng.cpp | 6104 +++++++++++++++++ .../openvr/samples/shared/lodepng.h | 1702 +++++ .../openvr/samples/shared/pathtools.cpp | 560 ++ .../openvr/samples/shared/pathtools.h | 98 + 27 files changed, 26764 insertions(+), 2 deletions(-) create mode 100644 examples/StandaloneMain/hellovr_opengl_main.cpp create mode 100644 examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so create mode 100644 examples/ThirdPartyLibs/openvr/bin/linux64/libopenvr_api.so create mode 100644 examples/ThirdPartyLibs/openvr/bin/osx32/libopenvr_api.dylib create mode 100644 examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll create mode 100644 examples/ThirdPartyLibs/openvr/bin/win64/openvr_api.dll create mode 100644 examples/ThirdPartyLibs/openvr/headers/openvr.h create mode 100644 examples/ThirdPartyLibs/openvr/headers/openvr_api.cs create mode 100644 examples/ThirdPartyLibs/openvr/headers/openvr_api.json create mode 100644 examples/ThirdPartyLibs/openvr/headers/openvr_capi.h create mode 100644 examples/ThirdPartyLibs/openvr/headers/openvr_driver.h create mode 100644 examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so create mode 100644 examples/ThirdPartyLibs/openvr/lib/linux64/libopenvr_api.so create mode 100644 examples/ThirdPartyLibs/openvr/lib/osx32/libopenvr_api.dylib create mode 100644 examples/ThirdPartyLibs/openvr/lib/win32/openvr_api.lib create mode 100644 examples/ThirdPartyLibs/openvr/lib/win64/openvr_api.lib create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/Matrices.cpp create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/Matrices.h create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/Vectors.h create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/lodepng.cpp create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/lodepng.h create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp create mode 100644 examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h diff --git a/build3/premake4.lua b/build3/premake4.lua index ae83944d4..4bfb35d28 100644 --- a/build3/premake4.lua +++ b/build3/premake4.lua @@ -29,6 +29,11 @@ description = "Try to link and use the system OpenGL headers version instead of dynamically loading OpenGL (dlopen is default)" } + newoption + { + trigger = "enable_openvr", + description = "Enable experimental Virtual Reality examples, using OpenVR for HTC Vive and Oculus Rift" + } newoption { trigger = "enable_system_x11", diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua index 6474d9298..dd88389e1 100644 --- a/examples/BasicDemo/premake4.lua +++ b/examples/BasicDemo/premake4.lua @@ -59,6 +59,7 @@ end + project "App_BasicExampleGuiWithSoftwareRenderer" if _OPTIONS["ios"] then @@ -133,3 +134,62 @@ files { "../TinyRenderer/TinyRenderer.cpp", "../Utils/b3ResourcePath.cpp" } + + + + + if _OPTIONS["enable_openvr"] then + +project "App_BasicExampleVR" + +if _OPTIONS["ios"] then + kind "WindowedApp" +else + kind "ConsoleApp" +end +defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"} + + + +includedirs {"../../src", + "../ThirdPartyLibs/openvr/headers", + "../ThirdPartyLibs/openvr/samples/shared"} + +links { + "BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common", "openvr_api" +} + + initOpenGL() + initGlew() + + +language "C++" + +files { + "BasicExample.cpp", + "*.h", + "../StandaloneMain/hellovr_opengl_main.cpp", + "../ExampleBrowser/OpenGLGuiHelper.cpp", + "../ExampleBrowser/GL_ShapeDrawer.cpp", + "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp", + "../ThirdPartyLibs/openvr/samples/shared/lodepng.h", + "../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp", + "../ThirdPartyLibs/openvr/samples/shared/Matrices.h", + "../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp", + "../ThirdPartyLibs/openvr/samples/shared/pathtools.h", + "../ThirdPartyLibs/openvr/samples/shared/Vectors.h", + +} + +if os.is("Windows") then + libdirs {"../ThirdPartyLibs/openvr/lib/win32"} +end + +if os.is("Linux") then initX11() end + +if os.is("MacOSX") then + links{"Cocoa.framework"} +end + +end \ No newline at end of file diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index ebf450afd..24002ad25 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -158,10 +158,13 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData GLRenderToTexture* m_shadowMap; GLuint m_shadowTexture; + GLuint m_renderFrameBuffer; + InternalDataRenderer() : m_shadowMap(0), - m_shadowTexture(0) + m_shadowTexture(0), + m_renderFrameBuffer(0) { //clear to zero to make it obvious if the matrix is used uninitialized for (int i=0;i<16;i++) @@ -1663,7 +1666,7 @@ b3Assert(glGetError() ==GL_NO_ERROR); { glDisable (GL_BLEND); } - + glActiveTexture(GL_TEXTURE0); break; } default: @@ -1688,6 +1691,7 @@ b3Assert(glGetError() ==GL_NO_ERROR); { // writeTextureToPng(shadowMapWidth,shadowMapHeight,"shadowmap.png",4); m_data->m_shadowMap->disable(); + glBindFramebuffer( GL_FRAMEBUFFER, m_data->m_renderFrameBuffer); glViewport(dims[0],dims[1],dims[2],dims[3]); } @@ -1733,4 +1737,10 @@ int GLInstancingRenderer::getInstanceCapacity() const { return m_data->m_maxNumObjectCapacity; } + +void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer) +{ + m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer; +} + #endif //NO_OPENGL3 diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h index 34df83637..66664b844 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.h +++ b/examples/OpenGLWindow/GLInstancingRenderer.h @@ -132,6 +132,7 @@ public: } virtual void clearZBuffer(); + virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer); }; #endif //GL_INSTANCING_RENDERER_H diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp new file mode 100644 index 000000000..746f10835 --- /dev/null +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -0,0 +1,1986 @@ +#ifdef BT_ENABLE_VR +//========= Copyright Valve Corporation ============// + +#include "../OpenGLWindow/SimpleOpenGL3App.h" +#include "../OpenGLWindow/OpenGLInclude.h" +#include "Bullet3Common/b3Quaternion.h" +#include "../ExampleBrowser/OpenGLGuiHelper.h" +#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" + + +//how can you try typing on a keyboard, without seeing it? +//it is pretty funny, to see the desktop in VR! + + +#include +#include +#include + +#include + +#include "lodepng.h" +#include "Matrices.h" +#include "pathtools.h" + +CommonExampleInterface* sExample; +OpenGLGuiHelper* sGuiPtr = 0; + + +#if defined(POSIX) +#include "unistd.h" +#endif +#ifdef _WIN32 +#include +#endif + +void ThreadSleep( unsigned long nMilliseconds ) +{ +#if defined(_WIN32) + ::Sleep( nMilliseconds ); +#elif defined(POSIX) + usleep( nMilliseconds * 1000 ); +#endif +} + + +class CGLRenderModel +{ +public: + CGLRenderModel( const std::string & sRenderModelName ); + ~CGLRenderModel(); + + bool BInit( const vr::RenderModel_t & vrModel, const vr::RenderModel_TextureMap_t & vrDiffuseTexture ); + void Cleanup(); + void Draw(); + const std::string & GetName() const { return m_sModelName; } + +private: + GLuint m_glVertBuffer; + GLuint m_glIndexBuffer; + GLuint m_glVertArray; + GLuint m_glTexture; + GLsizei m_unVertexCount; + std::string m_sModelName; +}; + +static bool g_bPrintf = true; + +//----------------------------------------------------------------------------- +// Purpose: +//------------------------------------------------------------------------------ +class CMainApplication +{ +public: + CMainApplication( int argc, char *argv[] ); + virtual ~CMainApplication(); + + bool BInit(); + bool BInitGL(); + bool BInitCompositor(); + + void SetupRenderModels(); + + void Shutdown(); + + void RunMainLoop(); + bool HandleInput(); + void ProcessVREvent( const vr::VREvent_t & event ); + void RenderFrame(); + + bool SetupTexturemaps(); + + void SetupScene(); + void AddCubeToScene( Matrix4 mat, std::vector &vertdata ); + void AddCubeVertex( float fl0, float fl1, float fl2, float fl3, float fl4, std::vector &vertdata ); + + void DrawControllers(); + + bool SetupStereoRenderTargets(); + void SetupDistortion(); + void SetupCameras(); + + void RenderStereoTargets(); + void RenderDistortion(); + void RenderScene( vr::Hmd_Eye nEye ); + + Matrix4 GetHMDMatrixProjectionEye( vr::Hmd_Eye nEye ); + Matrix4 GetHMDMatrixPoseEye( vr::Hmd_Eye nEye ); + Matrix4 GetCurrentViewProjectionMatrix( vr::Hmd_Eye nEye ); + void UpdateHMDMatrixPose(); + + Matrix4 ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix34_t &matPose ); + + GLuint CompileGLShader( const char *pchShaderName, const char *pchVertexShader, const char *pchFragmentShader ); + bool CreateAllShaders(); + + void SetupRenderModelForTrackedDevice( vr::TrackedDeviceIndex_t unTrackedDeviceIndex ); + CGLRenderModel *FindOrLoadRenderModel( const char *pchRenderModelName ); + +private: + bool m_bDebugOpenGL; + bool m_bVerbose; + bool m_bPerf; + bool m_bVblank; + bool m_bGlFinishHack; + + vr::IVRSystem *m_pHMD; + vr::IVRRenderModels *m_pRenderModels; + std::string m_strDriver; + std::string m_strDisplay; + vr::TrackedDevicePose_t m_rTrackedDevicePose[ vr::k_unMaxTrackedDeviceCount ]; + Matrix4 m_rmat4DevicePose[ vr::k_unMaxTrackedDeviceCount ]; + bool m_rbShowTrackedDevice[ vr::k_unMaxTrackedDeviceCount ]; + +private: + SimpleOpenGL3App* m_app; + uint32_t m_nWindowWidth; + uint32_t m_nWindowHeight; + + +private: // OpenGL bookkeeping + int m_iTrackedControllerCount; + int m_iTrackedControllerCount_Last; + int m_iValidPoseCount; + int m_iValidPoseCount_Last; + bool m_bShowCubes; + + std::string m_strPoseClasses; // what classes we saw poses for this frame + char m_rDevClassChar[ vr::k_unMaxTrackedDeviceCount ]; // for each device, a character representing its class + + int m_iSceneVolumeWidth; + int m_iSceneVolumeHeight; + int m_iSceneVolumeDepth; + float m_fScaleSpacing; + float m_fScale; + + int m_iSceneVolumeInit; // if you want something other than the default 20x20x20 + + float m_fNearClip; + float m_fFarClip; + + GLuint m_iTexture; + + unsigned int m_uiVertcount; + + GLuint m_glSceneVertBuffer; + GLuint m_unSceneVAO; + GLuint m_unLensVAO; + GLuint m_glIDVertBuffer; + GLuint m_glIDIndexBuffer; + unsigned int m_uiIndexSize; + + GLuint m_glControllerVertBuffer; + GLuint m_unControllerVAO; + unsigned int m_uiControllerVertcount; + + Matrix4 m_mat4HMDPose; + Matrix4 m_mat4eyePosLeft; + Matrix4 m_mat4eyePosRight; + + Matrix4 m_mat4ProjectionCenter; + Matrix4 m_mat4ProjectionLeft; + Matrix4 m_mat4ProjectionRight; + + struct VertexDataScene + { + Vector3 position; + Vector2 texCoord; + }; + + struct VertexDataLens + { + Vector2 position; + Vector2 texCoordRed; + Vector2 texCoordGreen; + Vector2 texCoordBlue; + }; + + GLuint m_unSceneProgramID; + GLuint m_unLensProgramID; + GLuint m_unControllerTransformProgramID; + GLuint m_unRenderModelProgramID; + + GLint m_nSceneMatrixLocation; + GLint m_nControllerMatrixLocation; + GLint m_nRenderModelMatrixLocation; + + struct FramebufferDesc + { + GLuint m_nDepthBufferId; + GLuint m_nRenderTextureId; + GLuint m_nRenderFramebufferId; + GLuint m_nResolveTextureId; + GLuint m_nResolveFramebufferId; + }; + FramebufferDesc leftEyeDesc; + FramebufferDesc rightEyeDesc; + + bool CreateFrameBuffer( int nWidth, int nHeight, FramebufferDesc &framebufferDesc ); + + uint32_t m_nRenderWidth; + uint32_t m_nRenderHeight; + + std::vector< CGLRenderModel * > m_vecRenderModels; + CGLRenderModel *m_rTrackedDeviceToRenderModel[ vr::k_unMaxTrackedDeviceCount ]; +}; + + +//----------------------------------------------------------------------------- +// Purpose: Constructor +//----------------------------------------------------------------------------- +CMainApplication::CMainApplication( int argc, char *argv[] ) + : m_app(NULL) + , m_nWindowWidth( 1280 ) + , m_nWindowHeight( 720 ) + , m_unSceneProgramID( 0 ) + , m_unLensProgramID( 0 ) + , m_unControllerTransformProgramID( 0 ) + , m_unRenderModelProgramID( 0 ) + , m_pHMD( NULL ) + , m_pRenderModels( NULL ) + , m_bDebugOpenGL( false ) + , m_bVerbose( false ) + , m_bPerf( false ) + , m_bVblank( false ) + , m_bGlFinishHack( true ) + , m_glControllerVertBuffer( 0 ) + , m_unControllerVAO( 0 ) + , m_unLensVAO( 0 ) + , m_unSceneVAO( 0 ) + , m_nSceneMatrixLocation( -1 ) + , m_nControllerMatrixLocation( -1 ) + , m_nRenderModelMatrixLocation( -1 ) + , m_iTrackedControllerCount( 0 ) + , m_iTrackedControllerCount_Last( -1 ) + , m_iValidPoseCount( 0 ) + , m_iValidPoseCount_Last( -1 ) + , m_iSceneVolumeInit( 20 ) + , m_strPoseClasses("") + , m_bShowCubes( false ) +{ + + for( int i = 1; i < argc; i++ ) + { + if( !stricmp( argv[i], "-gldebug" ) ) + { + m_bDebugOpenGL = true; + } + else if( !stricmp( argv[i], "-verbose" ) ) + { + m_bVerbose = true; + } + else if( !stricmp( argv[i], "-novblank" ) ) + { + m_bVblank = false; + } + else if( !stricmp( argv[i], "-noglfinishhack" ) ) + { + m_bGlFinishHack = false; + } + else if( !stricmp( argv[i], "-noprintf" ) ) + { + g_bPrintf = false; + } + else if ( !stricmp( argv[i], "-cubevolume" ) && ( argc > i + 1 ) && ( *argv[ i + 1 ] != '-' ) ) + { + m_iSceneVolumeInit = atoi( argv[ i + 1 ] ); + i++; + } + } + // other initialization tasks are done in BInit + memset(m_rDevClassChar, 0, sizeof(m_rDevClassChar)); +}; + + +//----------------------------------------------------------------------------- +// Purpose: Destructor +//----------------------------------------------------------------------------- +CMainApplication::~CMainApplication() +{ + // work is done in Shutdown + b3Printf( "Shutdown" ); +} + + +//----------------------------------------------------------------------------- +// Purpose: Helper to get a string from a tracked device property and turn it +// into a std::string +//----------------------------------------------------------------------------- +std::string GetTrackedDeviceString( vr::IVRSystem *pHmd, vr::TrackedDeviceIndex_t unDevice, vr::TrackedDeviceProperty prop, vr::TrackedPropertyError *peError = NULL ) +{ + uint32_t unRequiredBufferLen = pHmd->GetStringTrackedDeviceProperty( unDevice, prop, NULL, 0, peError ); + if( unRequiredBufferLen == 0 ) + return ""; + + char *pchBuffer = new char[ unRequiredBufferLen ]; + unRequiredBufferLen = pHmd->GetStringTrackedDeviceProperty( unDevice, prop, pchBuffer, unRequiredBufferLen, peError ); + std::string sResult = pchBuffer; + delete [] pchBuffer; + return sResult; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::BInit() +{ + + // Loading the SteamVR Runtime + vr::EVRInitError eError = vr::VRInitError_None; + m_pHMD = vr::VR_Init( &eError, vr::VRApplication_Scene ); + + if ( eError != vr::VRInitError_None ) + { + m_pHMD = NULL; + char buf[1024]; + sprintf_s( buf, sizeof( buf ), "Unable to init VR runtime: %s", vr::VR_GetVRInitErrorAsEnglishDescription( eError ) ); + b3Warning( "VR_Init Failed %s", buf); + return false; + } + + + m_pRenderModels = (vr::IVRRenderModels *)vr::VR_GetGenericInterface( vr::IVRRenderModels_Version, &eError ); + if( !m_pRenderModels ) + { + m_pHMD = NULL; + vr::VR_Shutdown(); + + char buf[1024]; + sprintf_s( buf, sizeof( buf ), "Unable to get render model interface: %s", vr::VR_GetVRInitErrorAsEnglishDescription( eError ) ); + b3Warning( "VR_Init Failed %s", buf); + return false; + } + +// int nWindowPosX = 700; +// int nWindowPosY = 100; + m_nWindowWidth = 1280; + m_nWindowHeight = 720; + + /* + + //SDL_GL_SetAttribute( SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_COMPATIBILITY ); + SDL_GL_SetAttribute( SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_CORE ); + SDL_GL_SetAttribute( SDL_GL_MULTISAMPLEBUFFERS, 0 ); + SDL_GL_SetAttribute( SDL_GL_MULTISAMPLESAMPLES, 0 ); + if( m_bDebugOpenGL ) + SDL_GL_SetAttribute( SDL_GL_CONTEXT_FLAGS, SDL_GL_CONTEXT_DEBUG_FLAG ); + + */ + m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true); + + sGuiPtr = new OpenGLGuiHelper(m_app,false); + + + CommonExampleOptions options(sGuiPtr); + + sExample = StandaloneExampleCreateFunc(options); + sExample->initPhysics(); + sExample->resetCamera(); + +#if 0 + int cubeIndex = m_app->registerCubeShape(1,1,1); + + b3Quaternion orn(0,0,0,1); + + { + b3Vector3 color=b3MakeVector3(0.3,0.3,0.6); + b3Vector3 pos = b3MakeVector3(0,0,0); + b3Vector3 scaling=b3MakeVector3 (1,.1,1); + m_app->m_renderer->registerGraphicsInstance(cubeIndex,pos,orn,color,scaling); + } + { + b3Vector3 color=b3MakeVector3(0.3,0.6,0.3); + b3Vector3 pos = b3MakeVector3(0,0.3,0); + b3Vector3 scaling=b3MakeVector3 (.1,.1,.1); + m_app->m_renderer->registerGraphicsInstance(cubeIndex,pos,orn,color,scaling); + } +#endif + + + + m_app->m_renderer->writeTransforms(); + + + +/* if (m_pWindow == NULL) + { + printf( "%s - Window could not be created! SDL Error: %s\n", __FUNCTION__, SDL_GetError() ); + return false; + } + */ + + /*m_pContext = SDL_GL_CreateContext(m_pWindow); + if (m_pContext == NULL) + { + printf( "%s - OpenGL context could not be created! SDL Error: %s\n", __FUNCTION__, SDL_GetError() ); + return false; + } + + + glewExperimental = GL_TRUE; + GLenum nGlewError = glewInit(); + if (nGlewError != GLEW_OK) + { + printf( "%s - Error initializing GLEW! %s\n", __FUNCTION__, glewGetErrorString( nGlewError ) ); + return false; + } + glGetError(); // to clear the error caused deep in GLEW + + if ( SDL_GL_SetSwapInterval( m_bVblank ? 1 : 0 ) < 0 ) + { + printf( "%s - Warning: Unable to set VSync! SDL Error: %s\n", __FUNCTION__, SDL_GetError() ); + return false; + } + + */ + m_strDriver = "No Driver"; + m_strDisplay = "No Display"; + + m_strDriver = GetTrackedDeviceString( m_pHMD, vr::k_unTrackedDeviceIndex_Hmd, vr::Prop_TrackingSystemName_String ); + m_strDisplay = GetTrackedDeviceString( m_pHMD, vr::k_unTrackedDeviceIndex_Hmd, vr::Prop_SerialNumber_String ); + + std::string strWindowTitle = "hellovr_bullet - " + m_strDriver + " " + m_strDisplay; + m_app->m_window->setWindowTitle(strWindowTitle.c_str() ); + + // cube array + m_iSceneVolumeWidth = m_iSceneVolumeInit; + m_iSceneVolumeHeight = m_iSceneVolumeInit; + m_iSceneVolumeDepth = m_iSceneVolumeInit; + + m_fScale = 0.3f; + m_fScaleSpacing = 4.0f; + + m_fNearClip = 0.1f; + m_fFarClip = 30.0f; + + m_iTexture = 0; + m_uiVertcount = 0; + +// m_MillisecondsTimer.start(1, this); +// m_SecondsTimer.start(1000, this); + + if (!BInitGL()) + { + printf("%s - Unable to initialize OpenGL!\n", __FUNCTION__); + return false; + } + + if (!BInitCompositor()) + { + printf("%s - Failed to initialize VR Compositor!\n", __FUNCTION__); + return false; + } + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +/*void APIENTRY DebugCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const char* message, const void* userParam) +{ + b3Printf( "GL Error: %s\n", message ); +} +*/ + +static void APIENTRY DebugCallback (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar* message, GLvoid* userParam) +{ + b3Printf( "GL Error: %s\n", message ); +} + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::BInitGL() +{ + if( m_bDebugOpenGL ) + { + const GLvoid *userParam=0; + glDebugMessageCallback(DebugCallback, userParam); + glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE ); + glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS); + } + + if( !CreateAllShaders() ) + return false; + + SetupTexturemaps(); + SetupScene(); + SetupCameras(); + SetupStereoRenderTargets(); + SetupDistortion(); + + SetupRenderModels(); + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::BInitCompositor() +{ + vr::EVRInitError peError = vr::VRInitError_None; + + if ( !vr::VRCompositor() ) + { + printf( "Compositor initialization failed. See log file for details\n" ); + return false; + } + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::Shutdown() +{ + if( m_pHMD ) + { + vr::VR_Shutdown(); + m_pHMD = NULL; + } + + for( std::vector< CGLRenderModel * >::iterator i = m_vecRenderModels.begin(); i != m_vecRenderModels.end(); i++ ) + { + delete (*i); + } + m_vecRenderModels.clear(); + + if( 1)//m_pContext ) + { + glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE ); + glDebugMessageCallback(nullptr, nullptr); + glDeleteBuffers(1, &m_glSceneVertBuffer); + glDeleteBuffers(1, &m_glIDVertBuffer); + glDeleteBuffers(1, &m_glIDIndexBuffer); + + if ( m_unSceneProgramID ) + { + glDeleteProgram( m_unSceneProgramID ); + } + if ( m_unControllerTransformProgramID ) + { + glDeleteProgram( m_unControllerTransformProgramID ); + } + if ( m_unRenderModelProgramID ) + { + glDeleteProgram( m_unRenderModelProgramID ); + } + if ( m_unLensProgramID ) + { + glDeleteProgram( m_unLensProgramID ); + } + + glDeleteRenderbuffers( 1, &leftEyeDesc.m_nDepthBufferId ); + glDeleteTextures( 1, &leftEyeDesc.m_nRenderTextureId ); + glDeleteFramebuffers( 1, &leftEyeDesc.m_nRenderFramebufferId ); + glDeleteTextures( 1, &leftEyeDesc.m_nResolveTextureId ); + glDeleteFramebuffers( 1, &leftEyeDesc.m_nResolveFramebufferId ); + + glDeleteRenderbuffers( 1, &rightEyeDesc.m_nDepthBufferId ); + glDeleteTextures( 1, &rightEyeDesc.m_nRenderTextureId ); + glDeleteFramebuffers( 1, &rightEyeDesc.m_nRenderFramebufferId ); + glDeleteTextures( 1, &rightEyeDesc.m_nResolveTextureId ); + glDeleteFramebuffers( 1, &rightEyeDesc.m_nResolveFramebufferId ); + + if( m_unLensVAO != 0 ) + { + glDeleteVertexArrays( 1, &m_unLensVAO ); + } + if( m_unSceneVAO != 0 ) + { + glDeleteVertexArrays( 1, &m_unSceneVAO ); + } + if( m_unControllerVAO != 0 ) + { + glDeleteVertexArrays( 1, &m_unControllerVAO ); + } + } + + delete m_app; + m_app=0; + +} + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::HandleInput() +{ + bool bRet = false; + + // Process SteamVR events + vr::VREvent_t event; + while( m_pHMD->PollNextEvent( &event, sizeof( event ) ) ) + { + ProcessVREvent( event ); + } + + // Process SteamVR controller state + for( vr::TrackedDeviceIndex_t unDevice = 0; unDevice < vr::k_unMaxTrackedDeviceCount; unDevice++ ) + { + vr::VRControllerState_t state; + if( m_pHMD->GetControllerState( unDevice, &state ) ) + { + if (state.ulButtonPressed) + { + b3Printf("state.ulButtonPressed=%d\n",state.ulButtonPressed); + sExample->exitPhysics(); + m_app->m_instancingRenderer->removeAllInstances(); + sExample->initPhysics(); + + } + m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0; + } + } + + return bRet; +} + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::RunMainLoop() +{ + bool bQuit = false; + + //SDL_StartTextInput(); + //SDL_ShowCursor( SDL_DISABLE ); + + while ( !bQuit && !m_app->m_window->requestedExit()) + { + bQuit = HandleInput(); + + RenderFrame(); + } + + //SDL_StopTextInput(); +} + + +//----------------------------------------------------------------------------- +// Purpose: Processes a single VR event +//----------------------------------------------------------------------------- +void CMainApplication::ProcessVREvent( const vr::VREvent_t & event ) +{ + switch( event.eventType ) + { + case vr::VREvent_TrackedDeviceActivated: + { + SetupRenderModelForTrackedDevice( event.trackedDeviceIndex ); + b3Printf( "Device %u attached. Setting up render model.\n", event.trackedDeviceIndex ); + } + break; + case vr::VREvent_TrackedDeviceDeactivated: + { + b3Printf( "Device %u detached.\n", event.trackedDeviceIndex ); + } + break; + case vr::VREvent_TrackedDeviceUpdated: + { + b3Printf( "Device %u updated.\n", event.trackedDeviceIndex ); + } + break; + } +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::RenderFrame() +{ + // for now as fast as possible + if ( m_pHMD ) + { + DrawControllers(); + RenderStereoTargets(); + RenderDistortion(); + + vr::Texture_t leftEyeTexture = {(void*)leftEyeDesc.m_nResolveTextureId, vr::API_OpenGL, vr::ColorSpace_Gamma }; + vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture ); + vr::Texture_t rightEyeTexture = {(void*)rightEyeDesc.m_nResolveTextureId, vr::API_OpenGL, vr::ColorSpace_Gamma }; + vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture ); + } + + if ( m_bVblank && m_bGlFinishHack ) + { + //$ HACKHACK. From gpuview profiling, it looks like there is a bug where two renders and a present + // happen right before and after the vsync causing all kinds of jittering issues. This glFinish() + // appears to clear that up. Temporary fix while I try to get nvidia to investigate this problem. + // 1/29/2014 mikesart + glFinish(); + } + + // SwapWindow + { + m_app->swapBuffer(); + //SDL_GL_SwapWindow( m_pWindow ); + + } + + // Clear + { + // We want to make sure the glFinish waits for the entire present to complete, not just the submission + // of the command. So, we do a clear here right here so the glFinish will wait fully for the swap. + glClearColor( 0, 0, 0, 1 ); + glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); + } + + // Flush and wait for swap. + if ( m_bVblank ) + { + glFlush(); + glFinish(); + } + + // Spew out the controller and pose count whenever they change. + if ( m_iTrackedControllerCount != m_iTrackedControllerCount_Last || m_iValidPoseCount != m_iValidPoseCount_Last ) + { + m_iValidPoseCount_Last = m_iValidPoseCount; + m_iTrackedControllerCount_Last = m_iTrackedControllerCount; + + b3Printf( "PoseCount:%d(%s) Controllers:%d\n", m_iValidPoseCount, m_strPoseClasses.c_str(), m_iTrackedControllerCount ); + } + + UpdateHMDMatrixPose(); +} + + +//----------------------------------------------------------------------------- +// Purpose: Compiles a GL shader program and returns the handle. Returns 0 if +// the shader couldn't be compiled for some reason. +//----------------------------------------------------------------------------- +GLuint CMainApplication::CompileGLShader( const char *pchShaderName, const char *pchVertexShader, const char *pchFragmentShader ) +{ + GLuint unProgramID = glCreateProgram(); + + GLuint nSceneVertexShader = glCreateShader(GL_VERTEX_SHADER); + glShaderSource( nSceneVertexShader, 1, &pchVertexShader, NULL); + glCompileShader( nSceneVertexShader ); + + GLint vShaderCompiled = GL_FALSE; + glGetShaderiv( nSceneVertexShader, GL_COMPILE_STATUS, &vShaderCompiled); + if ( vShaderCompiled != GL_TRUE) + { + b3Printf("%s - Unable to compile vertex shader %d!\n", pchShaderName, nSceneVertexShader); + glDeleteProgram( unProgramID ); + glDeleteShader( nSceneVertexShader ); + return 0; + } + glAttachShader( unProgramID, nSceneVertexShader); + glDeleteShader( nSceneVertexShader ); // the program hangs onto this once it's attached + + GLuint nSceneFragmentShader = glCreateShader(GL_FRAGMENT_SHADER); + glShaderSource( nSceneFragmentShader, 1, &pchFragmentShader, NULL); + glCompileShader( nSceneFragmentShader ); + + GLint fShaderCompiled = GL_FALSE; + glGetShaderiv( nSceneFragmentShader, GL_COMPILE_STATUS, &fShaderCompiled); + if (fShaderCompiled != GL_TRUE) + { + b3Printf("%s - Unable to compile fragment shader %d!\n", pchShaderName, nSceneFragmentShader ); + glDeleteProgram( unProgramID ); + glDeleteShader( nSceneFragmentShader ); + return 0; + } + + glAttachShader( unProgramID, nSceneFragmentShader ); + glDeleteShader( nSceneFragmentShader ); // the program hangs onto this once it's attached + + glLinkProgram( unProgramID ); + + GLint programSuccess = GL_TRUE; + glGetProgramiv( unProgramID, GL_LINK_STATUS, &programSuccess); + if ( programSuccess != GL_TRUE ) + { + b3Printf("%s - Error linking program %d!\n", pchShaderName, unProgramID); + glDeleteProgram( unProgramID ); + return 0; + } + + glUseProgram( unProgramID ); + glUseProgram( 0 ); + + return unProgramID; +} + + +//----------------------------------------------------------------------------- +// Purpose: Creates all the shaders used by HelloVR SDL +//----------------------------------------------------------------------------- +bool CMainApplication::CreateAllShaders() +{ + m_unSceneProgramID = CompileGLShader( + "Scene", + + // Vertex Shader + "#version 410\n" + "uniform mat4 matrix;\n" + "layout(location = 0) in vec4 position;\n" + "layout(location = 1) in vec2 v2UVcoordsIn;\n" + "layout(location = 2) in vec3 v3NormalIn;\n" + "out vec2 v2UVcoords;\n" + "void main()\n" + "{\n" + " v2UVcoords = v2UVcoordsIn;\n" + " gl_Position = matrix * position;\n" + "}\n", + + // Fragment Shader + "#version 410 core\n" + "uniform sampler2D mytexture;\n" + "in vec2 v2UVcoords;\n" + "out vec4 outputColor;\n" + "void main()\n" + "{\n" + " outputColor = texture(mytexture, v2UVcoords);\n" + "}\n" + ); + m_nSceneMatrixLocation = glGetUniformLocation( m_unSceneProgramID, "matrix" ); + if( m_nSceneMatrixLocation == -1 ) + { + b3Printf( "Unable to find matrix uniform in scene shader\n" ); + return false; + } + + m_unControllerTransformProgramID = CompileGLShader( + "Controller", + + // vertex shader + "#version 410\n" + "uniform mat4 matrix;\n" + "layout(location = 0) in vec4 position;\n" + "layout(location = 1) in vec3 v3ColorIn;\n" + "out vec4 v4Color;\n" + "void main()\n" + "{\n" + " v4Color.xyz = v3ColorIn; v4Color.a = 1.0;\n" + " gl_Position = matrix * position;\n" + "}\n", + + // fragment shader + "#version 410\n" + "in vec4 v4Color;\n" + "out vec4 outputColor;\n" + "void main()\n" + "{\n" + " outputColor = v4Color;\n" + "}\n" + ); + m_nControllerMatrixLocation = glGetUniformLocation( m_unControllerTransformProgramID, "matrix" ); + if( m_nControllerMatrixLocation == -1 ) + { + b3Printf( "Unable to find matrix uniform in controller shader\n" ); + return false; + } + + m_unRenderModelProgramID = CompileGLShader( + "render model", + + // vertex shader + "#version 410\n" + "uniform mat4 matrix;\n" + "layout(location = 0) in vec4 position;\n" + "layout(location = 1) in vec3 v3NormalIn;\n" + "layout(location = 2) in vec2 v2TexCoordsIn;\n" + "out vec2 v2TexCoord;\n" + "void main()\n" + "{\n" + " v2TexCoord = v2TexCoordsIn;\n" + " gl_Position = matrix * vec4(position.xyz, 1);\n" + "}\n", + + //fragment shader + "#version 410 core\n" + "uniform sampler2D diffuse;\n" + "in vec2 v2TexCoord;\n" + "out vec4 outputColor;\n" + "void main()\n" + "{\n" + " outputColor = texture( diffuse, v2TexCoord);\n" + "}\n" + + ); + m_nRenderModelMatrixLocation = glGetUniformLocation( m_unRenderModelProgramID, "matrix" ); + if( m_nRenderModelMatrixLocation == -1 ) + { + b3Printf( "Unable to find matrix uniform in render model shader\n" ); + return false; + } + + m_unLensProgramID = CompileGLShader( + "Distortion", + + // vertex shader + "#version 410 core\n" + "layout(location = 0) in vec4 position;\n" + "layout(location = 1) in vec2 v2UVredIn;\n" + "layout(location = 2) in vec2 v2UVGreenIn;\n" + "layout(location = 3) in vec2 v2UVblueIn;\n" + "noperspective out vec2 v2UVred;\n" + "noperspective out vec2 v2UVgreen;\n" + "noperspective out vec2 v2UVblue;\n" + "void main()\n" + "{\n" + " v2UVred = v2UVredIn;\n" + " v2UVgreen = v2UVGreenIn;\n" + " v2UVblue = v2UVblueIn;\n" + " gl_Position = position;\n" + "}\n", + + // fragment shader + "#version 410 core\n" + "uniform sampler2D mytexture;\n" + + "noperspective in vec2 v2UVred;\n" + "noperspective in vec2 v2UVgreen;\n" + "noperspective in vec2 v2UVblue;\n" + + "out vec4 outputColor;\n" + + "void main()\n" + "{\n" + " float fBoundsCheck = ( (dot( vec2( lessThan( v2UVgreen.xy, vec2(0.05, 0.05)) ), vec2(1.0, 1.0))+dot( vec2( greaterThan( v2UVgreen.xy, vec2( 0.95, 0.95)) ), vec2(1.0, 1.0))) );\n" + " if( fBoundsCheck > 1.0 )\n" + " { outputColor = vec4( 0, 0, 0, 1.0 ); }\n" + " else\n" + " {\n" + " float red = texture(mytexture, v2UVred).x;\n" + " float green = texture(mytexture, v2UVgreen).y;\n" + " float blue = texture(mytexture, v2UVblue).z;\n" + " outputColor = vec4( red, green, blue, 1.0 ); }\n" + "}\n" + ); + + + return m_unSceneProgramID != 0 + && m_unControllerTransformProgramID != 0 + && m_unRenderModelProgramID != 0 + && m_unLensProgramID != 0; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::SetupTexturemaps() +{ + std::string sExecutableDirectory = Path_StripFilename( Path_GetExecutablePath() ); + std::string strFullPath = Path_MakeAbsolute( "../cube_texture.png", sExecutableDirectory ); + + std::vector imageRGBA; + unsigned nImageWidth, nImageHeight; + unsigned nError = lodepng::decode( imageRGBA, nImageWidth, nImageHeight, strFullPath.c_str() ); + + if ( nError != 0 ) + return false; + + glGenTextures(1, &m_iTexture ); + glBindTexture( GL_TEXTURE_2D, m_iTexture ); + + glTexImage2D( GL_TEXTURE_2D, 0, GL_RGBA, nImageWidth, nImageHeight, + 0, GL_RGBA, GL_UNSIGNED_BYTE, &imageRGBA[0] ); + + glGenerateMipmap(GL_TEXTURE_2D); + + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR ); + + GLfloat fLargest; + glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &fLargest); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, fLargest); + + glBindTexture( GL_TEXTURE_2D, 0 ); + + return ( m_iTexture != 0 ); +} + + +//----------------------------------------------------------------------------- +// Purpose: create a sea of cubes +//----------------------------------------------------------------------------- +void CMainApplication::SetupScene() +{ + if ( !m_pHMD ) + return; + + std::vector vertdataarray; + + Matrix4 matScale; + matScale.scale( m_fScale, m_fScale, m_fScale ); + Matrix4 matTransform; + matTransform.translate( + -( (float)m_iSceneVolumeWidth * m_fScaleSpacing ) / 2.f, + -( (float)m_iSceneVolumeHeight * m_fScaleSpacing ) / 2.f, + -( (float)m_iSceneVolumeDepth * m_fScaleSpacing ) / 2.f); + + Matrix4 mat = matScale * matTransform; + + for( int z = 0; z< m_iSceneVolumeDepth; z++ ) + { + for( int y = 0; y< m_iSceneVolumeHeight; y++ ) + { + for( int x = 0; x< m_iSceneVolumeWidth; x++ ) + { + AddCubeToScene( mat, vertdataarray ); + mat = mat * Matrix4().translate( m_fScaleSpacing, 0, 0 ); + } + mat = mat * Matrix4().translate( -((float)m_iSceneVolumeWidth) * m_fScaleSpacing, m_fScaleSpacing, 0 ); + } + mat = mat * Matrix4().translate( 0, -((float)m_iSceneVolumeHeight) * m_fScaleSpacing, m_fScaleSpacing ); + } + m_uiVertcount = vertdataarray.size()/5; + + glGenVertexArrays( 1, &m_unSceneVAO ); + glBindVertexArray( m_unSceneVAO ); + + glGenBuffers( 1, &m_glSceneVertBuffer ); + glBindBuffer( GL_ARRAY_BUFFER, m_glSceneVertBuffer ); + glBufferData( GL_ARRAY_BUFFER, sizeof(float) * vertdataarray.size(), &vertdataarray[0], GL_STATIC_DRAW); + + glBindBuffer( GL_ARRAY_BUFFER, m_glSceneVertBuffer ); + + GLsizei stride = sizeof(VertexDataScene); + uintptr_t offset = 0; + + glEnableVertexAttribArray( 0 ); + glVertexAttribPointer( 0, 3, GL_FLOAT, GL_FALSE, stride , (const void *)offset); + + offset += sizeof(Vector3); + glEnableVertexAttribArray( 1 ); + glVertexAttribPointer( 1, 2, GL_FLOAT, GL_FALSE, stride, (const void *)offset); + + glBindVertexArray( 0 ); + glDisableVertexAttribArray(0); + glDisableVertexAttribArray(1); + +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::AddCubeVertex( float fl0, float fl1, float fl2, float fl3, float fl4, std::vector &vertdata ) +{ + vertdata.push_back( fl0 ); + vertdata.push_back( fl1 ); + vertdata.push_back( fl2 ); + vertdata.push_back( fl3 ); + vertdata.push_back( fl4 ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::AddCubeToScene( Matrix4 mat, std::vector &vertdata ) +{ + // Matrix4 mat( outermat.data() ); + + Vector4 A = mat * Vector4( 0, 0, 0, 1 ); + Vector4 B = mat * Vector4( 1, 0, 0, 1 ); + Vector4 C = mat * Vector4( 1, 1, 0, 1 ); + Vector4 D = mat * Vector4( 0, 1, 0, 1 ); + Vector4 E = mat * Vector4( 0, 0, 1, 1 ); + Vector4 F = mat * Vector4( 1, 0, 1, 1 ); + Vector4 G = mat * Vector4( 1, 1, 1, 1 ); + Vector4 H = mat * Vector4( 0, 1, 1, 1 ); + + // triangles instead of quads + AddCubeVertex( E.x, E.y, E.z, 0, 1, vertdata ); //Front + AddCubeVertex( F.x, F.y, F.z, 1, 1, vertdata ); + AddCubeVertex( G.x, G.y, G.z, 1, 0, vertdata ); + AddCubeVertex( G.x, G.y, G.z, 1, 0, vertdata ); + AddCubeVertex( H.x, H.y, H.z, 0, 0, vertdata ); + AddCubeVertex( E.x, E.y, E.z, 0, 1, vertdata ); + + AddCubeVertex( B.x, B.y, B.z, 0, 1, vertdata ); //Back + AddCubeVertex( A.x, A.y, A.z, 1, 1, vertdata ); + AddCubeVertex( D.x, D.y, D.z, 1, 0, vertdata ); + AddCubeVertex( D.x, D.y, D.z, 1, 0, vertdata ); + AddCubeVertex( C.x, C.y, C.z, 0, 0, vertdata ); + AddCubeVertex( B.x, B.y, B.z, 0, 1, vertdata ); + + AddCubeVertex( H.x, H.y, H.z, 0, 1, vertdata ); //Top + AddCubeVertex( G.x, G.y, G.z, 1, 1, vertdata ); + AddCubeVertex( C.x, C.y, C.z, 1, 0, vertdata ); + AddCubeVertex( C.x, C.y, C.z, 1, 0, vertdata ); + AddCubeVertex( D.x, D.y, D.z, 0, 0, vertdata ); + AddCubeVertex( H.x, H.y, H.z, 0, 1, vertdata ); + + AddCubeVertex( A.x, A.y, A.z, 0, 1, vertdata ); //Bottom + AddCubeVertex( B.x, B.y, B.z, 1, 1, vertdata ); + AddCubeVertex( F.x, F.y, F.z, 1, 0, vertdata ); + AddCubeVertex( F.x, F.y, F.z, 1, 0, vertdata ); + AddCubeVertex( E.x, E.y, E.z, 0, 0, vertdata ); + AddCubeVertex( A.x, A.y, A.z, 0, 1, vertdata ); + + AddCubeVertex( A.x, A.y, A.z, 0, 1, vertdata ); //Left + AddCubeVertex( E.x, E.y, E.z, 1, 1, vertdata ); + AddCubeVertex( H.x, H.y, H.z, 1, 0, vertdata ); + AddCubeVertex( H.x, H.y, H.z, 1, 0, vertdata ); + AddCubeVertex( D.x, D.y, D.z, 0, 0, vertdata ); + AddCubeVertex( A.x, A.y, A.z, 0, 1, vertdata ); + + AddCubeVertex( F.x, F.y, F.z, 0, 1, vertdata ); //Right + AddCubeVertex( B.x, B.y, B.z, 1, 1, vertdata ); + AddCubeVertex( C.x, C.y, C.z, 1, 0, vertdata ); + AddCubeVertex( C.x, C.y, C.z, 1, 0, vertdata ); + AddCubeVertex( G.x, G.y, G.z, 0, 0, vertdata ); + AddCubeVertex( F.x, F.y, F.z, 0, 1, vertdata ); +} + + +//----------------------------------------------------------------------------- +// Purpose: Draw all of the controllers as X/Y/Z lines +//----------------------------------------------------------------------------- +void CMainApplication::DrawControllers() +{ + // don't draw controllers if somebody else has input focus + if( m_pHMD->IsInputFocusCapturedByAnotherProcess() ) + return; + + std::vector vertdataarray; + + m_uiControllerVertcount = 0; + m_iTrackedControllerCount = 0; + + for ( vr::TrackedDeviceIndex_t unTrackedDevice = vr::k_unTrackedDeviceIndex_Hmd + 1; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; ++unTrackedDevice ) + { + if ( !m_pHMD->IsTrackedDeviceConnected( unTrackedDevice ) ) + continue; + + if( m_pHMD->GetTrackedDeviceClass( unTrackedDevice ) != vr::TrackedDeviceClass_Controller ) + continue; + + m_iTrackedControllerCount += 1; + + if( !m_rTrackedDevicePose[ unTrackedDevice ].bPoseIsValid ) + continue; + + const Matrix4 & mat = m_rmat4DevicePose[unTrackedDevice]; + + Vector4 center = mat * Vector4( 0, 0, 0, 1 ); + + for ( int i = 0; i < 3; ++i ) + { + Vector3 color( 0, 0, 0 ); + Vector4 point( 0, 0, 0, 1 ); + point[i] += 0.05f; // offset in X, Y, Z + color[i] = 1.0; // R, G, B + point = mat * point; + vertdataarray.push_back( center.x ); + vertdataarray.push_back( center.y ); + vertdataarray.push_back( center.z ); + + vertdataarray.push_back( color.x ); + vertdataarray.push_back( color.y ); + vertdataarray.push_back( color.z ); + + vertdataarray.push_back( point.x ); + vertdataarray.push_back( point.y ); + vertdataarray.push_back( point.z ); + + vertdataarray.push_back( color.x ); + vertdataarray.push_back( color.y ); + vertdataarray.push_back( color.z ); + + m_uiControllerVertcount += 2; + } + + Vector4 start = mat * Vector4( 0, 0, -0.02f, 1 ); + Vector4 end = mat * Vector4( 0, 0, -39.f, 1 ); + Vector3 color( .92f, .92f, .71f ); + + vertdataarray.push_back( start.x );vertdataarray.push_back( start.y );vertdataarray.push_back( start.z ); + vertdataarray.push_back( color.x );vertdataarray.push_back( color.y );vertdataarray.push_back( color.z ); + + vertdataarray.push_back( end.x );vertdataarray.push_back( end.y );vertdataarray.push_back( end.z ); + vertdataarray.push_back( color.x );vertdataarray.push_back( color.y );vertdataarray.push_back( color.z ); + m_uiControllerVertcount += 2; + } + + // Setup the VAO the first time through. + if ( m_unControllerVAO == 0 ) + { + glGenVertexArrays( 1, &m_unControllerVAO ); + glBindVertexArray( m_unControllerVAO ); + + glGenBuffers( 1, &m_glControllerVertBuffer ); + glBindBuffer( GL_ARRAY_BUFFER, m_glControllerVertBuffer ); + + GLuint stride = 2 * 3 * sizeof( float ); + GLuint offset = 0; + + glEnableVertexAttribArray( 0 ); + glVertexAttribPointer( 0, 3, GL_FLOAT, GL_FALSE, stride, (const void *)offset); + + offset += sizeof( Vector3 ); + glEnableVertexAttribArray( 1 ); + glVertexAttribPointer( 1, 3, GL_FLOAT, GL_FALSE, stride, (const void *)offset); + + glBindVertexArray( 0 ); + } + + glBindBuffer( GL_ARRAY_BUFFER, m_glControllerVertBuffer ); + + // set vertex data if we have some + if( vertdataarray.size() > 0 ) + { + //$ TODO: Use glBufferSubData for this... + glBufferData( GL_ARRAY_BUFFER, sizeof(float) * vertdataarray.size(), &vertdataarray[0], GL_STREAM_DRAW ); + } +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::SetupCameras() +{ + m_mat4ProjectionLeft = GetHMDMatrixProjectionEye( vr::Eye_Left ); + m_mat4ProjectionRight = GetHMDMatrixProjectionEye( vr::Eye_Right ); + m_mat4eyePosLeft = GetHMDMatrixPoseEye( vr::Eye_Left ); + m_mat4eyePosRight = GetHMDMatrixPoseEye( vr::Eye_Right ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::CreateFrameBuffer( int nWidth, int nHeight, FramebufferDesc &framebufferDesc ) +{ + glGenFramebuffers(1, &framebufferDesc.m_nRenderFramebufferId ); + glBindFramebuffer(GL_FRAMEBUFFER, framebufferDesc.m_nRenderFramebufferId); + + glGenRenderbuffers(1, &framebufferDesc.m_nDepthBufferId); + glBindRenderbuffer(GL_RENDERBUFFER, framebufferDesc.m_nDepthBufferId); + glRenderbufferStorageMultisample(GL_RENDERBUFFER, 4, GL_DEPTH_COMPONENT, nWidth, nHeight ); + glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, framebufferDesc.m_nDepthBufferId ); + + glGenTextures(1, &framebufferDesc.m_nRenderTextureId ); + glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, framebufferDesc.m_nRenderTextureId ); + glTexImage2DMultisample(GL_TEXTURE_2D_MULTISAMPLE, 4, GL_RGBA8, nWidth, nHeight, true); + glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D_MULTISAMPLE, framebufferDesc.m_nRenderTextureId, 0); + + glGenFramebuffers(1, &framebufferDesc.m_nResolveFramebufferId ); + glBindFramebuffer(GL_FRAMEBUFFER, framebufferDesc.m_nResolveFramebufferId); + + glGenTextures(1, &framebufferDesc.m_nResolveTextureId ); + glBindTexture(GL_TEXTURE_2D, framebufferDesc.m_nResolveTextureId ); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAX_LEVEL, 0); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, nWidth, nHeight, 0, GL_RGBA, GL_UNSIGNED_BYTE, nullptr); + glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, framebufferDesc.m_nResolveTextureId, 0); + + // check FBO status + GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER); + if (status != GL_FRAMEBUFFER_COMPLETE) + { + return false; + } + + glBindFramebuffer( GL_FRAMEBUFFER, 0 ); + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +bool CMainApplication::SetupStereoRenderTargets() +{ + if ( !m_pHMD ) + return false; + + m_pHMD->GetRecommendedRenderTargetSize( &m_nRenderWidth, &m_nRenderHeight ); + + CreateFrameBuffer( m_nRenderWidth, m_nRenderHeight, leftEyeDesc ); + CreateFrameBuffer( m_nRenderWidth, m_nRenderHeight, rightEyeDesc ); + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::SetupDistortion() +{ + if ( !m_pHMD ) + return; + + GLushort m_iLensGridSegmentCountH = 43; + GLushort m_iLensGridSegmentCountV = 43; + + float w = (float)( 1.0/float(m_iLensGridSegmentCountH-1)); + float h = (float)( 1.0/float(m_iLensGridSegmentCountV-1)); + + float u, v = 0; + + std::vector vVerts(0); + VertexDataLens vert; + + //left eye distortion verts + float Xoffset = -1; + for( int y=0; yComputeDistortion(vr::Eye_Left, u, v); + + vert.texCoordRed = Vector2(dc0.rfRed[0], 1 - dc0.rfRed[1]); + vert.texCoordGreen = Vector2(dc0.rfGreen[0], 1 - dc0.rfGreen[1]); + vert.texCoordBlue = Vector2(dc0.rfBlue[0], 1 - dc0.rfBlue[1]); + + vVerts.push_back( vert ); + } + } + + //right eye distortion verts + Xoffset = 0; + for( int y=0; yComputeDistortion( vr::Eye_Right, u, v ); + + vert.texCoordRed = Vector2(dc0.rfRed[0], 1 - dc0.rfRed[1]); + vert.texCoordGreen = Vector2(dc0.rfGreen[0], 1 - dc0.rfGreen[1]); + vert.texCoordBlue = Vector2(dc0.rfBlue[0], 1 - dc0.rfBlue[1]); + + vVerts.push_back( vert ); + } + } + + std::vector vIndices; + GLushort a,b,c,d; + + GLushort offset = 0; + for( GLushort y=0; ym_instancingRenderer->init(); + + + + // Left Eye + { + Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose; + m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get()); + m_app->m_instancingRenderer->updateCamera(); + } + + glBindFramebuffer( GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId ); + glViewport(0, 0, m_nRenderWidth, m_nRenderHeight ); + + + + m_app->m_window->startRendering(); + RenderScene( vr::Eye_Left ); + + m_app->drawGrid(); + sExample->stepSimulation(1./60.); + sExample->renderScene(); + + + + m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)leftEyeDesc.m_nRenderFramebufferId); + + m_app->m_instancingRenderer->renderScene(); + + glBindFramebuffer( GL_FRAMEBUFFER, 0 ); + + glDisable( GL_MULTISAMPLE ); + + glBindFramebuffer(GL_READ_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId); + glBindFramebuffer(GL_DRAW_FRAMEBUFFER, leftEyeDesc.m_nResolveFramebufferId ); + + glBlitFramebuffer( 0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight, + GL_COLOR_BUFFER_BIT, + GL_LINEAR ); + + glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); + glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0 ); + + glEnable( GL_MULTISAMPLE ); + + // Right Eye + + { + Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose; + m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get()); + m_app->m_instancingRenderer->updateCamera(); + } + + glBindFramebuffer( GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId ); + glViewport(0, 0, m_nRenderWidth, m_nRenderHeight ); + + m_app->m_window->startRendering(); + RenderScene( vr::Eye_Right ); + + m_app->drawGrid(); + m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId); + + m_app->m_renderer->renderScene(); + + glBindFramebuffer( GL_FRAMEBUFFER, 0 ); + + glDisable( GL_MULTISAMPLE ); + + glBindFramebuffer(GL_READ_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId ); + glBindFramebuffer(GL_DRAW_FRAMEBUFFER, rightEyeDesc.m_nResolveFramebufferId ); + + glBlitFramebuffer( 0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight, + GL_COLOR_BUFFER_BIT, + GL_LINEAR ); + + glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); + glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0 ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::RenderScene( vr::Hmd_Eye nEye ) +{ + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glEnable(GL_DEPTH_TEST); + + if( m_bShowCubes ) + { + glUseProgram( m_unSceneProgramID ); + glUniformMatrix4fv( m_nSceneMatrixLocation, 1, GL_FALSE, GetCurrentViewProjectionMatrix( nEye ).get() ); + glBindVertexArray( m_unSceneVAO ); + glBindTexture( GL_TEXTURE_2D, m_iTexture ); + glDrawArrays( GL_TRIANGLES, 0, m_uiVertcount ); + glBindVertexArray( 0 ); + } + + bool bIsInputCapturedByAnotherProcess = m_pHMD->IsInputFocusCapturedByAnotherProcess(); + + if( !bIsInputCapturedByAnotherProcess ) + { + // draw the controller axis lines + glUseProgram( m_unControllerTransformProgramID ); + glUniformMatrix4fv( m_nControllerMatrixLocation, 1, GL_FALSE, GetCurrentViewProjectionMatrix( nEye ).get() ); + glBindVertexArray( m_unControllerVAO ); + glDrawArrays( GL_LINES, 0, m_uiControllerVertcount ); + glBindVertexArray( 0 ); + } + + // ----- Render Model rendering ----- + glUseProgram( m_unRenderModelProgramID ); + + for( uint32_t unTrackedDevice = 0; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; unTrackedDevice++ ) + { + if( !m_rTrackedDeviceToRenderModel[ unTrackedDevice ] || !m_rbShowTrackedDevice[ unTrackedDevice ] ) + continue; + + const vr::TrackedDevicePose_t & pose = m_rTrackedDevicePose[ unTrackedDevice ]; + if( !pose.bPoseIsValid ) + continue; + + if( bIsInputCapturedByAnotherProcess && m_pHMD->GetTrackedDeviceClass( unTrackedDevice ) == vr::TrackedDeviceClass_Controller ) + continue; + + const Matrix4 & matDeviceToTracking = m_rmat4DevicePose[ unTrackedDevice ]; + Matrix4 matMVP = GetCurrentViewProjectionMatrix( nEye ) * matDeviceToTracking; + glUniformMatrix4fv( m_nRenderModelMatrixLocation, 1, GL_FALSE, matMVP.get() ); + + m_rTrackedDeviceToRenderModel[ unTrackedDevice ]->Draw(); + } + + glUseProgram( 0 ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::RenderDistortion() +{ + glDisable(GL_DEPTH_TEST); + glViewport( 0, 0, m_nWindowWidth, m_nWindowHeight ); + + glBindVertexArray( m_unLensVAO ); + glUseProgram( m_unLensProgramID ); + + //render left lens (first half of index array ) + glBindTexture(GL_TEXTURE_2D, leftEyeDesc.m_nResolveTextureId ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR ); + glDrawElements( GL_TRIANGLES, m_uiIndexSize/2, GL_UNSIGNED_SHORT, 0 ); + + //render right lens (second half of index array ) + glBindTexture(GL_TEXTURE_2D, rightEyeDesc.m_nResolveTextureId ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR ); + glDrawElements( GL_TRIANGLES, m_uiIndexSize/2, GL_UNSIGNED_SHORT, (const void *)(m_uiIndexSize) ); + + glBindVertexArray( 0 ); + glUseProgram( 0 ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +Matrix4 CMainApplication::GetHMDMatrixProjectionEye( vr::Hmd_Eye nEye ) +{ + if ( !m_pHMD ) + return Matrix4(); + + vr::HmdMatrix44_t mat = m_pHMD->GetProjectionMatrix( nEye, m_fNearClip, m_fFarClip, vr::API_OpenGL); + + return Matrix4( + mat.m[0][0], mat.m[1][0], mat.m[2][0], mat.m[3][0], + mat.m[0][1], mat.m[1][1], mat.m[2][1], mat.m[3][1], + mat.m[0][2], mat.m[1][2], mat.m[2][2], mat.m[3][2], + mat.m[0][3], mat.m[1][3], mat.m[2][3], mat.m[3][3] + ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +Matrix4 CMainApplication::GetHMDMatrixPoseEye( vr::Hmd_Eye nEye ) +{ + if ( !m_pHMD ) + return Matrix4(); + + vr::HmdMatrix34_t matEyeRight = m_pHMD->GetEyeToHeadTransform( nEye ); + Matrix4 matrixObj( + matEyeRight.m[0][0], matEyeRight.m[1][0], matEyeRight.m[2][0], 0.0, + matEyeRight.m[0][1], matEyeRight.m[1][1], matEyeRight.m[2][1], 0.0, + matEyeRight.m[0][2], matEyeRight.m[1][2], matEyeRight.m[2][2], 0.0, + matEyeRight.m[0][3], matEyeRight.m[1][3], matEyeRight.m[2][3], 1.0f + ); + + return matrixObj.invert(); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +Matrix4 CMainApplication::GetCurrentViewProjectionMatrix( vr::Hmd_Eye nEye ) +{ + Matrix4 matMVP; + if( nEye == vr::Eye_Left ) + { + matMVP = m_mat4ProjectionLeft * m_mat4eyePosLeft * m_mat4HMDPose; + } + else if( nEye == vr::Eye_Right ) + { + matMVP = m_mat4ProjectionRight * m_mat4eyePosRight * m_mat4HMDPose; + } + + return matMVP; +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +void CMainApplication::UpdateHMDMatrixPose() +{ + if ( !m_pHMD ) + return; + + vr::VRCompositor()->WaitGetPoses(m_rTrackedDevicePose, vr::k_unMaxTrackedDeviceCount, NULL, 0 ); + + m_iValidPoseCount = 0; + m_strPoseClasses = ""; + for ( int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice ) + { + if ( m_rTrackedDevicePose[nDevice].bPoseIsValid ) + { + m_iValidPoseCount++; + m_rmat4DevicePose[nDevice] = ConvertSteamVRMatrixToMatrix4( m_rTrackedDevicePose[nDevice].mDeviceToAbsoluteTracking ); + if (m_rDevClassChar[nDevice]==0) + { + switch (m_pHMD->GetTrackedDeviceClass(nDevice)) + { + case vr::TrackedDeviceClass_Controller: m_rDevClassChar[nDevice] = 'C'; break; + case vr::TrackedDeviceClass_HMD: m_rDevClassChar[nDevice] = 'H'; break; + case vr::TrackedDeviceClass_Invalid: m_rDevClassChar[nDevice] = 'I'; break; + case vr::TrackedDeviceClass_Other: m_rDevClassChar[nDevice] = 'O'; break; + case vr::TrackedDeviceClass_TrackingReference: m_rDevClassChar[nDevice] = 'T'; break; + default: m_rDevClassChar[nDevice] = '?'; break; + } + } + m_strPoseClasses += m_rDevClassChar[nDevice]; + } + } + + if ( m_rTrackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid ) + { + m_mat4HMDPose = m_rmat4DevicePose[vr::k_unTrackedDeviceIndex_Hmd].invert(); + } +} + + +//----------------------------------------------------------------------------- +// Purpose: Finds a render model we've already loaded or loads a new one +//----------------------------------------------------------------------------- +CGLRenderModel *CMainApplication::FindOrLoadRenderModel( const char *pchRenderModelName ) +{ + CGLRenderModel *pRenderModel = NULL; + for( std::vector< CGLRenderModel * >::iterator i = m_vecRenderModels.begin(); i != m_vecRenderModels.end(); i++ ) + { + if( !stricmp( (*i)->GetName().c_str(), pchRenderModelName ) ) + { + pRenderModel = *i; + break; + } + } + + // load the model if we didn't find one + if( !pRenderModel ) + { + vr::RenderModel_t *pModel; + vr::EVRRenderModelError error; + while ( 1 ) + { + error = vr::VRRenderModels()->LoadRenderModel_Async( pchRenderModelName, &pModel ); + if ( error != vr::VRRenderModelError_Loading ) + break; + + ThreadSleep( 1 ); + } + + if ( error != vr::VRRenderModelError_None ) + { + b3Printf( "Unable to load render model %s - %s\n", pchRenderModelName, vr::VRRenderModels()->GetRenderModelErrorNameFromEnum( error ) ); + return NULL; // move on to the next tracked device + } + + vr::RenderModel_TextureMap_t *pTexture; + while ( 1 ) + { + error = vr::VRRenderModels()->LoadTexture_Async( pModel->diffuseTextureId, &pTexture ); + if ( error != vr::VRRenderModelError_Loading ) + break; + + ThreadSleep( 1 ); + } + + if ( error != vr::VRRenderModelError_None ) + { + b3Printf( "Unable to load render texture id:%d for render model %s\n", pModel->diffuseTextureId, pchRenderModelName ); + vr::VRRenderModels()->FreeRenderModel( pModel ); + return NULL; // move on to the next tracked device + } + + pRenderModel = new CGLRenderModel( pchRenderModelName ); + if ( !pRenderModel->BInit( *pModel, *pTexture ) ) + { + b3Printf( "Unable to create GL model from render model %s\n", pchRenderModelName ); + delete pRenderModel; + pRenderModel = NULL; + } + else + { + m_vecRenderModels.push_back( pRenderModel ); + } + vr::VRRenderModels()->FreeRenderModel( pModel ); + vr::VRRenderModels()->FreeTexture( pTexture ); + } + return pRenderModel; +} + + +//----------------------------------------------------------------------------- +// Purpose: Create/destroy GL a Render Model for a single tracked device +//----------------------------------------------------------------------------- +void CMainApplication::SetupRenderModelForTrackedDevice( vr::TrackedDeviceIndex_t unTrackedDeviceIndex ) +{ + if( unTrackedDeviceIndex >= vr::k_unMaxTrackedDeviceCount ) + return; + + // try to find a model we've already set up + std::string sRenderModelName = GetTrackedDeviceString( m_pHMD, unTrackedDeviceIndex, vr::Prop_RenderModelName_String ); + CGLRenderModel *pRenderModel = FindOrLoadRenderModel( sRenderModelName.c_str() ); + if( !pRenderModel ) + { + std::string sTrackingSystemName = GetTrackedDeviceString( m_pHMD, unTrackedDeviceIndex, vr::Prop_TrackingSystemName_String ); + b3Printf( "Unable to load render model for tracked device %d (%s.%s)", unTrackedDeviceIndex, sTrackingSystemName.c_str(), sRenderModelName.c_str() ); + } + else + { + m_rTrackedDeviceToRenderModel[ unTrackedDeviceIndex ] = pRenderModel; + m_rbShowTrackedDevice[ unTrackedDeviceIndex ] = true; + } +} + + +//----------------------------------------------------------------------------- +// Purpose: Create/destroy GL Render Models +//----------------------------------------------------------------------------- +void CMainApplication::SetupRenderModels() +{ + memset( m_rTrackedDeviceToRenderModel, 0, sizeof( m_rTrackedDeviceToRenderModel ) ); + + if( !m_pHMD ) + return; + + for( uint32_t unTrackedDevice = vr::k_unTrackedDeviceIndex_Hmd + 1; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; unTrackedDevice++ ) + { + if( !m_pHMD->IsTrackedDeviceConnected( unTrackedDevice ) ) + continue; + + SetupRenderModelForTrackedDevice( unTrackedDevice ); + } + +} + + +//----------------------------------------------------------------------------- +// Purpose: Converts a SteamVR matrix to our local matrix class +//----------------------------------------------------------------------------- +Matrix4 CMainApplication::ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix34_t &matPose ) +{ + Matrix4 matrixObj( + matPose.m[0][0], matPose.m[1][0], matPose.m[2][0], 0.0, + matPose.m[0][1], matPose.m[1][1], matPose.m[2][1], 0.0, + matPose.m[0][2], matPose.m[1][2], matPose.m[2][2], 0.0, + matPose.m[0][3], matPose.m[1][3], matPose.m[2][3], 1.0f + ); + return matrixObj; +} + + +//----------------------------------------------------------------------------- +// Purpose: Create/destroy GL Render Models +//----------------------------------------------------------------------------- +CGLRenderModel::CGLRenderModel( const std::string & sRenderModelName ) + : m_sModelName( sRenderModelName ) +{ + m_glIndexBuffer = 0; + m_glVertArray = 0; + m_glVertBuffer = 0; + m_glTexture = 0; +} + + +CGLRenderModel::~CGLRenderModel() +{ + Cleanup(); +} + + +//----------------------------------------------------------------------------- +// Purpose: Allocates and populates the GL resources for a render model +//----------------------------------------------------------------------------- +bool CGLRenderModel::BInit( const vr::RenderModel_t & vrModel, const vr::RenderModel_TextureMap_t & vrDiffuseTexture ) +{ + // create and bind a VAO to hold state for this model + glGenVertexArrays( 1, &m_glVertArray ); + glBindVertexArray( m_glVertArray ); + + // Populate a vertex buffer + glGenBuffers( 1, &m_glVertBuffer ); + glBindBuffer( GL_ARRAY_BUFFER, m_glVertBuffer ); + glBufferData( GL_ARRAY_BUFFER, sizeof( vr::RenderModel_Vertex_t ) * vrModel.unVertexCount, vrModel.rVertexData, GL_STATIC_DRAW ); + + // Identify the components in the vertex buffer + glEnableVertexAttribArray( 0 ); + glVertexAttribPointer( 0, 3, GL_FLOAT, GL_FALSE, sizeof( vr::RenderModel_Vertex_t ), (void *)offsetof( vr::RenderModel_Vertex_t, vPosition ) ); + glEnableVertexAttribArray( 1 ); + glVertexAttribPointer( 1, 3, GL_FLOAT, GL_FALSE, sizeof( vr::RenderModel_Vertex_t ), (void *)offsetof( vr::RenderModel_Vertex_t, vNormal ) ); + glEnableVertexAttribArray( 2 ); + glVertexAttribPointer( 2, 2, GL_FLOAT, GL_FALSE, sizeof( vr::RenderModel_Vertex_t ), (void *)offsetof( vr::RenderModel_Vertex_t, rfTextureCoord ) ); + + // Create and populate the index buffer + glGenBuffers( 1, &m_glIndexBuffer ); + glBindBuffer( GL_ELEMENT_ARRAY_BUFFER, m_glIndexBuffer ); + glBufferData( GL_ELEMENT_ARRAY_BUFFER, sizeof( uint16_t ) * vrModel.unTriangleCount * 3, vrModel.rIndexData, GL_STATIC_DRAW ); + + glBindVertexArray( 0 ); + + // create and populate the texture + glGenTextures(1, &m_glTexture ); + glBindTexture( GL_TEXTURE_2D, m_glTexture ); + + glTexImage2D( GL_TEXTURE_2D, 0, GL_RGBA, vrDiffuseTexture.unWidth, vrDiffuseTexture.unHeight, + 0, GL_RGBA, GL_UNSIGNED_BYTE, vrDiffuseTexture.rubTextureMapData ); + + // If this renders black ask McJohn what's wrong. + glGenerateMipmap(GL_TEXTURE_2D); + + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR ); + glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR ); + + GLfloat fLargest; + glGetFloatv( GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT, &fLargest ); + glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY_EXT, fLargest ); + + glBindTexture( GL_TEXTURE_2D, 0 ); + + m_unVertexCount = vrModel.unTriangleCount * 3; + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: Frees the GL resources for a render model +//----------------------------------------------------------------------------- +void CGLRenderModel::Cleanup() +{ + if( m_glVertBuffer ) + { + glDeleteBuffers(1, &m_glIndexBuffer); + glDeleteVertexArrays( 1, &m_glVertArray ); + glDeleteBuffers(1, &m_glVertBuffer); + m_glIndexBuffer = 0; + m_glVertArray = 0; + m_glVertBuffer = 0; + } +} + + +//----------------------------------------------------------------------------- +// Purpose: Draws the render model +//----------------------------------------------------------------------------- +void CGLRenderModel::Draw() +{ + glBindVertexArray( m_glVertArray ); + + glActiveTexture( GL_TEXTURE0 ); + glBindTexture( GL_TEXTURE_2D, m_glTexture ); + + glDrawElements( GL_TRIANGLES, m_unVertexCount, GL_UNSIGNED_SHORT, 0 ); + + glBindVertexArray( 0 ); +} + + +//----------------------------------------------------------------------------- +// Purpose: +//----------------------------------------------------------------------------- +int main(int argc, char *argv[]) +{ + CMainApplication *pMainApplication = new CMainApplication( argc, argv ); + + if (!pMainApplication->BInit()) + { + pMainApplication->Shutdown(); + return 1; + } + + pMainApplication->RunMainLoop(); + + pMainApplication->Shutdown(); + + return 0; +} +#endif //BT_ENABLE_VR \ No newline at end of file diff --git a/examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so new file mode 100644 index 0000000000000000000000000000000000000000..a2505450834286ecae2bbe96c4742eca32584da7 GIT binary patch literal 347110 zcmce<4|r6?^*(+VBSegD#As1bV~rO7VL(7o^cx^SqM$K<6cw6;WFdi&tjS#n3X-^q 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+{ + +#if defined(__linux__) || defined(__APPLE__) + // The 32-bit version of gcc has the alignment requirement for uint64 and double set to + // 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. + // The 64-bit version of gcc has the alignment requirement for these types set to + // 8 meaning that unless we use #pragma pack(4) our structures will get bigger. + // The 64-bit structure packing has to match the 32-bit structure packing for each platform. + #pragma pack( push, 4 ) +#else + #pragma pack( push, 8 ) +#endif + +typedef void* glSharedTextureHandle_t; +typedef int32_t glInt_t; +typedef uint32_t glUInt_t; + +// right-handed system +// +y is up +// +x is to the right +// -z is going away from you +// Distance unit is meters +struct HmdMatrix34_t +{ + float m[3][4]; +}; + +struct HmdMatrix44_t +{ + float m[4][4]; +}; + +struct HmdVector3_t +{ + float v[3]; +}; + +struct HmdVector4_t +{ + float v[4]; +}; + +struct HmdVector3d_t +{ + double v[3]; +}; + +struct HmdVector2_t +{ + float v[2]; +}; + +struct HmdQuaternion_t +{ + double w, x, y, z; +}; + +struct HmdColor_t +{ + float r, g, b, a; +}; + +struct HmdQuad_t +{ + HmdVector3_t vCorners[ 4 ]; +}; + +struct HmdRect2_t +{ + HmdVector2_t vTopLeft; + HmdVector2_t vBottomRight; +}; + +/** Used to return the post-distortion UVs for each color channel. +* UVs range from 0 to 1 with 0,0 in the upper left corner of the +* source render target. The 0,0 to 1,1 range covers a single eye. */ +struct DistortionCoordinates_t +{ + float rfRed[2]; + float rfGreen[2]; + float rfBlue[2]; +}; + +enum EVREye +{ + Eye_Left = 0, + Eye_Right = 1 +}; + +enum EGraphicsAPIConvention +{ + API_DirectX = 0, // Normalized Z goes from 0 at the viewer to 1 at the far clip plane + API_OpenGL = 1, // Normalized Z goes from 1 at the viewer to -1 at the far clip plane +}; + +enum EColorSpace +{ + ColorSpace_Auto = 0, // Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'. This mirrors the DXGI formats which have _SRGB variants. + ColorSpace_Gamma = 1, // Texture data can be displayed directly on the display without any conversion (a.k.a. display native format). + ColorSpace_Linear = 2, // Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm. +}; + +struct Texture_t +{ + void* handle; // Native d3d texture pointer or GL texture id. + EGraphicsAPIConvention eType; + EColorSpace eColorSpace; +}; + +enum ETrackingResult +{ + TrackingResult_Uninitialized = 1, + + TrackingResult_Calibrating_InProgress = 100, + TrackingResult_Calibrating_OutOfRange = 101, + + TrackingResult_Running_OK = 200, + TrackingResult_Running_OutOfRange = 201, +}; + +static const uint32_t k_unTrackingStringSize = 32; +static const uint32_t k_unMaxDriverDebugResponseSize = 32768; + +/** Used to pass device IDs to API calls */ +typedef uint32_t TrackedDeviceIndex_t; +static const uint32_t k_unTrackedDeviceIndex_Hmd = 0; +static const uint32_t k_unMaxTrackedDeviceCount = 16; +static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE; +static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF; + +/** Describes what kind of object is being tracked at a given ID */ +enum ETrackedDeviceClass +{ + TrackedDeviceClass_Invalid = 0, // the ID was not valid. + TrackedDeviceClass_HMD = 1, // Head-Mounted Displays + TrackedDeviceClass_Controller = 2, // Tracked controllers + TrackedDeviceClass_TrackingReference = 4, // Camera and base stations that serve as tracking reference points + + TrackedDeviceClass_Other = 1000, +}; + + +/** Describes what specific role associated with a tracked device */ +enum ETrackedControllerRole +{ + TrackedControllerRole_Invalid = 0, // Invalid value for controller type + TrackedControllerRole_LeftHand = 1, // Tracked device associated with the left hand + TrackedControllerRole_RightHand = 2, // Tracked device associated with the right hand +}; + + +/** describes a single pose for a tracked object */ +struct TrackedDevicePose_t +{ + HmdMatrix34_t mDeviceToAbsoluteTracking; + HmdVector3_t vVelocity; // velocity in tracker space in m/s + HmdVector3_t vAngularVelocity; // angular velocity in radians/s (?) + ETrackingResult eTrackingResult; + bool bPoseIsValid; + + // This indicates that there is a device connected for this spot in the pose array. + // It could go from true to false if the user unplugs the device. + bool bDeviceIsConnected; +}; + +/** Identifies which style of tracking origin the application wants to use +* for the poses it is requesting */ +enum ETrackingUniverseOrigin +{ + TrackingUniverseSeated = 0, // Poses are provided relative to the seated zero pose + TrackingUniverseStanding = 1, // Poses are provided relative to the safe bounds configured by the user + TrackingUniverseRawAndUncalibrated = 2, // Poses are provided in the coordinate system defined by the driver. You probably don't want this one. +}; + + +/** Each entry in this enum represents a property that can be retrieved about a +* tracked device. Many fields are only valid for one ETrackedDeviceClass. */ +enum ETrackedDeviceProperty +{ + // general properties that apply to all device classes + Prop_TrackingSystemName_String = 1000, + Prop_ModelNumber_String = 1001, + Prop_SerialNumber_String = 1002, + Prop_RenderModelName_String = 1003, + Prop_WillDriftInYaw_Bool = 1004, + Prop_ManufacturerName_String = 1005, + Prop_TrackingFirmwareVersion_String = 1006, + Prop_HardwareRevision_String = 1007, + Prop_AllWirelessDongleDescriptions_String = 1008, + Prop_ConnectedWirelessDongle_String = 1009, + Prop_DeviceIsWireless_Bool = 1010, + Prop_DeviceIsCharging_Bool = 1011, + Prop_DeviceBatteryPercentage_Float = 1012, // 0 is empty, 1 is full + Prop_StatusDisplayTransform_Matrix34 = 1013, + Prop_Firmware_UpdateAvailable_Bool = 1014, + Prop_Firmware_ManualUpdate_Bool = 1015, + Prop_Firmware_ManualUpdateURL_String = 1016, + Prop_HardwareRevision_Uint64 = 1017, + Prop_FirmwareVersion_Uint64 = 1018, + Prop_FPGAVersion_Uint64 = 1019, + Prop_VRCVersion_Uint64 = 1020, + Prop_RadioVersion_Uint64 = 1021, + Prop_DongleVersion_Uint64 = 1022, + Prop_BlockServerShutdown_Bool = 1023, + Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024, + Prop_ContainsProximitySensor_Bool = 1025, + Prop_DeviceProvidesBatteryStatus_Bool = 1026, + Prop_DeviceCanPowerOff_Bool = 1027, + Prop_Firmware_ProgrammingTarget_String = 1028, + Prop_DeviceClass_Int32 = 1029, + Prop_HasCamera_Bool = 1030, + Prop_DriverVersion_String = 1031, + Prop_Firmware_ForceUpdateRequired_Bool = 1032, + + // Properties that are unique to TrackedDeviceClass_HMD + Prop_ReportsTimeSinceVSync_Bool = 2000, + Prop_SecondsFromVsyncToPhotons_Float = 2001, + Prop_DisplayFrequency_Float = 2002, + Prop_UserIpdMeters_Float = 2003, + Prop_CurrentUniverseId_Uint64 = 2004, + Prop_PreviousUniverseId_Uint64 = 2005, + Prop_DisplayFirmwareVersion_Uint64 = 2006, + Prop_IsOnDesktop_Bool = 2007, + Prop_DisplayMCType_Int32 = 2008, + Prop_DisplayMCOffset_Float = 2009, + Prop_DisplayMCScale_Float = 2010, + Prop_EdidVendorID_Int32 = 2011, + Prop_DisplayMCImageLeft_String = 2012, + Prop_DisplayMCImageRight_String = 2013, + Prop_DisplayGCBlackClamp_Float = 2014, + Prop_EdidProductID_Int32 = 2015, + Prop_CameraToHeadTransform_Matrix34 = 2016, + Prop_DisplayGCType_Int32 = 2017, + Prop_DisplayGCOffset_Float = 2018, + Prop_DisplayGCScale_Float = 2019, + Prop_DisplayGCPrescale_Float = 2020, + Prop_DisplayGCImage_String = 2021, + Prop_LensCenterLeftU_Float = 2022, + Prop_LensCenterLeftV_Float = 2023, + Prop_LensCenterRightU_Float = 2024, + Prop_LensCenterRightV_Float = 2025, + Prop_UserHeadToEyeDepthMeters_Float = 2026, + Prop_CameraFirmwareVersion_Uint64 = 2027, + Prop_CameraFirmwareDescription_String = 2028, + Prop_DisplayFPGAVersion_Uint64 = 2029, + Prop_DisplayBootloaderVersion_Uint64 = 2030, + Prop_DisplayHardwareVersion_Uint64 = 2031, + Prop_AudioFirmwareVersion_Uint64 = 2032, + Prop_CameraCompatibilityMode_Int32 = 2033, + Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, + Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, + Prop_DisplaySuppressed_Bool = 2036, + + // Properties that are unique to TrackedDeviceClass_Controller + Prop_AttachedDeviceId_String = 3000, + Prop_SupportedButtons_Uint64 = 3001, + Prop_Axis0Type_Int32 = 3002, // Return value is of type EVRControllerAxisType + Prop_Axis1Type_Int32 = 3003, // Return value is of type EVRControllerAxisType + Prop_Axis2Type_Int32 = 3004, // Return value is of type EVRControllerAxisType + Prop_Axis3Type_Int32 = 3005, // Return value is of type EVRControllerAxisType + Prop_Axis4Type_Int32 = 3006, // Return value is of type EVRControllerAxisType + + // Properties that are unique to TrackedDeviceClass_TrackingReference + Prop_FieldOfViewLeftDegrees_Float = 4000, + Prop_FieldOfViewRightDegrees_Float = 4001, + Prop_FieldOfViewTopDegrees_Float = 4002, + Prop_FieldOfViewBottomDegrees_Float = 4003, + Prop_TrackingRangeMinimumMeters_Float = 4004, + Prop_TrackingRangeMaximumMeters_Float = 4005, + Prop_ModeLabel_String = 4006, + + // Vendors are free to expose private debug data in this reserved region + Prop_VendorSpecific_Reserved_Start = 10000, + Prop_VendorSpecific_Reserved_End = 10999, +}; + +/** No string property will ever be longer than this length */ +static const uint32_t k_unMaxPropertyStringSize = 32 * 1024; + +/** Used to return errors that occur when reading properties. */ +enum ETrackedPropertyError +{ + TrackedProp_Success = 0, + TrackedProp_WrongDataType = 1, + TrackedProp_WrongDeviceClass = 2, + TrackedProp_BufferTooSmall = 3, + TrackedProp_UnknownProperty = 4, + TrackedProp_InvalidDevice = 5, + TrackedProp_CouldNotContactServer = 6, + TrackedProp_ValueNotProvidedByDevice = 7, + TrackedProp_StringExceedsMaximumLength = 8, + TrackedProp_NotYetAvailable = 9, // The property value isn't known yet, but is expected soon. Call again later. +}; + +/** Allows the application to control what part of the provided texture will be used in the +* frame buffer. */ +struct VRTextureBounds_t +{ + float uMin, vMin; + float uMax, vMax; +}; + + +/** Allows the application to control how scene textures are used by the compositor when calling Submit. */ +enum EVRSubmitFlags +{ + // Simple render path. App submits rendered left and right eye images with no lens distortion correction applied. + Submit_Default = 0x00, + + // App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear + // barrel distorted with chromatic aberration correction applied). The app would have used the data returned by + // vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit(). + Submit_LensDistortionAlreadyApplied = 0x01, + + // If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag. + Submit_GlRenderBuffer = 0x02, +}; + + +/** Status of the overall system or tracked objects */ +enum EVRState +{ + VRState_Undefined = -1, + VRState_Off = 0, + VRState_Searching = 1, + VRState_Searching_Alert = 2, + VRState_Ready = 3, + VRState_Ready_Alert = 4, + VRState_NotReady = 5, + VRState_Standby = 6, +}; + +/** The types of events that could be posted (and what the parameters mean for each event type) */ +enum EVREventType +{ + VREvent_None = 0, + + VREvent_TrackedDeviceActivated = 100, + VREvent_TrackedDeviceDeactivated = 101, + VREvent_TrackedDeviceUpdated = 102, + VREvent_TrackedDeviceUserInteractionStarted = 103, + VREvent_TrackedDeviceUserInteractionEnded = 104, + VREvent_IpdChanged = 105, + VREvent_EnterStandbyMode = 106, + VREvent_LeaveStandbyMode = 107, + VREvent_TrackedDeviceRoleChanged = 108, + + VREvent_ButtonPress = 200, // data is controller + VREvent_ButtonUnpress = 201, // data is controller + VREvent_ButtonTouch = 202, // data is controller + VREvent_ButtonUntouch = 203, // data is controller + + VREvent_MouseMove = 300, // data is mouse + VREvent_MouseButtonDown = 301, // data is mouse + VREvent_MouseButtonUp = 302, // data is mouse + VREvent_FocusEnter = 303, // data is overlay + VREvent_FocusLeave = 304, // data is overlay + VREvent_Scroll = 305, // data is mouse + VREvent_TouchPadMove = 306, // data is mouse + + VREvent_InputFocusCaptured = 400, // data is process DEPRECATED + VREvent_InputFocusReleased = 401, // data is process DEPRECATED + VREvent_SceneFocusLost = 402, // data is process + VREvent_SceneFocusGained = 403, // data is process + VREvent_SceneApplicationChanged = 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor) + VREvent_SceneFocusChanged = 405, // data is process - New app got access to draw the scene + VREvent_InputFocusChanged = 406, // data is process + VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process + + VREvent_HideRenderModels = 410, // Sent to the scene application to request hiding render models temporarily + VREvent_ShowRenderModels = 411, // Sent to the scene application to request restoring render model visibility + + VREvent_OverlayShown = 500, + VREvent_OverlayHidden = 501, + VREvent_DashboardActivated = 502, + VREvent_DashboardDeactivated = 503, + VREvent_DashboardThumbSelected = 504, // Sent to the overlay manager - data is overlay + VREvent_DashboardRequested = 505, // Sent to the overlay manager - data is overlay + VREvent_ResetDashboard = 506, // Send to the overlay manager + VREvent_RenderToast = 507, // Send to the dashboard to render a toast - data is the notification ID + VREvent_ImageLoaded = 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading + VREvent_ShowKeyboard = 509, // Sent to keyboard renderer in the dashboard to invoke it + VREvent_HideKeyboard = 510, // Sent to keyboard renderer in the dashboard to hide it + VREvent_OverlayGamepadFocusGained = 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it + VREvent_OverlayGamepadFocusLost = 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else + VREvent_OverlaySharedTextureChanged = 513, + VREvent_DashboardGuideButtonDown = 514, + VREvent_DashboardGuideButtonUp = 515, + VREvent_ScreenshotTriggered = 516, // Screenshot button combo was pressed, Dashboard should request a screenshot + VREvent_ImageFailed = 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load + + // Screenshot API + VREvent_RequestScreenshot = 520, // Sent by vrclient application to compositor to take a screenshot + VREvent_ScreenshotTaken = 521, // Sent by compositor to the application that the screenshot has been taken + VREvent_ScreenshotFailed = 522, // Sent by compositor to the application that the screenshot failed to be taken + VREvent_SubmitScreenshotToDashboard = 523, // Sent by compositor to the dashboard that a completed screenshot was submitted + + VREvent_Notification_Shown = 600, + VREvent_Notification_Hidden = 601, + VREvent_Notification_BeginInteraction = 602, + VREvent_Notification_Destroyed = 603, + + VREvent_Quit = 700, // data is process + VREvent_ProcessQuit = 701, // data is process + VREvent_QuitAborted_UserPrompt = 702, // data is process + VREvent_QuitAcknowledged = 703, // data is process + VREvent_DriverRequestedQuit = 704, // The driver has requested that SteamVR shut down + + VREvent_ChaperoneDataHasChanged = 800, + VREvent_ChaperoneUniverseHasChanged = 801, + VREvent_ChaperoneTempDataHasChanged = 802, + VREvent_ChaperoneSettingsHaveChanged = 803, + VREvent_SeatedZeroPoseReset = 804, + + VREvent_AudioSettingsHaveChanged = 820, + + VREvent_BackgroundSettingHasChanged = 850, + VREvent_CameraSettingsHaveChanged = 851, + VREvent_ReprojectionSettingHasChanged = 852, + VREvent_ModelSkinSettingsHaveChanged = 853, + VREvent_EnvironmentSettingsHaveChanged = 854, + + VREvent_StatusUpdate = 900, + + VREvent_MCImageUpdated = 1000, + + VREvent_FirmwareUpdateStarted = 1100, + VREvent_FirmwareUpdateFinished = 1101, + + VREvent_KeyboardClosed = 1200, + VREvent_KeyboardCharInput = 1201, + VREvent_KeyboardDone = 1202, // Sent when DONE button clicked on keyboard + + VREvent_ApplicationTransitionStarted = 1300, + VREvent_ApplicationTransitionAborted = 1301, + VREvent_ApplicationTransitionNewAppStarted = 1302, + VREvent_ApplicationListUpdated = 1303, + + VREvent_Compositor_MirrorWindowShown = 1400, + VREvent_Compositor_MirrorWindowHidden = 1401, + VREvent_Compositor_ChaperoneBoundsShown = 1410, + VREvent_Compositor_ChaperoneBoundsHidden = 1411, + + VREvent_TrackedCamera_StartVideoStream = 1500, + VREvent_TrackedCamera_StopVideoStream = 1501, + VREvent_TrackedCamera_PauseVideoStream = 1502, + VREvent_TrackedCamera_ResumeVideoStream = 1503, + + VREvent_PerformanceTest_EnableCapture = 1600, + VREvent_PerformanceTest_DisableCapture = 1601, + VREvent_PerformanceTest_FidelityLevel = 1602, + + // Vendors are free to expose private events in this reserved region + VREvent_VendorSpecific_Reserved_Start = 10000, + VREvent_VendorSpecific_Reserved_End = 19999, +}; + + +/** Level of Hmd activity */ +enum EDeviceActivityLevel +{ + k_EDeviceActivityLevel_Unknown = -1, + k_EDeviceActivityLevel_Idle = 0, + k_EDeviceActivityLevel_UserInteraction = 1, + k_EDeviceActivityLevel_UserInteraction_Timeout = 2, + k_EDeviceActivityLevel_Standby = 3, +}; + + +/** VR controller button and axis IDs */ +enum EVRButtonId +{ + k_EButton_System = 0, + k_EButton_ApplicationMenu = 1, + k_EButton_Grip = 2, + k_EButton_DPad_Left = 3, + k_EButton_DPad_Up = 4, + k_EButton_DPad_Right = 5, + k_EButton_DPad_Down = 6, + k_EButton_A = 7, + + k_EButton_Axis0 = 32, + k_EButton_Axis1 = 33, + k_EButton_Axis2 = 34, + k_EButton_Axis3 = 35, + k_EButton_Axis4 = 36, + + // aliases for well known controllers + k_EButton_SteamVR_Touchpad = k_EButton_Axis0, + k_EButton_SteamVR_Trigger = k_EButton_Axis1, + + k_EButton_Dashboard_Back = k_EButton_Grip, + + k_EButton_Max = 64 +}; + +inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; } + +/** used for controller button events */ +struct VREvent_Controller_t +{ + uint32_t button; // EVRButtonId enum +}; + + +/** used for simulated mouse events in overlay space */ +enum EVRMouseButton +{ + VRMouseButton_Left = 0x0001, + VRMouseButton_Right = 0x0002, + VRMouseButton_Middle = 0x0004, +}; + + +/** used for simulated mouse events in overlay space */ +struct VREvent_Mouse_t +{ + float x, y; // co-ords are in GL space, bottom left of the texture is 0,0 + uint32_t button; // EVRMouseButton enum +}; + +/** used for simulated mouse wheel scroll in overlay space */ +struct VREvent_Scroll_t +{ + float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe + uint32_t repeatCount; +}; + +/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger + is on the touchpad (or just released from it) +**/ +struct VREvent_TouchPadMove_t +{ + // true if the users finger is detected on the touch pad + bool bFingerDown; + + // How long the finger has been down in seconds + float flSecondsFingerDown; + + // These values indicate the starting finger position (so you can do some basic swipe stuff) + float fValueXFirst; + float fValueYFirst; + + // This is the raw sampled coordinate without deadzoning + float fValueXRaw; + float fValueYRaw; +}; + +/** notification related events. Details will still change at this point */ +struct VREvent_Notification_t +{ + uint64_t ulUserValue; + uint32_t notificationId; +}; + +/** Used for events about processes */ +struct VREvent_Process_t +{ + uint32_t pid; + uint32_t oldPid; + bool bForced; +}; + + +/** Used for a few events about overlays */ +struct VREvent_Overlay_t +{ + uint64_t overlayHandle; +}; + + +/** Used for a few events about overlays */ +struct VREvent_Status_t +{ + uint32_t statusState; // EVRState enum +}; + +/** Used for keyboard events **/ +struct VREvent_Keyboard_t +{ + char cNewInput[8]; // Up to 11 bytes of new input + uint64_t uUserValue; // Possible flags about the new input +}; + +struct VREvent_Ipd_t +{ + float ipdMeters; +}; + +struct VREvent_Chaperone_t +{ + uint64_t m_nPreviousUniverse; + uint64_t m_nCurrentUniverse; +}; + +/** Not actually used for any events */ +struct VREvent_Reserved_t +{ + uint64_t reserved0; + uint64_t reserved1; +}; + +struct VREvent_PerformanceTest_t +{ + uint32_t m_nFidelityLevel; +}; + +struct VREvent_SeatedZeroPoseReset_t +{ + bool bResetBySystemMenu; +}; + +struct VREvent_Screenshot_t +{ + uint32_t handle; + uint32_t type; +}; + +/** If you change this you must manually update openvr_interop.cs.py */ +typedef union +{ + VREvent_Reserved_t reserved; + VREvent_Controller_t controller; + VREvent_Mouse_t mouse; + VREvent_Scroll_t scroll; + VREvent_Process_t process; + VREvent_Notification_t notification; + VREvent_Overlay_t overlay; + VREvent_Status_t status; + VREvent_Keyboard_t keyboard; + VREvent_Ipd_t ipd; + VREvent_Chaperone_t chaperone; + VREvent_PerformanceTest_t performanceTest; + VREvent_TouchPadMove_t touchPadMove; + VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset; + VREvent_Screenshot_t screenshot; +} VREvent_Data_t; + +/** An event posted by the server to all running applications */ +struct VREvent_t +{ + uint32_t eventType; // EVREventType enum + TrackedDeviceIndex_t trackedDeviceIndex; + float eventAgeSeconds; + // event data must be the end of the struct as its size is variable + VREvent_Data_t data; +}; + + +/** The mesh to draw into the stencil (or depth) buffer to perform +* early stencil (or depth) kills of pixels that will never appear on the HMD. +* This mesh draws on all the pixels that will be hidden after distortion. +* +* If the HMD does not provide a visible area mesh pVertexData will be +* NULL and unTriangleCount will be 0. */ +struct HiddenAreaMesh_t +{ + const HmdVector2_t *pVertexData; + uint32_t unTriangleCount; +}; + + +/** Identifies what kind of axis is on the controller at index n. Read this type +* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n ); +*/ +enum EVRControllerAxisType +{ + k_eControllerAxis_None = 0, + k_eControllerAxis_TrackPad = 1, + k_eControllerAxis_Joystick = 2, + k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis +}; + + +/** contains information about one axis on the controller */ +struct VRControllerAxis_t +{ + float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released. + float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers. +}; + + +/** the number of axes in the controller state */ +static const uint32_t k_unControllerStateAxisCount = 5; + + +/** Holds all the state of a controller at one moment in time. */ +struct VRControllerState001_t +{ + // If packet num matches that on your prior call, then the controller state hasn't been changed since + // your last call and there is no need to process it + uint32_t unPacketNum; + + // bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask + uint64_t ulButtonPressed; + uint64_t ulButtonTouched; + + // Axis data for the controller's analog inputs + VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ]; +}; + + +typedef VRControllerState001_t VRControllerState_t; + + +/** determines how to provide output to the application of various event processing functions. */ +enum EVRControllerEventOutputType +{ + ControllerEventOutput_OSEvents = 0, + ControllerEventOutput_VREvents = 1, +}; + + + +/** Collision Bounds Style */ +enum ECollisionBoundsStyle +{ + COLLISION_BOUNDS_STYLE_BEGINNER = 0, + COLLISION_BOUNDS_STYLE_INTERMEDIATE, + COLLISION_BOUNDS_STYLE_SQUARES, + COLLISION_BOUNDS_STYLE_ADVANCED, + COLLISION_BOUNDS_STYLE_NONE, + + COLLISION_BOUNDS_STYLE_COUNT +}; + +/** Allows the application to customize how the overlay appears in the compositor */ +struct Compositor_OverlaySettings +{ + uint32_t size; // sizeof(Compositor_OverlaySettings) + bool curved, antialias; + float scale, distance, alpha; + float uOffset, vOffset, uScale, vScale; + float gridDivs, gridWidth, gridScale; + HmdMatrix44_t transform; +}; + +/** used to refer to a single VR overlay */ +typedef uint64_t VROverlayHandle_t; + +static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0; + +/** Errors that can occur around VR overlays */ +enum EVROverlayError +{ + VROverlayError_None = 0, + + VROverlayError_UnknownOverlay = 10, + VROverlayError_InvalidHandle = 11, + VROverlayError_PermissionDenied = 12, + VROverlayError_OverlayLimitExceeded = 13, // No more overlays could be created because the maximum number already exist + VROverlayError_WrongVisibilityType = 14, + VROverlayError_KeyTooLong = 15, + VROverlayError_NameTooLong = 16, + VROverlayError_KeyInUse = 17, + VROverlayError_WrongTransformType = 18, + VROverlayError_InvalidTrackedDevice = 19, + VROverlayError_InvalidParameter = 20, + VROverlayError_ThumbnailCantBeDestroyed = 21, + VROverlayError_ArrayTooSmall = 22, + VROverlayError_RequestFailed = 23, + VROverlayError_InvalidTexture = 24, + VROverlayError_UnableToLoadFile = 25, + VROVerlayError_KeyboardAlreadyInUse = 26, + VROverlayError_NoNeighbor = 27, +}; + +/** enum values to pass in to VR_Init to identify whether the application will +* draw a 3D scene. */ +enum EVRApplicationType +{ + VRApplication_Other = 0, // Some other kind of application that isn't covered by the other entries + VRApplication_Scene = 1, // Application will submit 3D frames + VRApplication_Overlay = 2, // Application only interacts with overlays + VRApplication_Background = 3, // Application should not start SteamVR if it's not already running, and should not + // keep it running if everything else quits. + VRApplication_Utility = 4, // Init should not try to load any drivers. The application needs access to utility + // interfaces (like IVRSettings and IVRApplications) but not hardware. + VRApplication_VRMonitor = 5, // Reserved for vrmonitor +}; + + +/** error codes for firmware */ +enum EVRFirmwareError +{ + VRFirmwareError_None = 0, + VRFirmwareError_Success = 1, + VRFirmwareError_Fail = 2, +}; + + +/** error codes for notifications */ +enum EVRNotificationError +{ + VRNotificationError_OK = 0, + VRNotificationError_InvalidNotificationId = 100, + VRNotificationError_NotificationQueueFull = 101, + VRNotificationError_InvalidOverlayHandle = 102, + VRNotificationError_SystemWithUserValueAlreadyExists = 103, +}; + + +/** error codes returned by Vr_Init */ + +// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp +enum EVRInitError +{ + VRInitError_None = 0, + VRInitError_Unknown = 1, + + VRInitError_Init_InstallationNotFound = 100, + VRInitError_Init_InstallationCorrupt = 101, + VRInitError_Init_VRClientDLLNotFound = 102, + VRInitError_Init_FileNotFound = 103, + VRInitError_Init_FactoryNotFound = 104, + VRInitError_Init_InterfaceNotFound = 105, + VRInitError_Init_InvalidInterface = 106, + VRInitError_Init_UserConfigDirectoryInvalid = 107, + VRInitError_Init_HmdNotFound = 108, + VRInitError_Init_NotInitialized = 109, + VRInitError_Init_PathRegistryNotFound = 110, + VRInitError_Init_NoConfigPath = 111, + VRInitError_Init_NoLogPath = 112, + VRInitError_Init_PathRegistryNotWritable = 113, + VRInitError_Init_AppInfoInitFailed = 114, + VRInitError_Init_Retry = 115, // Used internally to cause retries to vrserver + VRInitError_Init_InitCanceledByUser = 116, // The calling application should silently exit. The user canceled app startup + VRInitError_Init_AnotherAppLaunching = 117, + VRInitError_Init_SettingsInitFailed = 118, + VRInitError_Init_ShuttingDown = 119, + VRInitError_Init_TooManyObjects = 120, + VRInitError_Init_NoServerForBackgroundApp = 121, + VRInitError_Init_NotSupportedWithCompositor = 122, + VRInitError_Init_NotAvailableToUtilityApps = 123, + VRInitError_Init_Internal = 124, + + VRInitError_Driver_Failed = 200, + VRInitError_Driver_Unknown = 201, + VRInitError_Driver_HmdUnknown = 202, + VRInitError_Driver_NotLoaded = 203, + VRInitError_Driver_RuntimeOutOfDate = 204, + VRInitError_Driver_HmdInUse = 205, + VRInitError_Driver_NotCalibrated = 206, + VRInitError_Driver_CalibrationInvalid = 207, + VRInitError_Driver_HmdDisplayNotFound = 208, + + VRInitError_IPC_ServerInitFailed = 300, + VRInitError_IPC_ConnectFailed = 301, + VRInitError_IPC_SharedStateInitFailed = 302, + VRInitError_IPC_CompositorInitFailed = 303, + VRInitError_IPC_MutexInitFailed = 304, + VRInitError_IPC_Failed = 305, + + VRInitError_Compositor_Failed = 400, + VRInitError_Compositor_D3D11HardwareRequired = 401, + VRInitError_Compositor_FirmwareRequiresUpdate = 402, + VRInitError_Compositor_OverlayInitFailed = 403, + VRInitError_Compositor_ScreenshotsInitFailed = 404, + + VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000, + + VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101, + VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102, + VRInitError_VendorSpecific_HmdFound_NoStoredConfig = 1103, + VRInitError_VendorSpecific_HmdFound_ConfigTooBig = 1104, + VRInitError_VendorSpecific_HmdFound_ConfigTooSmall = 1105, + VRInitError_VendorSpecific_HmdFound_UnableToInitZLib = 1106, + VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107, + VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108, + VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109, + VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110, + VRInitError_VendorSpecific_HmdFound_UserDataAddressRange = 1111, + VRInitError_VendorSpecific_HmdFound_UserDataError = 1112, + VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113, + + VRInitError_Steam_SteamInstallationNotFound = 2000, +}; + +enum EVRScreenshotType +{ + VRScreenshotType_None = 0, + VRScreenshotType_Mono = 1, // left eye only + VRScreenshotType_Stereo = 2, + VRScreenshotType_Cubemap = 3, + VRScreenshotType_MonoPanorama = 4, + VRScreenshotType_StereoPanorama = 5 +}; + +enum EVRScreenshotPropertyFilenames +{ + VRScreenshotPropertyFilenames_Preview = 0, + VRScreenshotPropertyFilenames_VR = 1, +}; + +enum EVRTrackedCameraError +{ + VRTrackedCameraError_None = 0, + VRTrackedCameraError_OperationFailed = 100, + VRTrackedCameraError_InvalidHandle = 101, + VRTrackedCameraError_InvalidFrameHeaderVersion = 102, + VRTrackedCameraError_OutOfHandles = 103, + VRTrackedCameraError_IPCFailure = 104, + VRTrackedCameraError_NotSupportedForThisDevice = 105, + VRTrackedCameraError_SharedMemoryFailure = 106, + VRTrackedCameraError_FrameBufferingFailure = 107, + VRTrackedCameraError_StreamSetupFailure = 108, + VRTrackedCameraError_InvalidGLTextureId = 109, + VRTrackedCameraError_InvalidSharedTextureHandle = 110, + VRTrackedCameraError_FailedToGetGLTextureId = 111, + VRTrackedCameraError_SharedTextureFailure = 112, + VRTrackedCameraError_NoFrameAvailable = 113, + VRTrackedCameraError_InvalidArgument = 114, + VRTrackedCameraError_InvalidFrameBufferSize = 115, +}; + +enum EVRTrackedCameraFrameType +{ + VRTrackedCameraFrameType_Distorted = 0, // This is the camera video frame size in pixels, still distorted. + VRTrackedCameraFrameType_Undistorted, // In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly. + VRTrackedCameraFrameType_MaximumUndistorted, // In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions. + MAX_CAMERA_FRAME_TYPES +}; + +typedef uint64_t TrackedCameraHandle_t; +#define INVALID_TRACKED_CAMERA_HANDLE ((vr::TrackedCameraHandle_t)0) + +struct CameraVideoStreamFrameHeader_t +{ + EVRTrackedCameraFrameType eFrameType; + + uint32_t nWidth; + uint32_t nHeight; + uint32_t nBytesPerPixel; + + uint32_t nFrameSequence; + + TrackedDevicePose_t standingTrackedDevicePose; +}; + +// Screenshot types +typedef uint32_t ScreenshotHandle_t; + +static const uint32_t k_unScreenshotHandleInvalid = 0; + +#pragma pack( pop ) + +// figure out how to import from the VR API dll +#if defined(_WIN32) + +#ifdef VR_API_EXPORT +#define VR_INTERFACE extern "C" __declspec( dllexport ) +#else +#define VR_INTERFACE extern "C" __declspec( dllimport ) +#endif + +#elif defined(GNUC) || defined(COMPILER_GCC) || defined(__APPLE__) + +#ifdef VR_API_EXPORT +#define VR_INTERFACE extern "C" __attribute__((visibility("default"))) +#else +#define VR_INTERFACE extern "C" +#endif + +#else +#error "Unsupported Platform." +#endif + + +#if defined( _WIN32 ) +#define VR_CALLTYPE __cdecl +#else +#define VR_CALLTYPE +#endif + +} // namespace vr + +#endif // _INCLUDE_VRTYPES_H + + +// vrannotation.h +#ifdef API_GEN +# define VR_CLANG_ATTR(ATTR) __attribute__((annotate( ATTR ))) +#else +# define VR_CLANG_ATTR(ATTR) +#endif + +#define VR_METHOD_DESC(DESC) VR_CLANG_ATTR( "desc:" #DESC ";" ) +#define VR_IGNOREATTR() VR_CLANG_ATTR( "ignore" ) +#define VR_OUT_STRUCT() VR_CLANG_ATTR( "out_struct: ;" ) +#define VR_OUT_STRING() VR_CLANG_ATTR( "out_string: ;" ) +#define VR_OUT_ARRAY_CALL(COUNTER,FUNCTION,PARAMS) VR_CLANG_ATTR( "out_array_call:" #COUNTER "," #FUNCTION "," #PARAMS ";" ) +#define VR_OUT_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "out_array_count:" #COUNTER ";" ) +#define VR_ARRAY_COUNT(COUNTER) VR_CLANG_ATTR( "array_count:" #COUNTER ";" ) +#define VR_ARRAY_COUNT_D(COUNTER, DESC) VR_CLANG_ATTR( "array_count:" #COUNTER ";desc:" #DESC ) +#define VR_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "buffer_count:" #COUNTER ";" ) +#define VR_OUT_BUFFER_COUNT(COUNTER) VR_CLANG_ATTR( "out_buffer_count:" #COUNTER ";" ) +#define VR_OUT_STRING_COUNT(COUNTER) VR_CLANG_ATTR( "out_string_count:" #COUNTER ";" ) + +// ivrsystem.h +namespace vr +{ + +class IVRSystem +{ +public: + + + // ------------------------------------ + // Display Methods + // ------------------------------------ + + /** Suggested size for the intermediate render target that the distortion pulls from. */ + virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0; + + /** The projection matrix for the specified eye */ + virtual HmdMatrix44_t GetProjectionMatrix( EVREye eEye, float fNearZ, float fFarZ, EGraphicsAPIConvention eProjType ) = 0; + + /** The components necessary to build your own projection matrix in case your + * application is doing something fancy like infinite Z */ + virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0; + + /** Returns the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in + * the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport. */ + virtual DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV ) = 0; + + /** Returns the transform from eye space to the head space. Eye space is the per-eye flavor of head + * space that provides stereo disparity. Instead of Model * View * Projection the sequence is Model * View * Eye^-1 * Projection. + * Normally View and Eye^-1 will be multiplied together and treated as View in your application. + */ + virtual HmdMatrix34_t GetEyeToHeadTransform( EVREye eEye ) = 0; + + /** Returns the number of elapsed seconds since the last recorded vsync event. This + * will come from a vsync timer event in the timer if possible or from the application-reported + * time if that is not available. If no vsync times are available the function will + * return zero for vsync time and frame counter and return false from the method. */ + virtual bool GetTimeSinceLastVsync( float *pfSecondsSinceLastVsync, uint64_t *pulFrameCounter ) = 0; + + /** [D3D9 Only] + * Returns the adapter index that the user should pass into CreateDevice to set up D3D9 in such + * a way that it can go full screen exclusive on the HMD. Returns -1 if there was an error. + */ + virtual int32_t GetD3D9AdapterIndex() = 0; + + /** [D3D10/11 Only] + * Returns the adapter index and output index that the user should pass into EnumAdapters and EnumOutputs + * to create the device and swap chain in DX10 and DX11. If an error occurs both indices will be set to -1. + */ + virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex ) = 0; + + // ------------------------------------ + // Display Mode methods + // ------------------------------------ + + /** Use to determine if the headset display is part of the desktop (i.e. extended) or hidden (i.e. direct mode). */ + virtual bool IsDisplayOnDesktop() = 0; + + /** Set the display visibility (true = extended, false = direct mode). Return value of true indicates that the change was successful. */ + virtual bool SetDisplayVisibility( bool bIsVisibleOnDesktop ) = 0; + + // ------------------------------------ + // Tracking Methods + // ------------------------------------ + + /** The pose that the tracker thinks that the HMD will be in at the specified number of seconds into the + * future. Pass 0 to get the state at the instant the method is called. Most of the time the application should + * calculate the time until the photons will be emitted from the display and pass that time into the method. + * + * This is roughly analogous to the inverse of the view matrix in most applications, though + * many games will need to do some additional rotation or translation on top of the rotation + * and translation provided by the head pose. + * + * For devices where bPoseIsValid is true the application can use the pose to position the device + * in question. The provided array can be any size up to k_unMaxTrackedDeviceCount. + * + * Seated experiences should call this method with TrackingUniverseSeated and receive poses relative + * to the seated zero pose. Standing experiences should call this method with TrackingUniverseStanding + * and receive poses relative to the Chaperone Play Area. TrackingUniverseRawAndUncalibrated should + * probably not be used unless the application is the Chaperone calibration tool itself, but will provide + * poses relative to the hardware-specific coordinate system in the driver. + */ + virtual void GetDeviceToAbsoluteTrackingPose( ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, VR_ARRAY_COUNT(unTrackedDevicePoseArrayCount) TrackedDevicePose_t *pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount ) = 0; + + /** Sets the zero pose for the seated tracker coordinate system to the current position and yaw of the HMD. After + * ResetSeatedZeroPose all GetDeviceToAbsoluteTrackingPose calls that pass TrackingUniverseSeated as the origin + * will be relative to this new zero pose. The new zero coordinate system will not change the fact that the Y axis + * is up in the real world, so the next pose returned from GetDeviceToAbsoluteTrackingPose after a call to + * ResetSeatedZeroPose may not be exactly an identity matrix. + * + * NOTE: This function overrides the user's previously saved seated zero pose and should only be called as the result of a user action. + * Users are also able to set their seated zero pose via the OpenVR Dashboard. + **/ + virtual void ResetSeatedZeroPose() = 0; + + /** Returns the transform from the seated zero pose to the standing absolute tracking system. This allows + * applications to represent the seated origin to used or transform object positions from one coordinate + * system to the other. + * + * The seated origin may or may not be inside the Play Area or Collision Bounds returned by IVRChaperone. Its position + * depends on what the user has set from the Dashboard settings and previous calls to ResetSeatedZeroPose. */ + virtual HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose() = 0; + + /** Returns the transform from the tracking origin to the standing absolute tracking system. This allows + * applications to convert from raw tracking space to the calibrated standing coordinate system. */ + virtual HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose() = 0; + + /** Get a sorted array of device indices of a given class of tracked devices (e.g. controllers). Devices are sorted right to left + * relative to the specified tracked device (default: hmd -- pass in -1 for absolute tracking space). Returns the number of devices + * in the list, or the size of the array needed if not large enough. */ + virtual uint32_t GetSortedTrackedDeviceIndicesOfClass( ETrackedDeviceClass eTrackedDeviceClass, VR_ARRAY_COUNT(unTrackedDeviceIndexArrayCount) vr::TrackedDeviceIndex_t *punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, vr::TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex = k_unTrackedDeviceIndex_Hmd ) = 0; + + /** Returns the level of activity on the device. */ + virtual EDeviceActivityLevel GetTrackedDeviceActivityLevel( vr::TrackedDeviceIndex_t unDeviceId ) = 0; + + /** Convenience utility to apply the specified transform to the specified pose. + * This properly transforms all pose components, including velocity and angular velocity + */ + virtual void ApplyTransform( TrackedDevicePose_t *pOutputPose, const TrackedDevicePose_t *pTrackedDevicePose, const HmdMatrix34_t *pTransform ) = 0; + + /** Returns the device index associated with a specific role, for example the left hand or the right hand. */ + virtual vr::TrackedDeviceIndex_t GetTrackedDeviceIndexForControllerRole( vr::ETrackedControllerRole unDeviceType ) = 0; + + /** Returns the controller type associated with a device index. */ + virtual vr::ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; + + // ------------------------------------ + // Property methods + // ------------------------------------ + + /** Returns the device class of a tracked device. If there has not been a device connected in this slot + * since the application started this function will return TrackedDevice_Invalid. For previous detected + * devices the function will return the previously observed device class. + * + * To determine which devices exist on the system, just loop from 0 to k_unMaxTrackedDeviceCount and check + * the device class. Every device with something other than TrackedDevice_Invalid is associated with an + * actual tracked device. */ + virtual ETrackedDeviceClass GetTrackedDeviceClass( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; + + /** Returns true if there is a device connected in this slot. */ + virtual bool IsTrackedDeviceConnected( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; + + /** Returns a bool property. If the device index is not valid or the property is not a bool type this function will return false. */ + virtual bool GetBoolTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a float property. If the device index is not valid or the property is not a float type this function will return 0. */ + virtual float GetFloatTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns an int property. If the device index is not valid or the property is not a int type this function will return 0. */ + virtual int32_t GetInt32TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a uint64 property. If the device index is not valid or the property is not a uint64 type this function will return 0. */ + virtual uint64_t GetUint64TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a matrix property. If the device index is not valid or the property is not a matrix type, this function will return identity. */ + virtual HmdMatrix34_t GetMatrix34TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a string property. If the device index is not valid or the property is not a string type this function will + * return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing + * null. Strings will generally fit in buffers of k_unTrackingStringSize characters. */ + virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0; + + /** returns a string that corresponds with the specified property error. The string will be the name + * of the error enum value for all valid error codes */ + virtual const char *GetPropErrorNameFromEnum( ETrackedPropertyError error ) = 0; + + // ------------------------------------ + // Event methods + // ------------------------------------ + + /** Returns true and fills the event with the next event on the queue if there is one. If there are no events + * this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */ + virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0; + + /** Returns true and fills the event with the next event on the queue if there is one. If there are no events + * this method returns false. Fills in the pose of the associated tracked device in the provided pose struct. + * This pose will always be older than the call to this function and should not be used to render the device. + uncbVREvent should be the size in bytes of the VREvent_t struct */ + virtual bool PollNextEventWithPose( ETrackingUniverseOrigin eOrigin, VREvent_t *pEvent, uint32_t uncbVREvent, vr::TrackedDevicePose_t *pTrackedDevicePose ) = 0; + + /** returns the name of an EVREvent enum value */ + virtual const char *GetEventTypeNameFromEnum( EVREventType eType ) = 0; + + // ------------------------------------ + // Rendering helper methods + // ------------------------------------ + + /** Returns the stencil mesh information for the current HMD. If this HMD does not have a stencil mesh the vertex data and count will be + * NULL and 0 respectively. This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering + * each eye's view. The pixels covered by this mesh will never be seen by the user after the lens distortion is applied and based on visibility to the panels. + * This will improve perf by letting the GPU early-reject pixels the user will never see before running the pixel shader. + * NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye. + */ + virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye ) = 0; + + + // ------------------------------------ + // Controller methods + // ------------------------------------ + + /** Fills the supplied struct with the current state of the controller. Returns false if the controller index + * is invalid. */ + virtual bool GetControllerState( vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState ) = 0; + + /** fills the supplied struct with the current state of the controller and the provided pose with the pose of + * the controller when the controller state was updated most recently. Use this form if you need a precise controller + * pose as input to your application when the user presses or releases a button. */ + virtual bool GetControllerStateWithPose( ETrackingUniverseOrigin eOrigin, vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, TrackedDevicePose_t *pTrackedDevicePose ) = 0; + + /** Trigger a single haptic pulse on a controller. After this call the application may not trigger another haptic pulse on this controller + * and axis combination for 5ms. */ + virtual void TriggerHapticPulse( vr::TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec ) = 0; + + /** returns the name of an EVRButtonId enum value */ + virtual const char *GetButtonIdNameFromEnum( EVRButtonId eButtonId ) = 0; + + /** returns the name of an EVRControllerAxisType enum value */ + virtual const char *GetControllerAxisTypeNameFromEnum( EVRControllerAxisType eAxisType ) = 0; + + /** Tells OpenVR that this process wants exclusive access to controller button states and button events. Other apps will be notified that + * they have lost input focus with a VREvent_InputFocusCaptured event. Returns false if input focus could not be captured for + * some reason. */ + virtual bool CaptureInputFocus() = 0; + + /** Tells OpenVR that this process no longer wants exclusive access to button states and button events. Other apps will be notified + * that input focus has been released with a VREvent_InputFocusReleased event. */ + virtual void ReleaseInputFocus() = 0; + + /** Returns true if input focus is captured by another process. */ + virtual bool IsInputFocusCapturedByAnotherProcess() = 0; + + // ------------------------------------ + // Debug Methods + // ------------------------------------ + + /** Sends a request to the driver for the specified device and returns the response. The maximum response size is 32k, + * but this method can be called with a smaller buffer. If the response exceeds the size of the buffer, it is truncated. + * The size of the response including its terminating null is returned. */ + virtual uint32_t DriverDebugRequest( vr::TrackedDeviceIndex_t unDeviceIndex, const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0; + + + // ------------------------------------ + // Firmware methods + // ------------------------------------ + + /** Performs the actual firmware update if applicable. + * The following events will be sent, if VRFirmwareError_None was returned: VREvent_FirmwareUpdateStarted, VREvent_FirmwareUpdateFinished + * Use the properties Prop_Firmware_UpdateAvailable_Bool, Prop_Firmware_ManualUpdate_Bool, and Prop_Firmware_ManualUpdateURL_String + * to figure our whether a firmware update is available, and to figure out whether its a manual update + * Prop_Firmware_ManualUpdateURL_String should point to an URL describing the manual update process */ + virtual vr::EVRFirmwareError PerformFirmwareUpdate( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; + + + // ------------------------------------ + // Application life cycle methods + // ------------------------------------ + + /** Call this to acknowledge to the system that VREvent_Quit has been received and that the process is exiting. + * This extends the timeout until the process is killed. */ + virtual void AcknowledgeQuit_Exiting() = 0; + + /** Call this to tell the system that the user is being prompted to save data. This + * halts the timeout and dismisses the dashboard (if it was up). Applications should be sure to actually + * prompt the user to save and then exit afterward, otherwise the user will be left in a confusing state. */ + virtual void AcknowledgeQuit_UserPrompt() = 0; + +}; + +static const char * const IVRSystem_Version = "IVRSystem_012"; + +} + + +// ivrapplications.h +namespace vr +{ + + /** Used for all errors reported by the IVRApplications interface */ + enum EVRApplicationError + { + VRApplicationError_None = 0, + + VRApplicationError_AppKeyAlreadyExists = 100, // Only one application can use any given key + VRApplicationError_NoManifest = 101, // the running application does not have a manifest + VRApplicationError_NoApplication = 102, // No application is running + VRApplicationError_InvalidIndex = 103, + VRApplicationError_UnknownApplication = 104, // the application could not be found + VRApplicationError_IPCFailed = 105, // An IPC failure caused the request to fail + VRApplicationError_ApplicationAlreadyRunning = 106, + VRApplicationError_InvalidManifest = 107, + VRApplicationError_InvalidApplication = 108, + VRApplicationError_LaunchFailed = 109, // the process didn't start + VRApplicationError_ApplicationAlreadyStarting = 110, // the system was already starting the same application + VRApplicationError_LaunchInProgress = 111, // The system was already starting a different application + VRApplicationError_OldApplicationQuitting = 112, + VRApplicationError_TransitionAborted = 113, + VRApplicationError_IsTemplate = 114, // error when you try to call LaunchApplication() on a template type app (use LaunchTemplateApplication) + + VRApplicationError_BufferTooSmall = 200, // The provided buffer was too small to fit the requested data + VRApplicationError_PropertyNotSet = 201, // The requested property was not set + VRApplicationError_UnknownProperty = 202, + VRApplicationError_InvalidParameter = 203, + }; + + /** The maximum length of an application key */ + static const uint32_t k_unMaxApplicationKeyLength = 128; + + /** these are the properties available on applications. */ + enum EVRApplicationProperty + { + VRApplicationProperty_Name_String = 0, + + VRApplicationProperty_LaunchType_String = 11, + VRApplicationProperty_WorkingDirectory_String = 12, + VRApplicationProperty_BinaryPath_String = 13, + VRApplicationProperty_Arguments_String = 14, + VRApplicationProperty_URL_String = 15, + + VRApplicationProperty_Description_String = 50, + VRApplicationProperty_NewsURL_String = 51, + VRApplicationProperty_ImagePath_String = 52, + VRApplicationProperty_Source_String = 53, + + VRApplicationProperty_IsDashboardOverlay_Bool = 60, + VRApplicationProperty_IsTemplate_Bool = 61, + VRApplicationProperty_IsInstanced_Bool = 62, + + VRApplicationProperty_LastLaunchTime_Uint64 = 70, + }; + + /** These are states the scene application startup process will go through. */ + enum EVRApplicationTransitionState + { + VRApplicationTransition_None = 0, + + VRApplicationTransition_OldAppQuitSent = 10, + VRApplicationTransition_WaitingForExternalLaunch = 11, + + VRApplicationTransition_NewAppLaunched = 20, + }; + + struct AppOverrideKeys_t + { + const char *pchKey; + const char *pchValue; + }; + + class IVRApplications + { + public: + + // --------------- Application management --------------- // + + /** Adds an application manifest to the list to load when building the list of installed applications. + * Temporary manifests are not automatically loaded */ + virtual EVRApplicationError AddApplicationManifest( const char *pchApplicationManifestFullPath, bool bTemporary = false ) = 0; + + /** Removes an application manifest from the list to load when building the list of installed applications. */ + virtual EVRApplicationError RemoveApplicationManifest( const char *pchApplicationManifestFullPath ) = 0; + + /** Returns true if an application is installed */ + virtual bool IsApplicationInstalled( const char *pchAppKey ) = 0; + + /** Returns the number of applications available in the list */ + virtual uint32_t GetApplicationCount() = 0; + + /** Returns the key of the specified application. The index is at least 0 and is less than the return + * value of GetApplicationCount(). The buffer should be at least k_unMaxApplicationKeyLength in order to + * fit the key. */ + virtual EVRApplicationError GetApplicationKeyByIndex( uint32_t unApplicationIndex, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0; + + /** Returns the key of the application for the specified Process Id. The buffer should be at least + * k_unMaxApplicationKeyLength in order to fit the key. */ + virtual EVRApplicationError GetApplicationKeyByProcessId( uint32_t unProcessId, char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0; + + /** Launches the application. The existing scene application will exit and then the new application will start. + * This call is not valid for dashboard overlay applications. */ + virtual EVRApplicationError LaunchApplication( const char *pchAppKey ) = 0; + + /** Launches an instance of an application of type template, with its app key being pchNewAppKey (which must be unique) and optionally override sections + * from the manifest file via AppOverrideKeys_t + */ + virtual EVRApplicationError LaunchTemplateApplication( const char *pchTemplateAppKey, const char *pchNewAppKey, VR_ARRAY_COUNT( unKeys ) const AppOverrideKeys_t *pKeys, uint32_t unKeys ) = 0; + + /** Launches the dashboard overlay application if it is not already running. This call is only valid for + * dashboard overlay applications. */ + virtual EVRApplicationError LaunchDashboardOverlay( const char *pchAppKey ) = 0; + + /** Cancel a pending launch for an application */ + virtual bool CancelApplicationLaunch( const char *pchAppKey ) = 0; + + /** Identifies a running application. OpenVR can't always tell which process started in response + * to a URL. This function allows a URL handler (or the process itself) to identify the app key + * for the now running application. Passing a process ID of 0 identifies the calling process. + * The application must be one that's known to the system via a call to AddApplicationManifest. */ + virtual EVRApplicationError IdentifyApplication( uint32_t unProcessId, const char *pchAppKey ) = 0; + + /** Returns the process ID for an application. Return 0 if the application was not found or is not running. */ + virtual uint32_t GetApplicationProcessId( const char *pchAppKey ) = 0; + + /** Returns a string for an applications error */ + virtual const char *GetApplicationsErrorNameFromEnum( EVRApplicationError error ) = 0; + + // --------------- Application properties --------------- // + + /** Returns a value for an application property. The required buffer size to fit this value will be returned. */ + virtual uint32_t GetApplicationPropertyString( const char *pchAppKey, EVRApplicationProperty eProperty, char *pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError *peError = nullptr ) = 0; + + /** Returns a bool value for an application property. Returns false in all error cases. */ + virtual bool GetApplicationPropertyBool( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0; + + /** Returns a uint64 value for an application property. Returns 0 in all error cases. */ + virtual uint64_t GetApplicationPropertyUint64( const char *pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError *peError = nullptr ) = 0; + + /** Sets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */ + virtual EVRApplicationError SetApplicationAutoLaunch( const char *pchAppKey, bool bAutoLaunch ) = 0; + + /** Gets the application auto-launch flag. This is only valid for applications which return true for VRApplicationProperty_IsDashboardOverlay_Bool. */ + virtual bool GetApplicationAutoLaunch( const char *pchAppKey ) = 0; + + // --------------- Transition methods --------------- // + + /** Returns the app key for the application that is starting up */ + virtual EVRApplicationError GetStartingApplication( char *pchAppKeyBuffer, uint32_t unAppKeyBufferLen ) = 0; + + /** Returns the application transition state */ + virtual EVRApplicationTransitionState GetTransitionState() = 0; + + /** Returns errors that would prevent the specified application from launching immediately. Calling this function will + * cause the current scene application to quit, so only call it when you are actually about to launch something else. + * What the caller should do about these failures depends on the failure: + * VRApplicationError_OldApplicationQuitting - An existing application has been told to quit. Wait for a VREvent_ProcessQuit + * and try again. + * VRApplicationError_ApplicationAlreadyStarting - This application is already starting. This is a permanent failure. + * VRApplicationError_LaunchInProgress - A different application is already starting. This is a permanent failure. + * VRApplicationError_None - Go ahead and launch. Everything is clear. + */ + virtual EVRApplicationError PerformApplicationPrelaunchCheck( const char *pchAppKey ) = 0; + + /** Returns a string for an application transition state */ + virtual const char *GetApplicationsTransitionStateNameFromEnum( EVRApplicationTransitionState state ) = 0; + + /** Returns true if the outgoing scene app has requested a save prompt before exiting */ + virtual bool IsQuitUserPromptRequested() = 0; + + /** Starts a subprocess within the calling application. This + * suppresses all application transition UI and automatically identifies the new executable + * as part of the same application. On success the calling process should exit immediately. + * If working directory is NULL or "" the directory portion of the binary path will be + * the working directory. */ + virtual EVRApplicationError LaunchInternalProcess( const char *pchBinaryPath, const char *pchArguments, const char *pchWorkingDirectory ) = 0; + }; + + static const char * const IVRApplications_Version = "IVRApplications_005"; + +} // namespace vr + +// ivrsettings.h +namespace vr +{ + enum EVRSettingsError + { + VRSettingsError_None = 0, + VRSettingsError_IPCFailed = 1, + VRSettingsError_WriteFailed = 2, + VRSettingsError_ReadFailed = 3, + }; + + // The maximum length of a settings key + static const uint32_t k_unMaxSettingsKeyLength = 128; + + class IVRSettings + { + public: + virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0; + + // Returns true if file sync occurred (force or settings dirty) + virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0; + + virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, bool bDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0; + virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0; + virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, float flDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void GetString( const char *pchSection, const char *pchSettingsKey, char *pchValue, uint32_t unValueLen, const char *pchDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0; + + virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0; + virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0; + }; + + //----------------------------------------------------------------------------- + static const char * const IVRSettings_Version = "IVRSettings_001"; + + //----------------------------------------------------------------------------- + // steamvr keys + + static const char * const k_pch_SteamVR_Section = "steamvr"; + static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd"; + static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver"; + static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd"; + static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug"; + static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe"; + static const char * const k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion"; + static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX"; + static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY"; + static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps"; + static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel"; + static const char * const k_pch_SteamVR_IPD_Float = "ipd"; + static const char * const k_pch_SteamVR_Background_String = "background"; + static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; + static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; + static const char * const k_pch_SteamVR_Environment_String = "environment"; + static const char * const k_pch_SteamVR_GridColor_String = "gridColor"; + static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; + static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage"; + static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers"; + static const char * const k_pch_SteamVR_PowerOffOnExit_Bool = "powerOffOnExit"; + static const char * const k_pch_SteamVR_StandbyAppRunningTimeout_Float = "standbyAppRunningTimeout"; + static const char * const k_pch_SteamVR_StandbyNoAppTimeout_Float = "standbyNoAppTimeout"; + static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode"; + static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid"; + static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid"; + static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers"; + static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees"; + static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; + static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; + static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; + static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; + static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; + static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; + static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; + static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView"; + + //----------------------------------------------------------------------------- + // lighthouse keys + + static const char * const k_pch_Lighthouse_Section = "driver_lighthouse"; + static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu"; + static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation"; + static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug"; + + static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation"; + static const char * const k_pch_Lighthouse_LighthouseName_String = "lighthousename"; + static const char * const k_pch_Lighthouse_MaxIncidenceAngleDegrees_Float = "maxincidenceangledegrees"; + static const char * const k_pch_Lighthouse_UseLighthouseDirect_Bool = "uselighthousedirect"; + static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory"; + + //----------------------------------------------------------------------------- + // null keys + + static const char * const k_pch_Null_Section = "driver_null"; + static const char * const k_pch_Null_EnableNullDriver_Bool = "enable"; + static const char * const k_pch_Null_SerialNumber_String = "serialNumber"; + static const char * const k_pch_Null_ModelNumber_String = "modelNumber"; + static const char * const k_pch_Null_WindowX_Int32 = "windowX"; + static const char * const k_pch_Null_WindowY_Int32 = "windowY"; + static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth"; + static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight"; + static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth"; + static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight"; + static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons"; + static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency"; + + //----------------------------------------------------------------------------- + // user interface keys + static const char * const k_pch_UserInterface_Section = "userinterface"; + static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; + static const char * const k_pch_UserInterface_EnableScreenshots_Bool = "EnableScreenshots"; + + //----------------------------------------------------------------------------- + // notification keys + static const char * const k_pch_Notifications_Section = "notifications"; + static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb"; + + //----------------------------------------------------------------------------- + // keyboard keys + static const char * const k_pch_Keyboard_Section = "keyboard"; + static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions"; + static const char * const k_pch_Keyboard_ScaleX = "ScaleX"; + static const char * const k_pch_Keyboard_ScaleY = "ScaleY"; + static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX"; + static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX"; + static const char * const k_pch_Keyboard_OffsetY = "OffsetY"; + static const char * const k_pch_Keyboard_Smoothing = "Smoothing"; + + //----------------------------------------------------------------------------- + // perf keys + static const char * const k_pch_Perf_Section = "perfcheck"; + static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive"; + static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD"; + static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce"; + static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore"; + static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit"; + static const char * const k_pch_Perf_TestData_Float = "perfTestData"; + + //----------------------------------------------------------------------------- + // collision bounds keys + static const char * const k_pch_CollisionBounds_Section = "collisionBounds"; + static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle"; + static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn"; + static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn"; + static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn"; + static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance"; + static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR"; + static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG"; + static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB"; + static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA"; + + //----------------------------------------------------------------------------- + // camera keys + static const char * const k_pch_Camera_Section = "camera"; + static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera"; + static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard"; + static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds"; + static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView"; + static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR"; + static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG"; + static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB"; + static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA"; + + //----------------------------------------------------------------------------- + // audio keys + static const char * const k_pch_audio_Section = "audio"; + static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice"; + static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice"; + static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice"; + static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice"; + static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice"; + static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain"; + + //----------------------------------------------------------------------------- + // model skin keys + static const char * const k_pch_modelskin_Section = "modelskins"; + +} // namespace vr + +// ivrchaperone.h +namespace vr +{ + +#if defined(__linux__) || defined(__APPLE__) + // The 32-bit version of gcc has the alignment requirement for uint64 and double set to + // 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. + // The 64-bit version of gcc has the alignment requirement for these types set to + // 8 meaning that unless we use #pragma pack(4) our structures will get bigger. + // The 64-bit structure packing has to match the 32-bit structure packing for each platform. + #pragma pack( push, 4 ) +#else + #pragma pack( push, 8 ) +#endif + +enum ChaperoneCalibrationState +{ + // OK! + ChaperoneCalibrationState_OK = 1, // Chaperone is fully calibrated and working correctly + + // Warnings + ChaperoneCalibrationState_Warning = 100, + ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101, // A base station thinks that it might have moved + ChaperoneCalibrationState_Warning_BaseStationRemoved = 102, // There are less base stations than when calibrated + ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103, // Seated bounds haven't been calibrated for the current tracking center + + // Errors + ChaperoneCalibrationState_Error = 200, // The UniverseID is invalid + ChaperoneCalibrationState_Error_BaseStationUninitalized = 201, // Tracking center hasn't be calibrated for at least one of the base stations + ChaperoneCalibrationState_Error_BaseStationConflict = 202, // Tracking center is calibrated, but base stations disagree on the tracking space + ChaperoneCalibrationState_Error_PlayAreaInvalid = 203, // Play Area hasn't been calibrated for the current tracking center + ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204, // Collision Bounds haven't been calibrated for the current tracking center +}; + + +/** HIGH LEVEL TRACKING SPACE ASSUMPTIONS: +* 0,0,0 is the preferred standing area center. +* 0Y is the floor height. +* -Z is the preferred forward facing direction. */ +class IVRChaperone +{ +public: + + /** Get the current state of Chaperone calibration. This state can change at any time during a session due to physical base station changes. **/ + virtual ChaperoneCalibrationState GetCalibrationState() = 0; + + /** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z. + * Tracking space center (0,0,0) is the center of the Play Area. **/ + virtual bool GetPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0; + + /** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds). + * Corners are in counter-clockwise order. + * Standing center (0,0,0) is the center of the Play Area. + * It's a rectangle. + * 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis. + * Height of every corner is 0Y (on the floor). **/ + virtual bool GetPlayAreaRect( HmdQuad_t *rect ) = 0; + + /** Reload Chaperone data from the .vrchap file on disk. */ + virtual void ReloadInfo( void ) = 0; + + /** Optionally give the chaperone system a hit about the color and brightness in the scene **/ + virtual void SetSceneColor( HmdColor_t color ) = 0; + + /** Get the current chaperone bounds draw color and brightness **/ + virtual void GetBoundsColor( HmdColor_t *pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, HmdColor_t *pOutputCameraColor ) = 0; + + /** Determine whether the bounds are showing right now **/ + virtual bool AreBoundsVisible() = 0; + + /** Force the bounds to show, mostly for utilities **/ + virtual void ForceBoundsVisible( bool bForce ) = 0; +}; + +static const char * const IVRChaperone_Version = "IVRChaperone_003"; + +#pragma pack( pop ) + +} + +// ivrchaperonesetup.h +namespace vr +{ + +enum EChaperoneConfigFile +{ + EChaperoneConfigFile_Live = 1, // The live chaperone config, used by most applications and games + EChaperoneConfigFile_Temp = 2, // The temporary chaperone config, used to live-preview collision bounds in room setup +}; + +enum EChaperoneImportFlags +{ + EChaperoneImport_BoundsOnly = 0x0001, +}; + +/** Manages the working copy of the chaperone info. By default this will be the same as the +* live copy. Any changes made with this interface will stay in the working copy until +* CommitWorkingCopy() is called, at which point the working copy and the live copy will be +* the same again. */ +class IVRChaperoneSetup +{ +public: + + /** Saves the current working copy to disk */ + virtual bool CommitWorkingCopy( EChaperoneConfigFile configFile ) = 0; + + /** Reverts the working copy to match the live chaperone calibration. + * To modify existing data this MUST be do WHILE getting a non-error ChaperoneCalibrationStatus. + * Only after this should you do gets and sets on the existing data. */ + virtual void RevertWorkingCopy() = 0; + + /** Returns the width and depth of the Play Area (formerly named Soft Bounds) in X and Z from the working copy. + * Tracking space center (0,0,0) is the center of the Play Area. */ + virtual bool GetWorkingPlayAreaSize( float *pSizeX, float *pSizeZ ) = 0; + + /** Returns the 4 corner positions of the Play Area (formerly named Soft Bounds) from the working copy. + * Corners are in clockwise order. + * Tracking space center (0,0,0) is the center of the Play Area. + * It's a rectangle. + * 2 sides are parallel to the X axis and 2 sides are parallel to the Z axis. + * Height of every corner is 0Y (on the floor). **/ + virtual bool GetWorkingPlayAreaRect( HmdQuad_t *rect ) = 0; + + /** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads + * into the buffer up to the max specified from the working copy. */ + virtual bool GetWorkingCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0; + + /** Returns the number of Quads if the buffer points to null. Otherwise it returns Quads + * into the buffer up to the max specified. */ + virtual bool GetLiveCollisionBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0; + + /** Returns the preferred seated position from the working copy. */ + virtual bool GetWorkingSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0; + + /** Returns the standing origin from the working copy. */ + virtual bool GetWorkingStandingZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatStandingZeroPoseToRawTrackingPose ) = 0; + + /** Sets the Play Area in the working copy. */ + virtual void SetWorkingPlayAreaSize( float sizeX, float sizeZ ) = 0; + + /** Sets the Collision Bounds in the working copy. */ + virtual void SetWorkingCollisionBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0; + + /** Sets the preferred seated position in the working copy. */ + virtual void SetWorkingSeatedZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatSeatedZeroPoseToRawTrackingPose ) = 0; + + /** Sets the preferred standing position in the working copy. */ + virtual void SetWorkingStandingZeroPoseToRawTrackingPose( const HmdMatrix34_t *pMatStandingZeroPoseToRawTrackingPose ) = 0; + + /** Tear everything down and reload it from the file on disk */ + virtual void ReloadFromDisk( EChaperoneConfigFile configFile ) = 0; + + /** Returns the preferred seated position. */ + virtual bool GetLiveSeatedZeroPoseToRawTrackingPose( HmdMatrix34_t *pmatSeatedZeroPoseToRawTrackingPose ) = 0; + + virtual void SetWorkingCollisionBoundsTagsInfo( VR_ARRAY_COUNT(unTagCount) uint8_t *pTagsBuffer, uint32_t unTagCount ) = 0; + virtual bool GetLiveCollisionBoundsTagsInfo( VR_OUT_ARRAY_COUNT(punTagCount) uint8_t *pTagsBuffer, uint32_t *punTagCount ) = 0; + + virtual bool SetWorkingPhysicalBoundsInfo( VR_ARRAY_COUNT(unQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t unQuadsCount ) = 0; + virtual bool GetLivePhysicalBoundsInfo( VR_OUT_ARRAY_COUNT(punQuadsCount) HmdQuad_t *pQuadsBuffer, uint32_t* punQuadsCount ) = 0; + + virtual bool ExportLiveToBuffer( VR_OUT_STRING() char *pBuffer, uint32_t *pnBufferLength ) = 0; + virtual bool ImportFromBufferToWorking( const char *pBuffer, uint32_t nImportFlags ) = 0; +}; + +static const char * const IVRChaperoneSetup_Version = "IVRChaperoneSetup_005"; + + +} + +// ivrcompositor.h +namespace vr +{ + +#if defined(__linux__) || defined(__APPLE__) + // The 32-bit version of gcc has the alignment requirement for uint64 and double set to + // 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. + // The 64-bit version of gcc has the alignment requirement for these types set to + // 8 meaning that unless we use #pragma pack(4) our structures will get bigger. + // The 64-bit structure packing has to match the 32-bit structure packing for each platform. + #pragma pack( push, 4 ) +#else + #pragma pack( push, 8 ) +#endif + +/** Errors that can occur with the VR compositor */ +enum EVRCompositorError +{ + VRCompositorError_None = 0, + VRCompositorError_RequestFailed = 1, + VRCompositorError_IncompatibleVersion = 100, + VRCompositorError_DoNotHaveFocus = 101, + VRCompositorError_InvalidTexture = 102, + VRCompositorError_IsNotSceneApplication = 103, + VRCompositorError_TextureIsOnWrongDevice = 104, + VRCompositorError_TextureUsesUnsupportedFormat = 105, + VRCompositorError_SharedTexturesNotSupported = 106, + VRCompositorError_IndexOutOfRange = 107, +}; + +const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01; +const uint32_t VRCompositor_ReprojectionReason_Gpu = 0x02; + +/** Provides a single frame's timing information to the app */ +struct Compositor_FrameTiming +{ + uint32_t m_nSize; // Set to sizeof( Compositor_FrameTiming ) + uint32_t m_nFrameIndex; + uint32_t m_nNumFramePresents; // number of times this frame was presented + uint32_t m_nNumDroppedFrames; // number of additional times previous frame was scanned out + + /** Absolute time reference for comparing frames. This aligns with the vsync that running start is relative to. */ + double m_flSystemTimeInSeconds; + + /** These times may include work from other processes due to OS scheduling. + * The fewer packets of work these are broken up into, the less likely this will happen. + * GPU work can be broken up by calling Flush. This can sometimes be useful to get the GPU started + * processing that work earlier in the frame. */ + float m_flSceneRenderGpuMs; // time spent rendering the scene + float m_flTotalRenderGpuMs; // time between work submitted immediately after present (ideally vsync) until the end of compositor submitted work + float m_flCompositorRenderGpuMs; // time spend performing distortion correction, rendering chaperone, overlays, etc. + float m_flCompositorRenderCpuMs; // time spent on cpu submitting the above work for this frame + float m_flCompositorIdleCpuMs; // time spent waiting for running start (application could have used this much more time) + + /** Miscellaneous measured intervals. */ + float m_flClientFrameIntervalMs; // time between calls to WaitGetPoses + float m_flPresentCallCpuMs; // time blocked on call to present (usually 0.0, but can go long) + float m_flWaitForPresentCpuMs; // time spent spin-waiting for frame index to change (not near-zero indicates wait object failure) + float m_flSubmitFrameMs; // time spent in IVRCompositor::Submit (not near-zero indicates driver issue) + + /** The following are all relative to this frame's SystemTimeInSeconds */ + float m_flWaitGetPosesCalledMs; + float m_flNewPosesReadyMs; + float m_flNewFrameReadyMs; // second call to IVRCompositor::Submit + float m_flCompositorUpdateStartMs; + float m_flCompositorUpdateEndMs; + float m_flCompositorRenderStartMs; + + vr::TrackedDevicePose_t m_HmdPose; // pose used by app to render this frame + int32_t m_nFidelityLevel; // app reported value + + uint32_t m_nReprojectionFlags; +}; + +/** Cumulative stats for current application. These are not cleared until a new app connects, +* but they do stop accumulating once the associated app disconnects. */ +struct Compositor_CumulativeStats +{ + uint32_t m_nPid; // Process id associated with these stats (may no longer be running). + uint32_t m_nNumFramePresents; // total number of times we called present (includes reprojected frames) + uint32_t m_nNumDroppedFrames; // total number of times an old frame was re-scanned out (without reprojection) + uint32_t m_nNumReprojectedFrames; // total number of times a frame was scanned out a second time with reprojection + + /** Values recorded at startup before application has fully faded in the first time. */ + uint32_t m_nNumFramePresentsOnStartup; + uint32_t m_nNumDroppedFramesOnStartup; + uint32_t m_nNumReprojectedFramesOnStartup; + + /** Applications may explicitly fade to the compositor. This is usually to handle level transitions, and loading often causes + * system wide hitches. The following stats are collected during this period. Does not include values recorded during startup. */ + uint32_t m_nNumLoading; + uint32_t m_nNumFramePresentsLoading; + uint32_t m_nNumDroppedFramesLoading; + uint32_t m_nNumReprojectedFramesLoading; + + /** If we don't get a new frame from the app in less than 2.5 frames, then we assume the app has hung and start + * fading back to the compositor. The following stats are a result of this, and are a subset of those recorded above. + * Does not include values recorded during start up or loading. */ + uint32_t m_nNumTimedOut; + uint32_t m_nNumFramePresentsTimedOut; + uint32_t m_nNumDroppedFramesTimedOut; + uint32_t m_nNumReprojectedFramesTimedOut; +}; + +#pragma pack( pop ) + +/** Allows the application to interact with the compositor */ +class IVRCompositor +{ +public: + /** Sets tracking space returned by WaitGetPoses */ + virtual void SetTrackingSpace( ETrackingUniverseOrigin eOrigin ) = 0; + + /** Gets current tracking space returned by WaitGetPoses */ + virtual ETrackingUniverseOrigin GetTrackingSpace() = 0; + + /** Returns pose(s) to use to render scene (and optionally poses predicted two frames out for gameplay). */ + virtual EVRCompositorError WaitGetPoses( VR_ARRAY_COUNT(unRenderPoseArrayCount) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount, + VR_ARRAY_COUNT(unGamePoseArrayCount) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0; + + /** Get the last set of poses returned by WaitGetPoses. */ + virtual EVRCompositorError GetLastPoses( VR_ARRAY_COUNT( unRenderPoseArrayCount ) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount, + VR_ARRAY_COUNT( unGamePoseArrayCount ) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0; + + /** Interface for accessing last set of poses returned by WaitGetPoses one at a time. + * Returns VRCompositorError_IndexOutOfRange if unDeviceIndex not less than k_unMaxTrackedDeviceCount otherwise VRCompositorError_None. + * It is okay to pass NULL for either pose if you only want one of the values. */ + virtual EVRCompositorError GetLastPoseForTrackedDeviceIndex( TrackedDeviceIndex_t unDeviceIndex, TrackedDevicePose_t *pOutputPose, TrackedDevicePose_t *pOutputGamePose ) = 0; + + /** Updated scene texture to display. If pBounds is NULL the entire texture will be used. If called from an OpenGL app, consider adding a glFlush after + * Submitting both frames to signal the driver to start processing, otherwise it may wait until the command buffer fills up, causing the app to miss frames. + * + * OpenGL dirty state: + * glBindTexture + */ + virtual EVRCompositorError Submit( EVREye eEye, const Texture_t *pTexture, const VRTextureBounds_t* pBounds = 0, EVRSubmitFlags nSubmitFlags = Submit_Default ) = 0; + + /** Clears the frame that was sent with the last call to Submit. This will cause the + * compositor to show the grid until Submit is called again. */ + virtual void ClearLastSubmittedFrame() = 0; + + /** Call immediately after presenting your app's window (i.e. companion window) to unblock the compositor. + * This is an optional call, which only needs to be used if you can't instead call WaitGetPoses immediately after Present. + * For example, if your engine's render and game loop are not on separate threads, or blocking the render thread until 3ms before the next vsync would + * introduce a deadlock of some sort. This function tells the compositor that you have finished all rendering after having Submitted buffers for both + * eyes, and it is free to start its rendering work. This should only be called from the same thread you are rendering on. */ + virtual void PostPresentHandoff() = 0; + + /** Returns true if timing data is filled it. Sets oldest timing info if nFramesAgo is larger than the stored history. + * Be sure to set timing.size = sizeof(Compositor_FrameTiming) on struct passed in before calling this function. */ + virtual bool GetFrameTiming( Compositor_FrameTiming *pTiming, uint32_t unFramesAgo = 0 ) = 0; + + /** Returns the time in seconds left in the current (as identified by FrameTiming's frameIndex) frame. + * Due to "running start", this value may roll over to the next frame before ever reaching 0.0. */ + virtual float GetFrameTimeRemaining() = 0; + + /** Fills out stats accumulated for the last connected application. Pass in sizeof( Compositor_CumulativeStats ) as second parameter. */ + virtual void GetCumulativeStats( Compositor_CumulativeStats *pStats, uint32_t nStatsSizeInBytes ) = 0; + + /** Fades the view on the HMD to the specified color. The fade will take fSeconds, and the color values are between + * 0.0 and 1.0. This color is faded on top of the scene based on the alpha parameter. Removing the fade color instantly + * would be FadeToColor( 0.0, 0.0, 0.0, 0.0, 0.0 ). Values are in un-premultiplied alpha space. */ + virtual void FadeToColor( float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground = false ) = 0; + + /** Fading the Grid in or out in fSeconds */ + virtual void FadeGrid( float fSeconds, bool bFadeIn ) = 0; + + /** Override the skybox used in the compositor (e.g. for during level loads when the app can't feed scene images fast enough) + * Order is Front, Back, Left, Right, Top, Bottom. If only a single texture is passed, it is assumed in lat-long format. + * If two are passed, it is assumed a lat-long stereo pair. */ + virtual EVRCompositorError SetSkyboxOverride( VR_ARRAY_COUNT( unTextureCount ) const Texture_t *pTextures, uint32_t unTextureCount ) = 0; + + /** Resets compositor skybox back to defaults. */ + virtual void ClearSkyboxOverride() = 0; + + /** Brings the compositor window to the front. This is useful for covering any other window that may be on the HMD + * and is obscuring the compositor window. */ + virtual void CompositorBringToFront() = 0; + + /** Pushes the compositor window to the back. This is useful for allowing other applications to draw directly to the HMD. */ + virtual void CompositorGoToBack() = 0; + + /** Tells the compositor process to clean up and exit. You do not need to call this function at shutdown. Under normal + * circumstances the compositor will manage its own life cycle based on what applications are running. */ + virtual void CompositorQuit() = 0; + + /** Return whether the compositor is fullscreen */ + virtual bool IsFullscreen() = 0; + + /** Returns the process ID of the process that is currently rendering the scene */ + virtual uint32_t GetCurrentSceneFocusProcess() = 0; + + /** Returns the process ID of the process that rendered the last frame (or 0 if the compositor itself rendered the frame.) + * Returns 0 when fading out from an app and the app's process Id when fading into an app. */ + virtual uint32_t GetLastFrameRenderer() = 0; + + /** Returns true if the current process has the scene focus */ + virtual bool CanRenderScene() = 0; + + /** Creates a window on the primary monitor to display what is being shown in the headset. */ + virtual void ShowMirrorWindow() = 0; + + /** Closes the mirror window. */ + virtual void HideMirrorWindow() = 0; + + /** Returns true if the mirror window is shown. */ + virtual bool IsMirrorWindowVisible() = 0; + + /** Writes all images that the compositor knows about (including overlays) to a 'screenshots' folder in the SteamVR runtime root. */ + virtual void CompositorDumpImages() = 0; + + /** Let an app know it should be rendering with low resources. */ + virtual bool ShouldAppRenderWithLowResources() = 0; + + /** Override interleaved reprojection logic to force on. */ + virtual void ForceInterleavedReprojectionOn( bool bOverride ) = 0; + + /** Force reconnecting to the compositor process. */ + virtual void ForceReconnectProcess() = 0; + + /** Temporarily suspends rendering (useful for finer control over scene transitions). */ + virtual void SuspendRendering( bool bSuspend ) = 0; + + /** Screenshot support */ + + /** These functions are no longer used and will be removed in + * a future update. Use the functions via the + * IVRScreenshots interface */ + virtual vr::EVRCompositorError RequestScreenshot( vr::EVRScreenshotType type, const char *pchDestinationFileName, const char *pchVRDestinationFileName ) = 0; + virtual vr::EVRScreenshotType GetCurrentScreenshotType() = 0; + + /** Opens a shared D3D11 texture with the undistorted composited image for each eye. */ + virtual vr::EVRCompositorError GetMirrorTextureD3D11( vr::EVREye eEye, void *pD3D11DeviceOrResource, void **ppD3D11ShaderResourceView ) = 0; + + /** Access to mirror textures from OpenGL. */ + virtual vr::EVRCompositorError GetMirrorTextureGL( vr::EVREye eEye, vr::glUInt_t *pglTextureId, vr::glSharedTextureHandle_t *pglSharedTextureHandle ) = 0; + virtual bool ReleaseSharedGLTexture( vr::glUInt_t glTextureId, vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0; + virtual void LockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0; + virtual void UnlockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0; +}; + +static const char * const IVRCompositor_Version = "IVRCompositor_015"; + +} // namespace vr + + + +// ivrnotifications.h +namespace vr +{ + +#if defined(__linux__) || defined(__APPLE__) + // The 32-bit version of gcc has the alignment requirement for uint64 and double set to + // 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. + // The 64-bit version of gcc has the alignment requirement for these types set to + // 8 meaning that unless we use #pragma pack(4) our structures will get bigger. + // The 64-bit structure packing has to match the 32-bit structure packing for each platform. + #pragma pack( push, 4 ) +#else + #pragma pack( push, 8 ) +#endif + +// Used for passing graphic data +struct NotificationBitmap_t +{ + NotificationBitmap_t() + : m_pImageData( nullptr ) + , m_nWidth( 0 ) + , m_nHeight( 0 ) + , m_nBytesPerPixel( 0 ) + { + }; + + void *m_pImageData; + int32_t m_nWidth; + int32_t m_nHeight; + int32_t m_nBytesPerPixel; +}; + + +/** Be aware that the notification type is used as 'priority' to pick the next notification */ +enum EVRNotificationType +{ + /** Transient notifications are automatically hidden after a period of time set by the user. + * They are used for things like information and chat messages that do not require user interaction. */ + EVRNotificationType_Transient = 0, + + /** Persistent notifications are shown to the user until they are hidden by calling RemoveNotification(). + * They are used for things like phone calls and alarms that require user interaction. */ + EVRNotificationType_Persistent = 1, + + /** System notifications are shown no matter what. It is expected, that the ulUserValue is used as ID. + * If there is already a system notification in the queue with that ID it is not accepted into the queue + * to prevent spamming with system notification */ + EVRNotificationType_Transient_SystemWithUserValue = 2, +}; + +enum EVRNotificationStyle +{ + /** Creates a notification with minimal external styling. */ + EVRNotificationStyle_None = 0, + + /** Used for notifications about overlay-level status. In Steam this is used for events like downloads completing. */ + EVRNotificationStyle_Application = 100, + + /** Used for notifications about contacts that are unknown or not available. In Steam this is used for friend invitations and offline friends. */ + EVRNotificationStyle_Contact_Disabled = 200, + + /** Used for notifications about contacts that are available but inactive. In Steam this is used for friends that are online but not playing a game. */ + EVRNotificationStyle_Contact_Enabled = 201, + + /** Used for notifications about contacts that are available and active. In Steam this is used for friends that are online and currently running a game. */ + EVRNotificationStyle_Contact_Active = 202, +}; + +static const uint32_t k_unNotificationTextMaxSize = 256; + +typedef uint32_t VRNotificationId; + + + +#pragma pack( pop ) + +/** Allows notification sources to interact with the VR system + This current interface is not yet implemented. Do not use yet. */ +class IVRNotifications +{ +public: + /** Create a notification and enqueue it to be shown to the user. + * An overlay handle is required to create a notification, as otherwise it would be impossible for a user to act on it. + * To create a two-line notification, use a line break ('\n') to split the text into two lines. + * The pImage argument may be NULL, in which case the specified overlay's icon will be used instead. */ + virtual EVRNotificationError CreateNotification( VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, const char *pchText, EVRNotificationStyle style, const NotificationBitmap_t *pImage, /* out */ VRNotificationId *pNotificationId ) = 0; + + /** Destroy a notification, hiding it first if it currently shown to the user. */ + virtual EVRNotificationError RemoveNotification( VRNotificationId notificationId ) = 0; + +}; + +static const char * const IVRNotifications_Version = "IVRNotifications_002"; + +} // namespace vr + + + +// ivroverlay.h +namespace vr +{ + + /** The maximum length of an overlay key in bytes, counting the terminating null character. */ + static const uint32_t k_unVROverlayMaxKeyLength = 128; + + /** The maximum length of an overlay name in bytes, counting the terminating null character. */ + static const uint32_t k_unVROverlayMaxNameLength = 128; + + /** The maximum number of overlays that can exist in the system at one time. */ + static const uint32_t k_unMaxOverlayCount = 32; + + /** Types of input supported by VR Overlays */ + enum VROverlayInputMethod + { + VROverlayInputMethod_None = 0, // No input events will be generated automatically for this overlay + VROverlayInputMethod_Mouse = 1, // Tracked controllers will get mouse events automatically + }; + + /** Allows the caller to figure out which overlay transform getter to call. */ + enum VROverlayTransformType + { + VROverlayTransform_Absolute = 0, + VROverlayTransform_TrackedDeviceRelative = 1, + VROverlayTransform_SystemOverlay = 2, + VROverlayTransform_TrackedComponent = 3, + }; + + /** Overlay control settings */ + enum VROverlayFlags + { + VROverlayFlags_None = 0, + + // The following only take effect when rendered using the high quality render path (see SetHighQualityOverlay). + VROverlayFlags_Curved = 1, + VROverlayFlags_RGSS4X = 2, + + // Set this flag on a dashboard overlay to prevent a tab from showing up for that overlay + VROverlayFlags_NoDashboardTab = 3, + + // Set this flag on a dashboard that is able to deal with gamepad focus events + VROverlayFlags_AcceptsGamepadEvents = 4, + + // Indicates that the overlay should dim/brighten to show gamepad focus + VROverlayFlags_ShowGamepadFocus = 5, + + // When in VROverlayInputMethod_Mouse you can optionally enable sending VRScroll_t + VROverlayFlags_SendVRScrollEvents = 6, + VROverlayFlags_SendVRTouchpadEvents = 7, + + // If set this will render a vertical scroll wheel on the primary controller, + // only needed if not using VROverlayFlags_SendVRScrollEvents but you still want to represent a scroll wheel + VROverlayFlags_ShowTouchPadScrollWheel = 8, + + // If this is set ownership and render access to the overlay are transferred + // to the new scene process on a call to IVRApplications::LaunchInternalProcess + VROverlayFlags_TransferOwnershipToInternalProcess = 9, + + // If set, renders 50% of the texture in each eye, side by side + VROverlayFlags_SideBySide_Parallel = 10, // Texture is left/right + VROverlayFlags_SideBySide_Crossed = 11, // Texture is crossed and right/left + + VROverlayFlags_Panorama = 12, // Texture is a panorama + VROverlayFlags_StereoPanorama = 13, // Texture is a stereo panorama + }; + + struct VROverlayIntersectionParams_t + { + HmdVector3_t vSource; + HmdVector3_t vDirection; + ETrackingUniverseOrigin eOrigin; + }; + + struct VROverlayIntersectionResults_t + { + HmdVector3_t vPoint; + HmdVector3_t vNormal; + HmdVector2_t vUVs; + float fDistance; + }; + + // Input modes for the Big Picture gamepad text entry + enum EGamepadTextInputMode + { + k_EGamepadTextInputModeNormal = 0, + k_EGamepadTextInputModePassword = 1, + k_EGamepadTextInputModeSubmit = 2, + }; + + // Controls number of allowed lines for the Big Picture gamepad text entry + enum EGamepadTextInputLineMode + { + k_EGamepadTextInputLineModeSingleLine = 0, + k_EGamepadTextInputLineModeMultipleLines = 1 + }; + + /** Directions for changing focus between overlays with the gamepad */ + enum EOverlayDirection + { + OverlayDirection_Up = 0, + OverlayDirection_Down = 1, + OverlayDirection_Left = 2, + OverlayDirection_Right = 3, + + OverlayDirection_Count = 4, + }; + + class IVROverlay + { + public: + + // --------------------------------------------- + // Overlay management methods + // --------------------------------------------- + + /** Finds an existing overlay with the specified key. */ + virtual EVROverlayError FindOverlay( const char *pchOverlayKey, VROverlayHandle_t * pOverlayHandle ) = 0; + + /** Creates a new named overlay. All overlays start hidden and with default settings. */ + virtual EVROverlayError CreateOverlay( const char *pchOverlayKey, const char *pchOverlayFriendlyName, VROverlayHandle_t * pOverlayHandle ) = 0; + + /** Destroys the specified overlay. When an application calls VR_Shutdown all overlays created by that app are + * automatically destroyed. */ + virtual EVROverlayError DestroyOverlay( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Specify which overlay to use the high quality render path. This overlay will be composited in during the distortion pass which + * results in it drawing on top of everything else, but also at a higher quality as it samples the source texture directly rather than + * rasterizing into each eye's render texture first. Because if this, only one of these is supported at any given time. It is most useful + * for overlays that are expected to take up most of the user's view (e.g. streaming video). + * This mode does not support mouse input to your overlay. */ + virtual EVROverlayError SetHighQualityOverlay( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Returns the overlay handle of the current overlay being rendered using the single high quality overlay render path. + * Otherwise it will return k_ulOverlayHandleInvalid. */ + virtual vr::VROverlayHandle_t GetHighQualityOverlay() = 0; + + /** Fills the provided buffer with the string key of the overlay. Returns the size of buffer required to store the key, including + * the terminating null character. k_unVROverlayMaxKeyLength will be enough bytes to fit the string. */ + virtual uint32_t GetOverlayKey( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0; + + /** Fills the provided buffer with the friendly name of the overlay. Returns the size of buffer required to store the key, including + * the terminating null character. k_unVROverlayMaxNameLength will be enough bytes to fit the string. */ + virtual uint32_t GetOverlayName( VROverlayHandle_t ulOverlayHandle, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, EVROverlayError *pError = 0L ) = 0; + + /** Gets the raw image data from an overlay. Overlay image data is always returned as RGBA data, 4 bytes per pixel. If the buffer is not large enough, width and height + * will be set and VROverlayError_ArrayTooSmall is returned. */ + virtual EVROverlayError GetOverlayImageData( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unBufferSize, uint32_t *punWidth, uint32_t *punHeight ) = 0; + + /** returns a string that corresponds with the specified overlay error. The string will be the name + * of the error enum value for all valid error codes */ + virtual const char *GetOverlayErrorNameFromEnum( EVROverlayError error ) = 0; + + + // --------------------------------------------- + // Overlay rendering methods + // --------------------------------------------- + + /** Sets the pid that is allowed to render to this overlay (the creator pid is always allow to render), + * by default this is the pid of the process that made the overlay */ + virtual EVROverlayError SetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle, uint32_t unPID ) = 0; + + /** Gets the pid that is allowed to render to this overlay */ + virtual uint32_t GetOverlayRenderingPid( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Specify flag setting for a given overlay */ + virtual EVROverlayError SetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled ) = 0; + + /** Sets flag setting for a given overlay */ + virtual EVROverlayError GetOverlayFlag( VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool *pbEnabled ) = 0; + + /** Sets the color tint of the overlay quad. Use 0.0 to 1.0 per channel. */ + virtual EVROverlayError SetOverlayColor( VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue ) = 0; + + /** Gets the color tint of the overlay quad. */ + virtual EVROverlayError GetOverlayColor( VROverlayHandle_t ulOverlayHandle, float *pfRed, float *pfGreen, float *pfBlue ) = 0; + + /** Sets the alpha of the overlay quad. Use 1.0 for 100 percent opacity to 0.0 for 0 percent opacity. */ + virtual EVROverlayError SetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float fAlpha ) = 0; + + /** Gets the alpha of the overlay quad. By default overlays are rendering at 100 percent alpha (1.0). */ + virtual EVROverlayError GetOverlayAlpha( VROverlayHandle_t ulOverlayHandle, float *pfAlpha ) = 0; + + /** Sets the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */ + virtual EVROverlayError SetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float fWidthInMeters ) = 0; + + /** Returns the width of the overlay quad in meters. By default overlays are rendered on a quad that is 1 meter across */ + virtual EVROverlayError GetOverlayWidthInMeters( VROverlayHandle_t ulOverlayHandle, float *pfWidthInMeters ) = 0; + + /** For high-quality curved overlays only, sets the distance range in meters from the overlay used to automatically curve + * the surface around the viewer. Min is distance is when the surface will be most curved. Max is when least curved. */ + virtual EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters ) = 0; + + /** For high-quality curved overlays only, gets the distance range in meters from the overlay used to automatically curve + * the surface around the viewer. Min is distance is when the surface will be most curved. Max is when least curved. */ + virtual EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters( VROverlayHandle_t ulOverlayHandle, float *pfMinDistanceInMeters, float *pfMaxDistanceInMeters ) = 0; + + /** Sets the colorspace the overlay texture's data is in. Defaults to 'auto'. + * If the texture needs to be resolved, you should call SetOverlayTexture with the appropriate colorspace instead. */ + virtual EVROverlayError SetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace ) = 0; + + /** Gets the overlay's current colorspace setting. */ + virtual EVROverlayError GetOverlayTextureColorSpace( VROverlayHandle_t ulOverlayHandle, EColorSpace *peTextureColorSpace ) = 0; + + /** Sets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */ + virtual EVROverlayError SetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, const VRTextureBounds_t *pOverlayTextureBounds ) = 0; + + /** Gets the part of the texture to use for the overlay. UV Min is the upper left corner and UV Max is the lower right corner. */ + virtual EVROverlayError GetOverlayTextureBounds( VROverlayHandle_t ulOverlayHandle, VRTextureBounds_t *pOverlayTextureBounds ) = 0; + + /** Returns the transform type of this overlay. */ + virtual EVROverlayError GetOverlayTransformType( VROverlayHandle_t ulOverlayHandle, VROverlayTransformType *peTransformType ) = 0; + + /** Sets the transform to absolute tracking origin. */ + virtual EVROverlayError SetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0; + + /** Gets the transform if it is absolute. Returns an error if the transform is some other type. */ + virtual EVROverlayError GetOverlayTransformAbsolute( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin *peTrackingOrigin, HmdMatrix34_t *pmatTrackingOriginToOverlayTransform ) = 0; + + /** Sets the transform to relative to the transform of the specified tracked device. */ + virtual EVROverlayError SetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, const HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0; + + /** Gets the transform if it is relative to a tracked device. Returns an error if the transform is some other type. */ + virtual EVROverlayError GetOverlayTransformTrackedDeviceRelative( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punTrackedDevice, HmdMatrix34_t *pmatTrackedDeviceToOverlayTransform ) = 0; + + /** Sets the transform to draw the overlay on a rendermodel component mesh instead of a quad. This will only draw when the system is + * drawing the device. Overlays with this transform type cannot receive mouse events. */ + virtual EVROverlayError SetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, const char *pchComponentName ) = 0; + + /** Gets the transform information when the overlay is rendering on a component. */ + virtual EVROverlayError GetOverlayTransformTrackedDeviceComponent( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t *punDeviceIndex, char *pchComponentName, uint32_t unComponentNameSize ) = 0; + + /** Shows the VR overlay. For dashboard overlays, only the Dashboard Manager is allowed to call this. */ + virtual EVROverlayError ShowOverlay( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Hides the VR overlay. For dashboard overlays, only the Dashboard Manager is allowed to call this. */ + virtual EVROverlayError HideOverlay( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Returns true if the overlay is visible. */ + virtual bool IsOverlayVisible( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Get the transform in 3d space associated with a specific 2d point in the overlay's coordinate space (where 0,0 is the lower left). -Z points out of the overlay */ + virtual EVROverlayError GetTransformForOverlayCoordinates( VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, HmdMatrix34_t *pmatTransform ) = 0; + + // --------------------------------------------- + // Overlay input methods + // --------------------------------------------- + + /** Returns true and fills the event with the next event on the overlay's event queue, if there is one. + * If there are no events this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */ + virtual bool PollNextOverlayEvent( VROverlayHandle_t ulOverlayHandle, VREvent_t *pEvent, uint32_t uncbVREvent ) = 0; + + /** Returns the current input settings for the specified overlay. */ + virtual EVROverlayError GetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod *peInputMethod ) = 0; + + /** Sets the input settings for the specified overlay. */ + virtual EVROverlayError SetOverlayInputMethod( VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod ) = 0; + + /** Gets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is + * typically the size of the underlying UI in pixels. */ + virtual EVROverlayError GetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, HmdVector2_t *pvecMouseScale ) = 0; + + /** Sets the mouse scaling factor that is used for mouse events. The actual texture may be a different size, but this is + * typically the size of the underlying UI in pixels (not in world space). */ + virtual EVROverlayError SetOverlayMouseScale( VROverlayHandle_t ulOverlayHandle, const HmdVector2_t *pvecMouseScale ) = 0; + + /** Computes the overlay-space pixel coordinates of where the ray intersects the overlay with the + * specified settings. Returns false if there is no intersection. */ + virtual bool ComputeOverlayIntersection( VROverlayHandle_t ulOverlayHandle, const VROverlayIntersectionParams_t *pParams, VROverlayIntersectionResults_t *pResults ) = 0; + + /** Processes mouse input from the specified controller as though it were a mouse pointed at a compositor overlay with the + * specified settings. The controller is treated like a laser pointer on the -z axis. The point where the laser pointer would + * intersect with the overlay is the mouse position, the trigger is left mouse, and the track pad is right mouse. + * + * Return true if the controller is pointed at the overlay and an event was generated. */ + virtual bool HandleControllerOverlayInteractionAsMouse( VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex ) = 0; + + /** Returns true if the specified overlay is the hover target. An overlay is the hover target when it is the last overlay "moused over" + * by the virtual mouse pointer */ + virtual bool IsHoverTargetOverlay( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Returns the current Gamepad focus overlay */ + virtual vr::VROverlayHandle_t GetGamepadFocusOverlay() = 0; + + /** Sets the current Gamepad focus overlay */ + virtual EVROverlayError SetGamepadFocusOverlay( VROverlayHandle_t ulNewFocusOverlay ) = 0; + + /** Sets an overlay's neighbor. This will also set the neighbor of the "to" overlay + * to point back to the "from" overlay. If an overlay's neighbor is set to invalid both + * ends will be cleared */ + virtual EVROverlayError SetOverlayNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo ) = 0; + + /** Changes the Gamepad focus from one overlay to one of its neighbors. Returns VROverlayError_NoNeighbor if there is no + * neighbor in that direction */ + virtual EVROverlayError MoveGamepadFocusToNeighbor( EOverlayDirection eDirection, VROverlayHandle_t ulFrom ) = 0; + + // --------------------------------------------- + // Overlay texture methods + // --------------------------------------------- + + /** Texture to draw for the overlay. This function can only be called by the overlay's creator or renderer process (see SetOverlayRenderingPid) . + * + * OpenGL dirty state: + * glBindTexture + */ + virtual EVROverlayError SetOverlayTexture( VROverlayHandle_t ulOverlayHandle, const Texture_t *pTexture ) = 0; + + /** Use this to tell the overlay system to release the texture set for this overlay. */ + virtual EVROverlayError ClearOverlayTexture( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Separate interface for providing the data as a stream of bytes, but there is an upper bound on data + * that can be sent. This function can only be called by the overlay's renderer process. */ + virtual EVROverlayError SetOverlayRaw( VROverlayHandle_t ulOverlayHandle, void *pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth ) = 0; + + /** Separate interface for providing the image through a filename: can be png or jpg, and should not be bigger than 1920x1080. + * This function can only be called by the overlay's renderer process */ + virtual EVROverlayError SetOverlayFromFile( VROverlayHandle_t ulOverlayHandle, const char *pchFilePath ) = 0; + + /** Get the native texture handle/device for an overlay you have created. + * On windows this handle will be a ID3D11ShaderResourceView with a ID3D11Texture2D bound. + * + * The texture will always be sized to match the backing texture you supplied in SetOverlayTexture above. + * + * You MUST call ReleaseNativeOverlayHandle() with pNativeTextureHandle once you are done with this texture. + * + * pNativeTextureHandle is an OUTPUT, it will be a pointer to a ID3D11ShaderResourceView *. + * pNativeTextureRef is an INPUT and should be a ID3D11Resource *. The device used by pNativeTextureRef will be used to bind pNativeTextureHandle. + */ + virtual EVROverlayError GetOverlayTexture( VROverlayHandle_t ulOverlayHandle, void **pNativeTextureHandle, void *pNativeTextureRef, uint32_t *pWidth, uint32_t *pHeight, uint32_t *pNativeFormat, EGraphicsAPIConvention *pAPI, EColorSpace *pColorSpace ) = 0; + + /** Release the pNativeTextureHandle provided from the GetOverlayTexture call, this allows the system to free the underlying GPU resources for this object, + * so only do it once you stop rendering this texture. + */ + virtual EVROverlayError ReleaseNativeOverlayHandle( VROverlayHandle_t ulOverlayHandle, void *pNativeTextureHandle ) = 0; + + /** Get the size of the overlay texture */ + virtual EVROverlayError GetOverlayTextureSize( VROverlayHandle_t ulOverlayHandle, uint32_t *pWidth, uint32_t *pHeight ) = 0; + + // ---------------------------------------------- + // Dashboard Overlay Methods + // ---------------------------------------------- + + /** Creates a dashboard overlay and returns its handle */ + virtual EVROverlayError CreateDashboardOverlay( const char *pchOverlayKey, const char *pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t *pThumbnailHandle ) = 0; + + /** Returns true if the dashboard is visible */ + virtual bool IsDashboardVisible() = 0; + + /** returns true if the dashboard is visible and the specified overlay is the active system Overlay */ + virtual bool IsActiveDashboardOverlay( VROverlayHandle_t ulOverlayHandle ) = 0; + + /** Sets the dashboard overlay to only appear when the specified process ID has scene focus */ + virtual EVROverlayError SetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId ) = 0; + + /** Gets the process ID that this dashboard overlay requires to have scene focus */ + virtual EVROverlayError GetDashboardOverlaySceneProcess( VROverlayHandle_t ulOverlayHandle, uint32_t *punProcessId ) = 0; + + /** Shows the dashboard. */ + virtual void ShowDashboard( const char *pchOverlayToShow ) = 0; + + /** Returns the tracked device that has the laser pointer in the dashboard */ + virtual vr::TrackedDeviceIndex_t GetPrimaryDashboardDevice() = 0; + + // --------------------------------------------- + // Keyboard methods + // --------------------------------------------- + + /** Show the virtual keyboard to accept input **/ + virtual EVROverlayError ShowKeyboard( EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0; + + virtual EVROverlayError ShowKeyboardForOverlay( VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, const char *pchDescription, uint32_t unCharMax, const char *pchExistingText, bool bUseMinimalMode, uint64_t uUserValue ) = 0; + + /** Get the text that was entered into the text input **/ + virtual uint32_t GetKeyboardText( VR_OUT_STRING() char *pchText, uint32_t cchText ) = 0; + + /** Hide the virtual keyboard **/ + virtual void HideKeyboard() = 0; + + /** Set the position of the keyboard in world space **/ + virtual void SetKeyboardTransformAbsolute( ETrackingUniverseOrigin eTrackingOrigin, const HmdMatrix34_t *pmatTrackingOriginToKeyboardTransform ) = 0; + + /** Set the position of the keyboard in overlay space by telling it to avoid a rectangle in the overlay. Rectangle coords have (0,0) in the bottom left **/ + virtual void SetKeyboardPositionForOverlay( VROverlayHandle_t ulOverlayHandle, HmdRect2_t avoidRect ) = 0; + + }; + + static const char * const IVROverlay_Version = "IVROverlay_012"; + +} // namespace vr + +// ivrrendermodels.h +namespace vr +{ + +static const char * const k_pch_Controller_Component_GDC2015 = "gdc2015"; // Canonical coordinate system of the gdc 2015 wired controller, provided for backwards compatibility +static const char * const k_pch_Controller_Component_Base = "base"; // For controllers with an unambiguous 'base'. +static const char * const k_pch_Controller_Component_Tip = "tip"; // For controllers with an unambiguous 'tip' (used for 'laser-pointing') +static const char * const k_pch_Controller_Component_HandGrip = "handgrip"; // Neutral, ambidextrous hand-pose when holding controller. On plane between neutrally posed index finger and thumb +static const char * const k_pch_Controller_Component_Status = "status"; // 1:1 aspect ratio status area, with canonical [0,1] uv mapping + +#if defined(__linux__) || defined(__APPLE__) +// The 32-bit version of gcc has the alignment requirement for uint64 and double set to +// 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. +// The 64-bit version of gcc has the alignment requirement for these types set to +// 8 meaning that unless we use #pragma pack(4) our structures will get bigger. +// The 64-bit structure packing has to match the 32-bit structure packing for each platform. +#pragma pack( push, 4 ) +#else +#pragma pack( push, 8 ) +#endif + +/** Errors that can occur with the VR compositor */ +enum EVRRenderModelError +{ + VRRenderModelError_None = 0, + VRRenderModelError_Loading = 100, + VRRenderModelError_NotSupported = 200, + VRRenderModelError_InvalidArg = 300, + VRRenderModelError_InvalidModel = 301, + VRRenderModelError_NoShapes = 302, + VRRenderModelError_MultipleShapes = 303, + VRRenderModelError_TooManyVertices = 304, + VRRenderModelError_MultipleTextures = 305, + VRRenderModelError_BufferTooSmall = 306, + VRRenderModelError_NotEnoughNormals = 307, + VRRenderModelError_NotEnoughTexCoords = 308, + + VRRenderModelError_InvalidTexture = 400, +}; + +typedef uint32_t VRComponentProperties; + +enum EVRComponentProperty +{ + VRComponentProperty_IsStatic = (1 << 0), + VRComponentProperty_IsVisible = (1 << 1), + VRComponentProperty_IsTouched = (1 << 2), + VRComponentProperty_IsPressed = (1 << 3), + VRComponentProperty_IsScrolled = (1 << 4), +}; + +/** Describes state information about a render-model component, including transforms and other dynamic properties */ +struct RenderModel_ComponentState_t +{ + HmdMatrix34_t mTrackingToComponentRenderModel; // Transform required when drawing the component render model + HmdMatrix34_t mTrackingToComponentLocal; // Transform available for attaching to a local component coordinate system (-Z out from surface ) + VRComponentProperties uProperties; +}; + +/** A single vertex in a render model */ +struct RenderModel_Vertex_t +{ + HmdVector3_t vPosition; // position in meters in device space + HmdVector3_t vNormal; + float rfTextureCoord[2]; +}; + +/** A texture map for use on a render model */ +struct RenderModel_TextureMap_t +{ + uint16_t unWidth, unHeight; // width and height of the texture map in pixels + const uint8_t *rubTextureMapData; // Map texture data. All textures are RGBA with 8 bits per channel per pixel. Data size is width * height * 4ub +}; + +/** Session unique texture identifier. Rendermodels which share the same texture will have the same id. +IDs <0 denote the texture is not present */ + +typedef int32_t TextureID_t; + +const TextureID_t INVALID_TEXTURE_ID = -1; + +struct RenderModel_t +{ + const RenderModel_Vertex_t *rVertexData; // Vertex data for the mesh + uint32_t unVertexCount; // Number of vertices in the vertex data + const uint16_t *rIndexData; // Indices into the vertex data for each triangle + uint32_t unTriangleCount; // Number of triangles in the mesh. Index count is 3 * TriangleCount + TextureID_t diffuseTextureId; // Session unique texture identifier. Rendermodels which share the same texture will have the same id. <0 == texture not present +}; + +struct RenderModel_ControllerMode_State_t +{ + bool bScrollWheelVisible; // is this controller currently set to be in a scroll wheel mode +}; + +#pragma pack( pop ) + +class IVRRenderModels +{ +public: + + /** Loads and returns a render model for use in the application. pchRenderModelName should be a render model name + * from the Prop_RenderModelName_String property or an absolute path name to a render model on disk. + * + * The resulting render model is valid until VR_Shutdown() is called or until FreeRenderModel() is called. When the + * application is finished with the render model it should call FreeRenderModel() to free the memory associated + * with the model. + * + * The method returns VRRenderModelError_Loading while the render model is still being loaded. + * The method returns VRRenderModelError_None once loaded successfully, otherwise will return an error. */ + virtual EVRRenderModelError LoadRenderModel_Async( const char *pchRenderModelName, RenderModel_t **ppRenderModel ) = 0; + + /** Frees a previously returned render model + * It is safe to call this on a null ptr. */ + virtual void FreeRenderModel( RenderModel_t *pRenderModel ) = 0; + + /** Loads and returns a texture for use in the application. */ + virtual EVRRenderModelError LoadTexture_Async( TextureID_t textureId, RenderModel_TextureMap_t **ppTexture ) = 0; + + /** Frees a previously returned texture + * It is safe to call this on a null ptr. */ + virtual void FreeTexture( RenderModel_TextureMap_t *pTexture ) = 0; + + /** Creates a D3D11 texture and loads data into it. */ + virtual EVRRenderModelError LoadTextureD3D11_Async( TextureID_t textureId, void *pD3D11Device, void **ppD3D11Texture2D ) = 0; + + /** Helper function to copy the bits into an existing texture. */ + virtual EVRRenderModelError LoadIntoTextureD3D11_Async( TextureID_t textureId, void *pDstTexture ) = 0; + + /** Use this to free textures created with LoadTextureD3D11_Async instead of calling Release on them. */ + virtual void FreeTextureD3D11( void *pD3D11Texture2D ) = 0; + + /** Use this to get the names of available render models. Index does not correlate to a tracked device index, but + * is only used for iterating over all available render models. If the index is out of range, this function will return 0. + * Otherwise, it will return the size of the buffer required for the name. */ + virtual uint32_t GetRenderModelName( uint32_t unRenderModelIndex, VR_OUT_STRING() char *pchRenderModelName, uint32_t unRenderModelNameLen ) = 0; + + /** Returns the number of available render models. */ + virtual uint32_t GetRenderModelCount() = 0; + + + /** Returns the number of components of the specified render model. + * Components are useful when client application wish to draw, label, or otherwise interact with components of tracked objects. + * Examples controller components: + * renderable things such as triggers, buttons + * non-renderable things which include coordinate systems such as 'tip', 'base', a neutral controller agnostic hand-pose + * If all controller components are enumerated and rendered, it will be equivalent to drawing the traditional render model + * Returns 0 if components not supported, >0 otherwise */ + virtual uint32_t GetComponentCount( const char *pchRenderModelName ) = 0; + + /** Use this to get the names of available components. Index does not correlate to a tracked device index, but + * is only used for iterating over all available components. If the index is out of range, this function will return 0. + * Otherwise, it will return the size of the buffer required for the name. */ + virtual uint32_t GetComponentName( const char *pchRenderModelName, uint32_t unComponentIndex, VR_OUT_STRING( ) char *pchComponentName, uint32_t unComponentNameLen ) = 0; + + /** Get the button mask for all buttons associated with this component + * If no buttons (or axes) are associated with this component, return 0 + * Note: multiple components may be associated with the same button. Ex: two grip buttons on a single controller. + * Note: A single component may be associated with multiple buttons. Ex: A trackpad which also provides "D-pad" functionality */ + virtual uint64_t GetComponentButtonMask( const char *pchRenderModelName, const char *pchComponentName ) = 0; + + /** Use this to get the render model name for the specified rendermode/component combination, to be passed to LoadRenderModel. + * If the component name is out of range, this function will return 0. + * Otherwise, it will return the size of the buffer required for the name. */ + virtual uint32_t GetComponentRenderModelName( const char *pchRenderModelName, const char *pchComponentName, VR_OUT_STRING( ) char *pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen ) = 0; + + /** Use this to query information about the component, as a function of the controller state. + * + * For dynamic controller components (ex: trigger) values will reflect component motions + * For static components this will return a consistent value independent of the VRControllerState_t + * + * If the pchRenderModelName or pchComponentName is invalid, this will return false (and transforms will be set to identity). + * Otherwise, return true + * Note: For dynamic objects, visibility may be dynamic. (I.e., true/false will be returned based on controller state and controller mode state ) */ + virtual bool GetComponentState( const char *pchRenderModelName, const char *pchComponentName, const vr::VRControllerState_t *pControllerState, const RenderModel_ControllerMode_State_t *pState, RenderModel_ComponentState_t *pComponentState ) = 0; + + /** Returns true if the render model has a component with the specified name */ + virtual bool RenderModelHasComponent( const char *pchRenderModelName, const char *pchComponentName ) = 0; + + /** Returns the URL of the thumbnail image for this rendermodel */ + virtual uint32_t GetRenderModelThumbnailURL( const char *pchRenderModelName, VR_OUT_STRING() char *pchThumbnailURL, uint32_t unThumbnailURLLen, vr::EVRRenderModelError *peError ) = 0; + + /** Provides a render model path that will load the unskinned model if the model name provided has been replace by the user. If the model + * hasn't been replaced the path value will still be a valid path to load the model. Pass this to LoadRenderModel_Async, etc. to load the + * model. */ + virtual uint32_t GetRenderModelOriginalPath( const char *pchRenderModelName, VR_OUT_STRING() char *pchOriginalPath, uint32_t unOriginalPathLen, vr::EVRRenderModelError *peError ) = 0; + + /** Returns a string for a render model error */ + virtual const char *GetRenderModelErrorNameFromEnum( vr::EVRRenderModelError error ) = 0; +}; + +static const char * const IVRRenderModels_Version = "IVRRenderModels_005"; + +} + + +// ivrextendeddisplay.h +namespace vr +{ + + /** NOTE: Use of this interface is not recommended in production applications. It will not work for displays which use + * direct-to-display mode. It is also incompatible with the VR compositor and is not available when the compositor is running. */ + class IVRExtendedDisplay + { + public: + + /** Size and position that the window needs to be on the VR display. */ + virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; + + /** Gets the viewport in the frame buffer to draw the output of the distortion into */ + virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; + + /** [D3D10/11 Only] + * Returns the adapter index and output index that the user should pass into EnumAdapters and EnumOutputs + * to create the device and swap chain in DX10 and DX11. If an error occurs both indices will be set to -1. + */ + virtual void GetDXGIOutputInfo( int32_t *pnAdapterIndex, int32_t *pnAdapterOutputIndex ) = 0; + + }; + + static const char * const IVRExtendedDisplay_Version = "IVRExtendedDisplay_001"; + +} + + +// ivrtrackedcamera.h +namespace vr +{ + +class IVRTrackedCamera +{ +public: + /** Returns a string for an error */ + virtual const char *GetCameraErrorNameFromEnum( vr::EVRTrackedCameraError eCameraError ) = 0; + + /** For convenience, same as tracked property request Prop_HasCamera_Bool */ + virtual vr::EVRTrackedCameraError HasCamera( vr::TrackedDeviceIndex_t nDeviceIndex, bool *pHasCamera ) = 0; + + /** Gets size of the image frame. */ + virtual vr::EVRTrackedCameraError GetCameraFrameSize( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pnWidth, uint32_t *pnHeight, uint32_t *pnFrameBufferSize ) = 0; + + virtual vr::EVRTrackedCameraError GetCameraIntrinisics( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, vr::HmdVector2_t *pFocalLength, vr::HmdVector2_t *pCenter ) = 0; + + virtual vr::EVRTrackedCameraError GetCameraProjection( vr::TrackedDeviceIndex_t nDeviceIndex, vr::EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0; + + /** Acquiring streaming service permits video streaming for the caller. Releasing hints the system that video services do not need to be maintained for this client. + * If the camera has not already been activated, a one time spin up may incur some auto exposure as well as initial streaming frame delays. + * The camera should be considered a global resource accessible for shared consumption but not exclusive to any caller. + * The camera may go inactive due to lack of active consumers or headset idleness. */ + virtual vr::EVRTrackedCameraError AcquireVideoStreamingService( vr::TrackedDeviceIndex_t nDeviceIndex, vr::TrackedCameraHandle_t *pHandle ) = 0; + virtual vr::EVRTrackedCameraError ReleaseVideoStreamingService( vr::TrackedCameraHandle_t hTrackedCamera ) = 0; + + /** Copies the image frame into a caller's provided buffer. The image data is currently provided as RGBA data, 4 bytes per pixel. + * A caller can provide null for the framebuffer or frameheader if not desired. Requesting the frame header first, followed by the frame buffer allows + * the caller to determine if the frame as advanced per the frame header sequence. + * If there is no frame available yet, due to initial camera spinup or re-activation, the error will be VRTrackedCameraError_NoFrameAvailable. + * Ideally a caller should be polling at ~16ms intervals */ + virtual vr::EVRTrackedCameraError GetVideoStreamFrameBuffer( vr::TrackedCameraHandle_t hTrackedCamera, vr::EVRTrackedCameraFrameType eFrameType, void *pFrameBuffer, uint32_t nFrameBufferSize, vr::CameraVideoStreamFrameHeader_t *pFrameHeader, uint32_t nFrameHeaderSize ) = 0; +}; + +static const char * const IVRTrackedCamera_Version = "IVRTrackedCamera_003"; + +} // namespace vr + + +// ivrscreenshots.h +namespace vr +{ + +/** Errors that can occur with the VR compositor */ +enum EVRScreenshotError +{ + VRScreenshotError_None = 0, + VRScreenshotError_RequestFailed = 1, + VRScreenshotError_IncompatibleVersion = 100, + VRScreenshotError_NotFound = 101, + VRScreenshotError_BufferTooSmall = 102, + VRScreenshotError_ScreenshotAlreadyInProgress = 108, +}; + +/** Allows the application to generate screenshots */ +class IVRScreenshots +{ +public: + /** Request a screenshot of the requested type. + * A request of the VRScreenshotType_Stereo type will always + * work. Other types will depend on the underlying application + * support. + * The first file name is for the preview image and should be a + * regular screenshot (ideally from the left eye). The second + * is the VR screenshot in the correct format. They should be + * in the same aspect ratio. Formats per type: + * VRScreenshotType_Mono: the VR filename is ignored (can be + * nullptr), this is a normal flat single shot. + * VRScreenshotType_Stereo: The VR image should be a + * side-by-side with the left eye image on the left. + * VRScreenshotType_Cubemap: The VR image should be six square + * images composited horizontally. + * VRScreenshotType_StereoPanorama: above/below with left eye + * panorama being the above image. Image is typically square + * with the panorama being 2x horizontal. + * + * Note that the VR dashboard will call this function when + * the user presses the screenshot binding (currently System + * Button + Trigger). If Steam is running, the destination + * file names will be in %TEMP% and will be copied into + * Steam's screenshot library for the running application + * once SubmitScreenshot() is called. + * If Steam is not running, the paths will be in the user's + * documents folder under Documents\SteamVR\Screenshots. + * Other VR applications can call this to initate a + * screenshot outside of user control. + * The destination file names do not need an extension, + * will be replaced with the correct one for the format + * which is currently .png. */ + virtual vr::EVRScreenshotError RequestScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, vr::EVRScreenshotType type, const char *pchPreviewFilename, const char *pchVRFilename ) = 0; + + /** Called by the running VR application to indicate that it + * wishes to be in charge of screenshots. If the + * application does not call this, the Compositor will only + * support VRScreenshotType_Stereo screenshots that will be + * captured without notification to the running app. + * Once hooked your application will receive a + * VREvent_RequestScreenshot event when the user presses the + * buttons to take a screenshot. */ + virtual vr::EVRScreenshotError HookScreenshot( VR_ARRAY_COUNT( numTypes ) const vr::EVRScreenshotType *pSupportedTypes, int numTypes ) = 0; + + /** When your application receives a + * VREvent_RequestScreenshot event, call these functions to get + * the details of the screenshot request. */ + virtual vr::EVRScreenshotType GetScreenshotPropertyType( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotError *pError ) = 0; + + /** Get the filename for the preview or vr image (see + * vr::EScreenshotPropertyFilenames). The return value is + * the size of the string. */ + virtual uint32_t GetScreenshotPropertyFilename( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotPropertyFilenames filenameType, VR_OUT_STRING() char *pchFilename, uint32_t cchFilename, vr::EVRScreenshotError *pError ) = 0; + + /** Call this if the application is taking the screen shot + * will take more than a few ms processing. This will result + * in an overlay being presented that shows a completion + * bar. */ + virtual vr::EVRScreenshotError UpdateScreenshotProgress( vr::ScreenshotHandle_t screenshotHandle, float flProgress ) = 0; + + /** Tells the compositor to take an internal screenshot of + * type VRScreenshotType_Stereo. It will take the current + * submitted scene textures of the running application and + * write them into the preview image and a side-by-side file + * for the VR image. + * This is similiar to request screenshot, but doesn't ever + * talk to the application, just takes the shot and submits. */ + virtual vr::EVRScreenshotError TakeStereoScreenshot( vr::ScreenshotHandle_t *pOutScreenshotHandle, const char *pchPreviewFilename, const char *pchVRFilename ) = 0; + + /** Submit the completed screenshot. If Steam is running + * this will call into the Steam client and upload the + * screenshot to the screenshots section of the library for + * the running application. If Steam is not running, this + * function will display a notification to the user that the + * screenshot was taken. The paths should be full paths with + * extensions. + * File paths should be absolute including + * exntensions. + * screenshotHandle can be k_unScreenshotHandleInvalid if this + * was a new shot taking by the app to be saved and not + * initiated by a user (achievement earned or something) */ + virtual vr::EVRScreenshotError SubmitScreenshot( vr::ScreenshotHandle_t screenshotHandle, vr::EVRScreenshotType type, const char *pchSourcePreviewFilename, const char *pchSourceVRFilename ) = 0; +}; + +static const char * const IVRScreenshots_Version = "IVRScreenshots_001"; + +} // namespace vr + + +// End + +#endif // _OPENVR_API + + +namespace vr +{ + /** Finds the active installation of the VR API and initializes it. The provided path must be absolute + * or relative to the current working directory. These are the local install versions of the equivalent + * functions in steamvr.h and will work without a local Steam install. + * + * This path is to the "root" of the VR API install. That's the directory with + * the "drivers" directory and a platform (i.e. "win32") directory in it, not the directory with the DLL itself. + */ + inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType ); + + /** unloads vrclient.dll. Any interface pointers from the interface are + * invalid after this point */ + inline void VR_Shutdown(); + + /** Returns true if there is an HMD attached. This check is as lightweight as possible and + * can be called outside of VR_Init/VR_Shutdown. It should be used when an application wants + * to know if initializing VR is a possibility but isn't ready to take that step yet. + */ + VR_INTERFACE bool VR_CALLTYPE VR_IsHmdPresent(); + + /** Returns true if the OpenVR runtime is installed. */ + VR_INTERFACE bool VR_CALLTYPE VR_IsRuntimeInstalled(); + + /** Returns where the OpenVR runtime is installed. */ + VR_INTERFACE const char *VR_CALLTYPE VR_RuntimePath(); + + /** Returns the name of the enum value for an EVRInitError. This function may be called outside of VR_Init()/VR_Shutdown(). */ + VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsSymbol( EVRInitError error ); + + /** Returns an english string for an EVRInitError. Applications should call VR_GetVRInitErrorAsSymbol instead and + * use that as a key to look up their own localized error message. This function may be called outside of VR_Init()/VR_Shutdown(). */ + VR_INTERFACE const char *VR_CALLTYPE VR_GetVRInitErrorAsEnglishDescription( EVRInitError error ); + + /** Returns the interface of the specified version. This method must be called after VR_Init. The + * pointer returned is valid until VR_Shutdown is called. + */ + VR_INTERFACE void *VR_CALLTYPE VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError ); + + /** Returns whether the interface of the specified version exists. + */ + VR_INTERFACE bool VR_CALLTYPE VR_IsInterfaceVersionValid( const char *pchInterfaceVersion ); + + /** Returns a token that represents whether the VR interface handles need to be reloaded */ + VR_INTERFACE uint32_t VR_CALLTYPE VR_GetInitToken(); + + // These typedefs allow old enum names from SDK 0.9.11 to be used in applications. + // They will go away in the future. + typedef EVRInitError HmdError; + typedef EVREye Hmd_Eye; + typedef EGraphicsAPIConvention GraphicsAPIConvention; + typedef EColorSpace ColorSpace; + typedef ETrackingResult HmdTrackingResult; + typedef ETrackedDeviceClass TrackedDeviceClass; + typedef ETrackingUniverseOrigin TrackingUniverseOrigin; + typedef ETrackedDeviceProperty TrackedDeviceProperty; + typedef ETrackedPropertyError TrackedPropertyError; + typedef EVRSubmitFlags VRSubmitFlags_t; + typedef EVRState VRState_t; + typedef ECollisionBoundsStyle CollisionBoundsStyle_t; + typedef EVROverlayError VROverlayError; + typedef EVRFirmwareError VRFirmwareError; + typedef EVRCompositorError VRCompositorError; + typedef EVRScreenshotError VRScreenshotsError; + + inline uint32_t &VRToken() + { + static uint32_t token; + return token; + } + + class COpenVRContext + { + public: + COpenVRContext() { Clear(); } + void Clear(); + + inline void CheckClear() + { + if ( VRToken() != VR_GetInitToken() ) + { + Clear(); + VRToken() = VR_GetInitToken(); + } + } + + IVRSystem *VRSystem() + { + CheckClear(); + if ( m_pVRSystem == nullptr ) + { + EVRInitError eError; + m_pVRSystem = ( IVRSystem * )VR_GetGenericInterface( IVRSystem_Version, &eError ); + } + return m_pVRSystem; + } + IVRChaperone *VRChaperone() + { + CheckClear(); + if ( m_pVRChaperone == nullptr ) + { + EVRInitError eError; + m_pVRChaperone = ( IVRChaperone * )VR_GetGenericInterface( IVRChaperone_Version, &eError ); + } + return m_pVRChaperone; + } + + IVRChaperoneSetup *VRChaperoneSetup() + { + CheckClear(); + if ( m_pVRChaperoneSetup == nullptr ) + { + EVRInitError eError; + m_pVRChaperoneSetup = ( IVRChaperoneSetup * )VR_GetGenericInterface( IVRChaperoneSetup_Version, &eError ); + } + return m_pVRChaperoneSetup; + } + + IVRCompositor *VRCompositor() + { + CheckClear(); + if ( m_pVRCompositor == nullptr ) + { + EVRInitError eError; + m_pVRCompositor = ( IVRCompositor * )VR_GetGenericInterface( IVRCompositor_Version, &eError ); + } + return m_pVRCompositor; + } + + IVROverlay *VROverlay() + { + CheckClear(); + if ( m_pVROverlay == nullptr ) + { + EVRInitError eError; + m_pVROverlay = ( IVROverlay * )VR_GetGenericInterface( IVROverlay_Version, &eError ); + } + return m_pVROverlay; + } + + IVRScreenshots *VRScreenshots() + { + CheckClear(); + if ( m_pVRScreenshots == nullptr ) + { + EVRInitError eError; + m_pVRScreenshots = ( IVRScreenshots * )VR_GetGenericInterface( IVRScreenshots_Version, &eError ); + } + return m_pVRScreenshots; + } + + IVRRenderModels *VRRenderModels() + { + CheckClear(); + if ( m_pVRRenderModels == nullptr ) + { + EVRInitError eError; + m_pVRRenderModels = ( IVRRenderModels * )VR_GetGenericInterface( IVRRenderModels_Version, &eError ); + } + return m_pVRRenderModels; + } + + IVRExtendedDisplay *VRExtendedDisplay() + { + CheckClear(); + if ( m_pVRExtendedDisplay == nullptr ) + { + EVRInitError eError; + m_pVRExtendedDisplay = ( IVRExtendedDisplay * )VR_GetGenericInterface( IVRExtendedDisplay_Version, &eError ); + } + return m_pVRExtendedDisplay; + } + + IVRSettings *VRSettings() + { + CheckClear(); + if ( m_pVRSettings == nullptr ) + { + EVRInitError eError; + m_pVRSettings = ( IVRSettings * )VR_GetGenericInterface( IVRSettings_Version, &eError ); + } + return m_pVRSettings; + } + + IVRApplications *VRApplications() + { + CheckClear(); + if ( m_pVRApplications == nullptr ) + { + EVRInitError eError; + m_pVRApplications = ( IVRApplications * )VR_GetGenericInterface( IVRApplications_Version, &eError ); + } + return m_pVRApplications; + } + + IVRTrackedCamera *VRTrackedCamera() + { + CheckClear(); + if ( m_pVRTrackedCamera == nullptr ) + { + EVRInitError eError; + m_pVRTrackedCamera = ( IVRTrackedCamera * )VR_GetGenericInterface( IVRTrackedCamera_Version, &eError ); + } + return m_pVRTrackedCamera; + } + + private: + IVRSystem *m_pVRSystem; + IVRChaperone *m_pVRChaperone; + IVRChaperoneSetup *m_pVRChaperoneSetup; + IVRCompositor *m_pVRCompositor; + IVROverlay *m_pVROverlay; + IVRRenderModels *m_pVRRenderModels; + IVRExtendedDisplay *m_pVRExtendedDisplay; + IVRSettings *m_pVRSettings; + IVRApplications *m_pVRApplications; + IVRTrackedCamera *m_pVRTrackedCamera; + IVRScreenshots *m_pVRScreenshots; + }; + + inline COpenVRContext &OpenVRInternal_ModuleContext() + { + static void *ctx[ sizeof( COpenVRContext ) / sizeof( void * ) ]; + return *( COpenVRContext * )ctx; // bypass zero-init constructor + } + + inline IVRSystem *VR_CALLTYPE VRSystem() { return OpenVRInternal_ModuleContext().VRSystem(); } + inline IVRChaperone *VR_CALLTYPE VRChaperone() { return OpenVRInternal_ModuleContext().VRChaperone(); } + inline IVRChaperoneSetup *VR_CALLTYPE VRChaperoneSetup() { return OpenVRInternal_ModuleContext().VRChaperoneSetup(); } + inline IVRCompositor *VR_CALLTYPE VRCompositor() { return OpenVRInternal_ModuleContext().VRCompositor(); } + inline IVROverlay *VR_CALLTYPE VROverlay() { return OpenVRInternal_ModuleContext().VROverlay(); } + inline IVRScreenshots *VR_CALLTYPE VRScreenshots() { return OpenVRInternal_ModuleContext().VRScreenshots(); } + inline IVRRenderModels *VR_CALLTYPE VRRenderModels() { return OpenVRInternal_ModuleContext().VRRenderModels(); } + inline IVRApplications *VR_CALLTYPE VRApplications() { return OpenVRInternal_ModuleContext().VRApplications(); } + inline IVRSettings *VR_CALLTYPE VRSettings() { return OpenVRInternal_ModuleContext().VRSettings(); } + inline IVRExtendedDisplay *VR_CALLTYPE VRExtendedDisplay() { return OpenVRInternal_ModuleContext().VRExtendedDisplay(); } + inline IVRTrackedCamera *VR_CALLTYPE VRTrackedCamera() { return OpenVRInternal_ModuleContext().VRTrackedCamera(); } + + inline void COpenVRContext::Clear() + { + m_pVRSystem = nullptr; + m_pVRChaperone = nullptr; + m_pVRChaperoneSetup = nullptr; + m_pVRCompositor = nullptr; + m_pVROverlay = nullptr; + m_pVRRenderModels = nullptr; + m_pVRExtendedDisplay = nullptr; + m_pVRSettings = nullptr; + m_pVRApplications = nullptr; + m_pVRTrackedCamera = nullptr; + m_pVRScreenshots = nullptr; + } + + VR_INTERFACE uint32_t VR_CALLTYPE VR_InitInternal( EVRInitError *peError, EVRApplicationType eApplicationType ); + VR_INTERFACE void VR_CALLTYPE VR_ShutdownInternal(); + + /** Finds the active installation of vrclient.dll and initializes it */ + inline IVRSystem *VR_Init( EVRInitError *peError, EVRApplicationType eApplicationType ) + { + IVRSystem *pVRSystem = nullptr; + + EVRInitError eError; + VRToken() = VR_InitInternal( &eError, eApplicationType ); + COpenVRContext &ctx = OpenVRInternal_ModuleContext(); + ctx.Clear(); + + if ( eError == VRInitError_None ) + { + if ( VR_IsInterfaceVersionValid( IVRSystem_Version ) ) + { + pVRSystem = VRSystem(); + } + else + { + VR_ShutdownInternal(); + eError = VRInitError_Init_InterfaceNotFound; + } + } + + if ( peError ) + *peError = eError; + return pVRSystem; + } + + /** unloads vrclient.dll. Any interface pointers from the interface are + * invalid after this point */ + inline void VR_Shutdown() + { + VR_ShutdownInternal(); + } +} diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs new file mode 100644 index 000000000..a4d71f826 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs @@ -0,0 +1,4187 @@ +//======= Copyright (c) Valve Corporation, All rights reserved. =============== +// +// Purpose: This file contains C#/managed code bindings for the OpenVR interfaces +// This file is auto-generated, do not edit it. +// +//============================================================================= + +using System; +using System.Runtime.InteropServices; +using Valve.VR; + +namespace Valve.VR +{ + +[StructLayout(LayoutKind.Sequential)] +public struct IVRSystem +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetRecommendedRenderTargetSize(ref uint pnWidth, ref uint pnHeight); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRecommendedRenderTargetSize GetRecommendedRenderTargetSize; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HmdMatrix44_t _GetProjectionMatrix(EVREye eEye, float fNearZ, float fFarZ, EGraphicsAPIConvention eProjType); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetProjectionMatrix GetProjectionMatrix; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetProjectionRaw(EVREye eEye, ref float pfLeft, ref float pfRight, ref float pfTop, ref float pfBottom); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetProjectionRaw GetProjectionRaw; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate DistortionCoordinates_t _ComputeDistortion(EVREye eEye, float fU, float fV); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ComputeDistortion ComputeDistortion; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HmdMatrix34_t _GetEyeToHeadTransform(EVREye eEye); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetEyeToHeadTransform GetEyeToHeadTransform; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync, ref ulong pulFrameCounter); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTimeSinceLastVsync GetTimeSinceLastVsync; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate int _GetD3D9AdapterIndex(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetD3D9AdapterIndex GetD3D9AdapterIndex; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetDXGIOutputInfo GetDXGIOutputInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsDisplayOnDesktop(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsDisplayOnDesktop IsDisplayOnDesktop; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _SetDisplayVisibility(bool bIsVisibleOnDesktop); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetDisplayVisibility SetDisplayVisibility; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, [In, Out] TrackedDevicePose_t[] pTrackedDevicePoseArray, uint unTrackedDevicePoseArrayCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetDeviceToAbsoluteTrackingPose GetDeviceToAbsoluteTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ResetSeatedZeroPose(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ResetSeatedZeroPose ResetSeatedZeroPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HmdMatrix34_t _GetSeatedZeroPoseToStandingAbsoluteTrackingPose(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetSeatedZeroPoseToStandingAbsoluteTrackingPose GetSeatedZeroPoseToStandingAbsoluteTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HmdMatrix34_t _GetRawZeroPoseToStandingAbsoluteTrackingPose(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRawZeroPoseToStandingAbsoluteTrackingPose GetRawZeroPoseToStandingAbsoluteTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass, [In, Out] uint[] punTrackedDeviceIndexArray, uint unTrackedDeviceIndexArrayCount, uint unRelativeToTrackedDeviceIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetSortedTrackedDeviceIndicesOfClass GetSortedTrackedDeviceIndicesOfClass; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EDeviceActivityLevel _GetTrackedDeviceActivityLevel(uint unDeviceId); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTrackedDeviceActivityLevel GetTrackedDeviceActivityLevel; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ApplyTransform(ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pTrackedDevicePose, ref HmdMatrix34_t pTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ApplyTransform ApplyTransform; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTrackedDeviceIndexForControllerRole GetTrackedDeviceIndexForControllerRole; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ETrackedControllerRole _GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetControllerRoleForTrackedDeviceIndex GetControllerRoleForTrackedDeviceIndex; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ETrackedDeviceClass _GetTrackedDeviceClass(uint unDeviceIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTrackedDeviceClass GetTrackedDeviceClass; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsTrackedDeviceConnected(uint unDeviceIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsTrackedDeviceConnected IsTrackedDeviceConnected; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetBoolTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetBoolTrackedDeviceProperty GetBoolTrackedDeviceProperty; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate float _GetFloatTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetFloatTrackedDeviceProperty GetFloatTrackedDeviceProperty; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate int _GetInt32TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetInt32TrackedDeviceProperty GetInt32TrackedDeviceProperty; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ulong _GetUint64TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetUint64TrackedDeviceProperty GetUint64TrackedDeviceProperty; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HmdMatrix34_t _GetMatrix34TrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, ref ETrackedPropertyError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetMatrix34TrackedDeviceProperty GetMatrix34TrackedDeviceProperty; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetStringTrackedDeviceProperty(uint unDeviceIndex, ETrackedDeviceProperty prop, System.Text.StringBuilder pchValue, uint unBufferSize, ref ETrackedPropertyError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetStringTrackedDeviceProperty GetStringTrackedDeviceProperty; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetPropErrorNameFromEnum(ETrackedPropertyError error); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetPropErrorNameFromEnum GetPropErrorNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _PollNextEvent(ref VREvent_t pEvent, uint uncbVREvent); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _PollNextEvent PollNextEvent; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _PollNextEventWithPose(ETrackingUniverseOrigin eOrigin, ref VREvent_t pEvent, uint uncbVREvent, ref TrackedDevicePose_t pTrackedDevicePose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _PollNextEventWithPose PollNextEventWithPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetEventTypeNameFromEnum(EVREventType eType); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetEventTypeNameFromEnum GetEventTypeNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HiddenAreaMesh_t _GetHiddenAreaMesh(EVREye eEye); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetHiddenAreaMesh GetHiddenAreaMesh; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetControllerState(uint unControllerDeviceIndex, ref VRControllerState_t pControllerState); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetControllerState GetControllerState; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin, uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, ref TrackedDevicePose_t pTrackedDevicePose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetControllerStateWithPose GetControllerStateWithPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _TriggerHapticPulse(uint unControllerDeviceIndex, uint unAxisId, char usDurationMicroSec); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _TriggerHapticPulse TriggerHapticPulse; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetButtonIdNameFromEnum(EVRButtonId eButtonId); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetButtonIdNameFromEnum GetButtonIdNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetControllerAxisTypeNameFromEnum GetControllerAxisTypeNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _CaptureInputFocus(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CaptureInputFocus CaptureInputFocus; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ReleaseInputFocus(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ReleaseInputFocus ReleaseInputFocus; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsInputFocusCapturedByAnotherProcess(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsInputFocusCapturedByAnotherProcess IsInputFocusCapturedByAnotherProcess; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _DriverDebugRequest(uint unDeviceIndex, string pchRequest, string pchResponseBuffer, uint unResponseBufferSize); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _DriverDebugRequest DriverDebugRequest; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRFirmwareError _PerformFirmwareUpdate(uint unDeviceIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _PerformFirmwareUpdate PerformFirmwareUpdate; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _AcknowledgeQuit_Exiting(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _AcknowledgeQuit_Exiting AcknowledgeQuit_Exiting; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _AcknowledgeQuit_UserPrompt(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _AcknowledgeQuit_UserPrompt AcknowledgeQuit_UserPrompt; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRExtendedDisplay +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetWindowBounds(ref int pnX, ref int pnY, ref uint pnWidth, ref uint pnHeight); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetWindowBounds GetWindowBounds; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetEyeOutputViewport(EVREye eEye, ref uint pnX, ref uint pnY, ref uint pnWidth, ref uint pnHeight); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetEyeOutputViewport GetEyeOutputViewport; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetDXGIOutputInfo(ref int pnAdapterIndex, ref int pnAdapterOutputIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetDXGIOutputInfo GetDXGIOutputInfo; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRTrackedCamera +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCameraErrorNameFromEnum GetCameraErrorNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _HasCamera(uint nDeviceIndex, ref bool pHasCamera); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _HasCamera HasCamera; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _GetCameraFrameSize(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref uint pnWidth, ref uint pnHeight, ref uint pnFrameBufferSize); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCameraFrameSize GetCameraFrameSize; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _GetCameraIntrinisics(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, ref HmdVector2_t pFocalLength, ref HmdVector2_t pCenter); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCameraIntrinisics GetCameraIntrinisics; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _GetCameraProjection(uint nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, ref HmdMatrix44_t pProjection); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCameraProjection GetCameraProjection; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _AcquireVideoStreamingService(uint nDeviceIndex, ref ulong pHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _AcquireVideoStreamingService AcquireVideoStreamingService; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _ReleaseVideoStreamingService(ulong hTrackedCamera); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ReleaseVideoStreamingService ReleaseVideoStreamingService; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRTrackedCameraError _GetVideoStreamFrameBuffer(ulong hTrackedCamera, EVRTrackedCameraFrameType eFrameType, IntPtr pFrameBuffer, uint nFrameBufferSize, ref CameraVideoStreamFrameHeader_t pFrameHeader, uint nFrameHeaderSize); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetVideoStreamFrameBuffer GetVideoStreamFrameBuffer; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRApplications +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _AddApplicationManifest(string pchApplicationManifestFullPath, bool bTemporary); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _AddApplicationManifest AddApplicationManifest; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _RemoveApplicationManifest(string pchApplicationManifestFullPath); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RemoveApplicationManifest RemoveApplicationManifest; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsApplicationInstalled(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsApplicationInstalled IsApplicationInstalled; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetApplicationCount(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationCount GetApplicationCount; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _GetApplicationKeyByIndex(uint unApplicationIndex, string pchAppKeyBuffer, uint unAppKeyBufferLen); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationKeyByIndex GetApplicationKeyByIndex; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _GetApplicationKeyByProcessId(uint unProcessId, string pchAppKeyBuffer, uint unAppKeyBufferLen); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationKeyByProcessId GetApplicationKeyByProcessId; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _LaunchApplication(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LaunchApplication LaunchApplication; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _LaunchTemplateApplication(string pchTemplateAppKey, string pchNewAppKey, [In, Out] AppOverrideKeys_t[] pKeys, uint unKeys); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LaunchTemplateApplication LaunchTemplateApplication; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _LaunchDashboardOverlay(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LaunchDashboardOverlay LaunchDashboardOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _CancelApplicationLaunch(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CancelApplicationLaunch CancelApplicationLaunch; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _IdentifyApplication(uint unProcessId, string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IdentifyApplication IdentifyApplication; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetApplicationProcessId(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationProcessId GetApplicationProcessId; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetApplicationsErrorNameFromEnum(EVRApplicationError error); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationsErrorNameFromEnum GetApplicationsErrorNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetApplicationPropertyString(string pchAppKey, EVRApplicationProperty eProperty, string pchPropertyValueBuffer, uint unPropertyValueBufferLen, ref EVRApplicationError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationPropertyString GetApplicationPropertyString; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetApplicationPropertyBool(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationPropertyBool GetApplicationPropertyBool; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ulong _GetApplicationPropertyUint64(string pchAppKey, EVRApplicationProperty eProperty, ref EVRApplicationError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationPropertyUint64 GetApplicationPropertyUint64; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _SetApplicationAutoLaunch(string pchAppKey, bool bAutoLaunch); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetApplicationAutoLaunch SetApplicationAutoLaunch; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetApplicationAutoLaunch(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationAutoLaunch GetApplicationAutoLaunch; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _GetStartingApplication(string pchAppKeyBuffer, uint unAppKeyBufferLen); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetStartingApplication GetStartingApplication; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationTransitionState _GetTransitionState(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTransitionState GetTransitionState; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _PerformApplicationPrelaunchCheck(string pchAppKey); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _PerformApplicationPrelaunchCheck PerformApplicationPrelaunchCheck; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetApplicationsTransitionStateNameFromEnum GetApplicationsTransitionStateNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsQuitUserPromptRequested(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsQuitUserPromptRequested IsQuitUserPromptRequested; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRApplicationError _LaunchInternalProcess(string pchBinaryPath, string pchArguments, string pchWorkingDirectory); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LaunchInternalProcess LaunchInternalProcess; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRChaperone +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ChaperoneCalibrationState _GetCalibrationState(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCalibrationState GetCalibrationState; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetPlayAreaSize(ref float pSizeX, ref float pSizeZ); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetPlayAreaSize GetPlayAreaSize; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetPlayAreaRect(ref HmdQuad_t rect); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetPlayAreaRect GetPlayAreaRect; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ReloadInfo(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ReloadInfo ReloadInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetSceneColor(HmdColor_t color); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetSceneColor SetSceneColor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetBoundsColor(ref HmdColor_t pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, ref HmdColor_t pOutputCameraColor); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetBoundsColor GetBoundsColor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _AreBoundsVisible(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _AreBoundsVisible AreBoundsVisible; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ForceBoundsVisible(bool bForce); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ForceBoundsVisible ForceBoundsVisible; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRChaperoneSetup +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _CommitWorkingCopy(EChaperoneConfigFile configFile); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CommitWorkingCopy CommitWorkingCopy; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _RevertWorkingCopy(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RevertWorkingCopy RevertWorkingCopy; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetWorkingPlayAreaSize(ref float pSizeX, ref float pSizeZ); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetWorkingPlayAreaSize GetWorkingPlayAreaSize; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetWorkingPlayAreaRect(ref HmdQuad_t rect); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetWorkingPlayAreaRect GetWorkingPlayAreaRect; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetWorkingCollisionBoundsInfo GetWorkingCollisionBoundsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetLiveCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLiveCollisionBoundsInfo GetLiveCollisionBoundsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetWorkingSeatedZeroPoseToRawTrackingPose GetWorkingSeatedZeroPoseToRawTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetWorkingStandingZeroPoseToRawTrackingPose GetWorkingStandingZeroPoseToRawTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetWorkingPlayAreaSize(float sizeX, float sizeZ); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetWorkingPlayAreaSize SetWorkingPlayAreaSize; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetWorkingCollisionBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetWorkingCollisionBoundsInfo SetWorkingCollisionBoundsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetWorkingSeatedZeroPoseToRawTrackingPose SetWorkingSeatedZeroPoseToRawTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetWorkingStandingZeroPoseToRawTrackingPose SetWorkingStandingZeroPoseToRawTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ReloadFromDisk(EChaperoneConfigFile configFile); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ReloadFromDisk ReloadFromDisk; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLiveSeatedZeroPoseToRawTrackingPose GetLiveSeatedZeroPoseToRawTrackingPose; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetWorkingCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, uint unTagCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetWorkingCollisionBoundsTagsInfo SetWorkingCollisionBoundsTagsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetLiveCollisionBoundsTagsInfo([In, Out] byte[] pTagsBuffer, ref uint punTagCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLiveCollisionBoundsTagsInfo GetLiveCollisionBoundsTagsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _SetWorkingPhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, uint unQuadsCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetWorkingPhysicalBoundsInfo SetWorkingPhysicalBoundsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetLivePhysicalBoundsInfo([In, Out] HmdQuad_t[] pQuadsBuffer, ref uint punQuadsCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLivePhysicalBoundsInfo GetLivePhysicalBoundsInfo; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _ExportLiveToBuffer(System.Text.StringBuilder pBuffer, ref uint pnBufferLength); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ExportLiveToBuffer ExportLiveToBuffer; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _ImportFromBufferToWorking(string pBuffer, uint nImportFlags); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ImportFromBufferToWorking ImportFromBufferToWorking; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRCompositor +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetTrackingSpace(ETrackingUniverseOrigin eOrigin); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetTrackingSpace SetTrackingSpace; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ETrackingUniverseOrigin _GetTrackingSpace(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTrackingSpace GetTrackingSpace; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _WaitGetPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _WaitGetPoses WaitGetPoses; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _GetLastPoses([In, Out] TrackedDevicePose_t[] pRenderPoseArray, uint unRenderPoseArrayCount, [In, Out] TrackedDevicePose_t[] pGamePoseArray, uint unGamePoseArrayCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLastPoses GetLastPoses; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex, ref TrackedDevicePose_t pOutputPose, ref TrackedDevicePose_t pOutputGamePose); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLastPoseForTrackedDeviceIndex GetLastPoseForTrackedDeviceIndex; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _Submit(EVREye eEye, ref Texture_t pTexture, ref VRTextureBounds_t pBounds, EVRSubmitFlags nSubmitFlags); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _Submit Submit; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ClearLastSubmittedFrame(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ClearLastSubmittedFrame ClearLastSubmittedFrame; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _PostPresentHandoff(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _PostPresentHandoff PostPresentHandoff; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetFrameTiming(ref Compositor_FrameTiming pTiming, uint unFramesAgo); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetFrameTiming GetFrameTiming; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate float _GetFrameTimeRemaining(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetFrameTimeRemaining GetFrameTimeRemaining; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetCumulativeStats(ref Compositor_CumulativeStats pStats, uint nStatsSizeInBytes); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCumulativeStats GetCumulativeStats; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _FadeToColor(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _FadeToColor FadeToColor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _FadeGrid(float fSeconds, bool bFadeIn); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _FadeGrid FadeGrid; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _SetSkyboxOverride([In, Out] Texture_t[] pTextures, uint unTextureCount); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetSkyboxOverride SetSkyboxOverride; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ClearSkyboxOverride(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ClearSkyboxOverride ClearSkyboxOverride; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _CompositorBringToFront(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CompositorBringToFront CompositorBringToFront; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _CompositorGoToBack(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CompositorGoToBack CompositorGoToBack; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _CompositorQuit(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CompositorQuit CompositorQuit; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsFullscreen(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsFullscreen IsFullscreen; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetCurrentSceneFocusProcess(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCurrentSceneFocusProcess GetCurrentSceneFocusProcess; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetLastFrameRenderer(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetLastFrameRenderer GetLastFrameRenderer; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _CanRenderScene(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CanRenderScene CanRenderScene; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ShowMirrorWindow(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ShowMirrorWindow ShowMirrorWindow; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _HideMirrorWindow(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _HideMirrorWindow HideMirrorWindow; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsMirrorWindowVisible(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsMirrorWindowVisible IsMirrorWindowVisible; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _CompositorDumpImages(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CompositorDumpImages CompositorDumpImages; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _ShouldAppRenderWithLowResources(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ShouldAppRenderWithLowResources ShouldAppRenderWithLowResources; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ForceInterleavedReprojectionOn(bool bOverride); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ForceInterleavedReprojectionOn ForceInterleavedReprojectionOn; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ForceReconnectProcess(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ForceReconnectProcess ForceReconnectProcess; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SuspendRendering(bool bSuspend); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SuspendRendering SuspendRendering; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _RequestScreenshot(EVRScreenshotType type, string pchDestinationFileName, string pchVRDestinationFileName); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RequestScreenshot RequestScreenshot; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotType _GetCurrentScreenshotType(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCurrentScreenshotType GetCurrentScreenshotType; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _GetMirrorTextureD3D11(EVREye eEye, IntPtr pD3D11DeviceOrResource, ref IntPtr ppD3D11ShaderResourceView); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetMirrorTextureD3D11 GetMirrorTextureD3D11; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRCompositorError _GetMirrorTextureGL(EVREye eEye, ref uint pglTextureId, IntPtr pglSharedTextureHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetMirrorTextureGL GetMirrorTextureGL; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _ReleaseSharedGLTexture(uint glTextureId, IntPtr glSharedTextureHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ReleaseSharedGLTexture ReleaseSharedGLTexture; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LockGLSharedTextureForAccess LockGLSharedTextureForAccess; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _UnlockGLSharedTextureForAccess UnlockGLSharedTextureForAccess; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVROverlay +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _FindOverlay(string pchOverlayKey, ref ulong pOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _FindOverlay FindOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _CreateOverlay(string pchOverlayKey, string pchOverlayFriendlyName, ref ulong pOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CreateOverlay CreateOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _DestroyOverlay(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _DestroyOverlay DestroyOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetHighQualityOverlay(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetHighQualityOverlay SetHighQualityOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ulong _GetHighQualityOverlay(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetHighQualityOverlay GetHighQualityOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetOverlayKey(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayKey GetOverlayKey; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetOverlayName(ulong ulOverlayHandle, System.Text.StringBuilder pchValue, uint unBufferSize, ref EVROverlayError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayName GetOverlayName; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayImageData(ulong ulOverlayHandle, IntPtr pvBuffer, uint unBufferSize, ref uint punWidth, ref uint punHeight); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayImageData GetOverlayImageData; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetOverlayErrorNameFromEnum(EVROverlayError error); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayErrorNameFromEnum GetOverlayErrorNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayRenderingPid(ulong ulOverlayHandle, uint unPID); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayRenderingPid SetOverlayRenderingPid; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetOverlayRenderingPid(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayRenderingPid GetOverlayRenderingPid; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayFlag SetOverlayFlag; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayFlag(ulong ulOverlayHandle, VROverlayFlags eOverlayFlag, ref bool pbEnabled); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayFlag GetOverlayFlag; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayColor(ulong ulOverlayHandle, float fRed, float fGreen, float fBlue); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayColor SetOverlayColor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayColor(ulong ulOverlayHandle, ref float pfRed, ref float pfGreen, ref float pfBlue); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayColor GetOverlayColor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayAlpha(ulong ulOverlayHandle, float fAlpha); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayAlpha SetOverlayAlpha; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayAlpha(ulong ulOverlayHandle, ref float pfAlpha); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayAlpha GetOverlayAlpha; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayWidthInMeters(ulong ulOverlayHandle, float fWidthInMeters); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayWidthInMeters SetOverlayWidthInMeters; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayWidthInMeters(ulong ulOverlayHandle, ref float pfWidthInMeters); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayWidthInMeters GetOverlayWidthInMeters; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayAutoCurveDistanceRangeInMeters SetOverlayAutoCurveDistanceRangeInMeters; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle, ref float pfMinDistanceInMeters, ref float pfMaxDistanceInMeters); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayAutoCurveDistanceRangeInMeters GetOverlayAutoCurveDistanceRangeInMeters; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayTextureColorSpace(ulong ulOverlayHandle, EColorSpace eTextureColorSpace); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayTextureColorSpace SetOverlayTextureColorSpace; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTextureColorSpace(ulong ulOverlayHandle, ref EColorSpace peTextureColorSpace); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTextureColorSpace GetOverlayTextureColorSpace; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayTextureBounds SetOverlayTextureBounds; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTextureBounds(ulong ulOverlayHandle, ref VRTextureBounds_t pOverlayTextureBounds); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTextureBounds GetOverlayTextureBounds; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTransformType(ulong ulOverlayHandle, ref VROverlayTransformType peTransformType); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTransformType GetOverlayTransformType; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayTransformAbsolute(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayTransformAbsolute SetOverlayTransformAbsolute; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTransformAbsolute(ulong ulOverlayHandle, ref ETrackingUniverseOrigin peTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTransformAbsolute GetOverlayTransformAbsolute; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, uint unTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayTransformTrackedDeviceRelative SetOverlayTransformTrackedDeviceRelative; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle, ref uint punTrackedDevice, ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTransformTrackedDeviceRelative GetOverlayTransformTrackedDeviceRelative; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, uint unDeviceIndex, string pchComponentName); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayTransformTrackedDeviceComponent SetOverlayTransformTrackedDeviceComponent; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle, ref uint punDeviceIndex, string pchComponentName, uint unComponentNameSize); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTransformTrackedDeviceComponent GetOverlayTransformTrackedDeviceComponent; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _ShowOverlay(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ShowOverlay ShowOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _HideOverlay(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _HideOverlay HideOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsOverlayVisible(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsOverlayVisible IsOverlayVisible; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetTransformForOverlayCoordinates(ulong ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, HmdVector2_t coordinatesInOverlay, ref HmdMatrix34_t pmatTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetTransformForOverlayCoordinates GetTransformForOverlayCoordinates; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _PollNextOverlayEvent(ulong ulOverlayHandle, ref VREvent_t pEvent, uint uncbVREvent); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _PollNextOverlayEvent PollNextOverlayEvent; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayInputMethod(ulong ulOverlayHandle, ref VROverlayInputMethod peInputMethod); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayInputMethod GetOverlayInputMethod; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayInputMethod(ulong ulOverlayHandle, VROverlayInputMethod eInputMethod); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayInputMethod SetOverlayInputMethod; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayMouseScale GetOverlayMouseScale; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayMouseScale(ulong ulOverlayHandle, ref HmdVector2_t pvecMouseScale); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayMouseScale SetOverlayMouseScale; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _ComputeOverlayIntersection(ulong ulOverlayHandle, ref VROverlayIntersectionParams_t pParams, ref VROverlayIntersectionResults_t pResults); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ComputeOverlayIntersection ComputeOverlayIntersection; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle, uint unControllerDeviceIndex); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _HandleControllerOverlayInteractionAsMouse HandleControllerOverlayInteractionAsMouse; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsHoverTargetOverlay(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsHoverTargetOverlay IsHoverTargetOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ulong _GetGamepadFocusOverlay(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetGamepadFocusOverlay GetGamepadFocusOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetGamepadFocusOverlay(ulong ulNewFocusOverlay); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetGamepadFocusOverlay SetGamepadFocusOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayNeighbor(EOverlayDirection eDirection, ulong ulFrom, ulong ulTo); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayNeighbor SetOverlayNeighbor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _MoveGamepadFocusToNeighbor(EOverlayDirection eDirection, ulong ulFrom); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _MoveGamepadFocusToNeighbor MoveGamepadFocusToNeighbor; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayTexture(ulong ulOverlayHandle, ref Texture_t pTexture); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayTexture SetOverlayTexture; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _ClearOverlayTexture(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ClearOverlayTexture ClearOverlayTexture; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayRaw(ulong ulOverlayHandle, IntPtr pvBuffer, uint unWidth, uint unHeight, uint unDepth); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayRaw SetOverlayRaw; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayFromFile(ulong ulOverlayHandle, string pchFilePath); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayFromFile SetOverlayFromFile; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTexture(ulong ulOverlayHandle, ref IntPtr pNativeTextureHandle, IntPtr pNativeTextureRef, ref uint pWidth, ref uint pHeight, ref uint pNativeFormat, ref EGraphicsAPIConvention pAPI, ref EColorSpace pColorSpace); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTexture GetOverlayTexture; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _ReleaseNativeOverlayHandle(ulong ulOverlayHandle, IntPtr pNativeTextureHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ReleaseNativeOverlayHandle ReleaseNativeOverlayHandle; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetOverlayTextureSize(ulong ulOverlayHandle, ref uint pWidth, ref uint pHeight); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetOverlayTextureSize GetOverlayTextureSize; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _CreateDashboardOverlay(string pchOverlayKey, string pchOverlayFriendlyName, ref ulong pMainHandle, ref ulong pThumbnailHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CreateDashboardOverlay CreateDashboardOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsDashboardVisible(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsDashboardVisible IsDashboardVisible; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _IsActiveDashboardOverlay(ulong ulOverlayHandle); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _IsActiveDashboardOverlay IsActiveDashboardOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetDashboardOverlaySceneProcess(ulong ulOverlayHandle, uint unProcessId); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetDashboardOverlaySceneProcess SetDashboardOverlaySceneProcess; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _GetDashboardOverlaySceneProcess(ulong ulOverlayHandle, ref uint punProcessId); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetDashboardOverlaySceneProcess GetDashboardOverlaySceneProcess; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _ShowDashboard(string pchOverlayToShow); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ShowDashboard ShowDashboard; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetPrimaryDashboardDevice(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetPrimaryDashboardDevice GetPrimaryDashboardDevice; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _ShowKeyboard(int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ShowKeyboard ShowKeyboard; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _ShowKeyboardForOverlay(ulong ulOverlayHandle, int eInputMode, int eLineInputMode, string pchDescription, uint unCharMax, string pchExistingText, bool bUseMinimalMode, ulong uUserValue); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _ShowKeyboardForOverlay ShowKeyboardForOverlay; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetKeyboardText(System.Text.StringBuilder pchText, uint cchText); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetKeyboardText GetKeyboardText; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _HideKeyboard(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _HideKeyboard HideKeyboard; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin, ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetKeyboardTransformAbsolute SetKeyboardTransformAbsolute; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetKeyboardPositionForOverlay(ulong ulOverlayHandle, HmdRect2_t avoidRect); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetKeyboardPositionForOverlay SetKeyboardPositionForOverlay; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRRenderModels +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRRenderModelError _LoadRenderModel_Async(string pchRenderModelName, ref IntPtr ppRenderModel); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LoadRenderModel_Async LoadRenderModel_Async; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _FreeRenderModel(IntPtr pRenderModel); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _FreeRenderModel FreeRenderModel; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRRenderModelError _LoadTexture_Async(int textureId, ref IntPtr ppTexture); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LoadTexture_Async LoadTexture_Async; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _FreeTexture(IntPtr pTexture); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _FreeTexture FreeTexture; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRRenderModelError _LoadTextureD3D11_Async(int textureId, IntPtr pD3D11Device, ref IntPtr ppD3D11Texture2D); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LoadTextureD3D11_Async LoadTextureD3D11_Async; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRRenderModelError _LoadIntoTextureD3D11_Async(int textureId, IntPtr pDstTexture); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _LoadIntoTextureD3D11_Async LoadIntoTextureD3D11_Async; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _FreeTextureD3D11(IntPtr pD3D11Texture2D); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _FreeTextureD3D11 FreeTextureD3D11; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetRenderModelName(uint unRenderModelIndex, System.Text.StringBuilder pchRenderModelName, uint unRenderModelNameLen); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRenderModelName GetRenderModelName; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetRenderModelCount(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRenderModelCount GetRenderModelCount; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetComponentCount(string pchRenderModelName); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetComponentCount GetComponentCount; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetComponentName(string pchRenderModelName, uint unComponentIndex, System.Text.StringBuilder pchComponentName, uint unComponentNameLen); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetComponentName GetComponentName; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate ulong _GetComponentButtonMask(string pchRenderModelName, string pchComponentName); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetComponentButtonMask GetComponentButtonMask; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetComponentRenderModelName(string pchRenderModelName, string pchComponentName, System.Text.StringBuilder pchComponentRenderModelName, uint unComponentRenderModelNameLen); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetComponentRenderModelName GetComponentRenderModelName; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetComponentState(string pchRenderModelName, string pchComponentName, ref VRControllerState_t pControllerState, ref RenderModel_ControllerMode_State_t pState, ref RenderModel_ComponentState_t pComponentState); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetComponentState GetComponentState; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _RenderModelHasComponent(string pchRenderModelName, string pchComponentName); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RenderModelHasComponent RenderModelHasComponent; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetRenderModelThumbnailURL(string pchRenderModelName, System.Text.StringBuilder pchThumbnailURL, uint unThumbnailURLLen, ref EVRRenderModelError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRenderModelThumbnailURL GetRenderModelThumbnailURL; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetRenderModelOriginalPath(string pchRenderModelName, System.Text.StringBuilder pchOriginalPath, uint unOriginalPathLen, ref EVRRenderModelError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRenderModelOriginalPath GetRenderModelOriginalPath; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetRenderModelErrorNameFromEnum(EVRRenderModelError error); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetRenderModelErrorNameFromEnum GetRenderModelErrorNameFromEnum; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRNotifications +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRNotificationError _CreateNotification(ulong ulOverlayHandle, ulong ulUserValue, EVRNotificationType type, string pchText, EVRNotificationStyle style, ref NotificationBitmap_t pImage, ref uint pNotificationId); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _CreateNotification CreateNotification; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRNotificationError _RemoveNotification(uint notificationId); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RemoveNotification RemoveNotification; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRSettings +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate IntPtr _GetSettingsErrorNameFromEnum(EVRSettingsError eError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetSettingsErrorNameFromEnum GetSettingsErrorNameFromEnum; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _Sync(bool bForce, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _Sync Sync; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate bool _GetBool(string pchSection, string pchSettingsKey, bool bDefaultValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetBool GetBool; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetBool(string pchSection, string pchSettingsKey, bool bValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetBool SetBool; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate int _GetInt32(string pchSection, string pchSettingsKey, int nDefaultValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetInt32 GetInt32; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetInt32(string pchSection, string pchSettingsKey, int nValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetInt32 SetInt32; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate float _GetFloat(string pchSection, string pchSettingsKey, float flDefaultValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetFloat GetFloat; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetFloat(string pchSection, string pchSettingsKey, float flValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetFloat SetFloat; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _GetString(string pchSection, string pchSettingsKey, string pchValue, uint unValueLen, string pchDefaultValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetString GetString; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _SetString(string pchSection, string pchSettingsKey, string pchValue, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetString SetString; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _RemoveSection(string pchSection, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RemoveSection RemoveSection; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate void _RemoveKeyInSection(string pchSection, string pchSettingsKey, ref EVRSettingsError peError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RemoveKeyInSection RemoveKeyInSection; + +} + +[StructLayout(LayoutKind.Sequential)] +public struct IVRScreenshots +{ + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotError _RequestScreenshot(ref uint pOutScreenshotHandle, EVRScreenshotType type, string pchPreviewFilename, string pchVRFilename); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _RequestScreenshot RequestScreenshot; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotError _HookScreenshot([In, Out] EVRScreenshotType[] pSupportedTypes, int numTypes); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _HookScreenshot HookScreenshot; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotType _GetScreenshotPropertyType(uint screenshotHandle, ref EVRScreenshotError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetScreenshotPropertyType GetScreenshotPropertyType; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetScreenshotPropertyFilename(uint screenshotHandle, EVRScreenshotPropertyFilenames filenameType, System.Text.StringBuilder pchFilename, uint cchFilename, ref EVRScreenshotError pError); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetScreenshotPropertyFilename GetScreenshotPropertyFilename; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotError _UpdateScreenshotProgress(uint screenshotHandle, float flProgress); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _UpdateScreenshotProgress UpdateScreenshotProgress; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotError _TakeStereoScreenshot(ref uint pOutScreenshotHandle, string pchPreviewFilename, string pchVRFilename); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _TakeStereoScreenshot TakeStereoScreenshot; + + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVRScreenshotError _SubmitScreenshot(uint screenshotHandle, EVRScreenshotType type, string pchSourcePreviewFilename, string pchSourceVRFilename); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SubmitScreenshot SubmitScreenshot; + +} + + +public class CVRSystem +{ + IVRSystem FnTable; + internal CVRSystem(IntPtr pInterface) + { + FnTable = (IVRSystem)Marshal.PtrToStructure(pInterface, typeof(IVRSystem)); + } + public void GetRecommendedRenderTargetSize(ref uint pnWidth,ref uint pnHeight) + { + pnWidth = 0; + pnHeight = 0; + FnTable.GetRecommendedRenderTargetSize(ref pnWidth,ref pnHeight); + } + public HmdMatrix44_t GetProjectionMatrix(EVREye eEye,float fNearZ,float fFarZ,EGraphicsAPIConvention eProjType) + { + HmdMatrix44_t result = FnTable.GetProjectionMatrix(eEye,fNearZ,fFarZ,eProjType); + return result; + } + public void GetProjectionRaw(EVREye eEye,ref float pfLeft,ref float pfRight,ref float pfTop,ref float pfBottom) + { + pfLeft = 0; + pfRight = 0; + pfTop = 0; + pfBottom = 0; + FnTable.GetProjectionRaw(eEye,ref pfLeft,ref pfRight,ref pfTop,ref pfBottom); + } + public DistortionCoordinates_t ComputeDistortion(EVREye eEye,float fU,float fV) + { + DistortionCoordinates_t result = FnTable.ComputeDistortion(eEye,fU,fV); + return result; + } + public HmdMatrix34_t GetEyeToHeadTransform(EVREye eEye) + { + HmdMatrix34_t result = FnTable.GetEyeToHeadTransform(eEye); + return result; + } + public bool GetTimeSinceLastVsync(ref float pfSecondsSinceLastVsync,ref ulong pulFrameCounter) + { + pfSecondsSinceLastVsync = 0; + pulFrameCounter = 0; + bool result = FnTable.GetTimeSinceLastVsync(ref pfSecondsSinceLastVsync,ref pulFrameCounter); + return result; + } + public int GetD3D9AdapterIndex() + { + int result = FnTable.GetD3D9AdapterIndex(); + return result; + } + public void GetDXGIOutputInfo(ref int pnAdapterIndex) + { + pnAdapterIndex = 0; + FnTable.GetDXGIOutputInfo(ref pnAdapterIndex); + } + public bool IsDisplayOnDesktop() + { + bool result = FnTable.IsDisplayOnDesktop(); + return result; + } + public bool SetDisplayVisibility(bool bIsVisibleOnDesktop) + { + bool result = FnTable.SetDisplayVisibility(bIsVisibleOnDesktop); + return result; + } + public void GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin eOrigin,float fPredictedSecondsToPhotonsFromNow,TrackedDevicePose_t [] pTrackedDevicePoseArray) + { + FnTable.GetDeviceToAbsoluteTrackingPose(eOrigin,fPredictedSecondsToPhotonsFromNow,pTrackedDevicePoseArray,(uint) pTrackedDevicePoseArray.Length); + } + public void ResetSeatedZeroPose() + { + FnTable.ResetSeatedZeroPose(); + } + public HmdMatrix34_t GetSeatedZeroPoseToStandingAbsoluteTrackingPose() + { + HmdMatrix34_t result = FnTable.GetSeatedZeroPoseToStandingAbsoluteTrackingPose(); + return result; + } + public HmdMatrix34_t GetRawZeroPoseToStandingAbsoluteTrackingPose() + { + HmdMatrix34_t result = FnTable.GetRawZeroPoseToStandingAbsoluteTrackingPose(); + return result; + } + public uint GetSortedTrackedDeviceIndicesOfClass(ETrackedDeviceClass eTrackedDeviceClass,uint [] punTrackedDeviceIndexArray,uint unRelativeToTrackedDeviceIndex) + { + uint result = FnTable.GetSortedTrackedDeviceIndicesOfClass(eTrackedDeviceClass,punTrackedDeviceIndexArray,(uint) punTrackedDeviceIndexArray.Length,unRelativeToTrackedDeviceIndex); + return result; + } + public EDeviceActivityLevel GetTrackedDeviceActivityLevel(uint unDeviceId) + { + EDeviceActivityLevel result = FnTable.GetTrackedDeviceActivityLevel(unDeviceId); + return result; + } + public void ApplyTransform(ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pTrackedDevicePose,ref HmdMatrix34_t pTransform) + { + FnTable.ApplyTransform(ref pOutputPose,ref pTrackedDevicePose,ref pTransform); + } + public uint GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole unDeviceType) + { + uint result = FnTable.GetTrackedDeviceIndexForControllerRole(unDeviceType); + return result; + } + public ETrackedControllerRole GetControllerRoleForTrackedDeviceIndex(uint unDeviceIndex) + { + ETrackedControllerRole result = FnTable.GetControllerRoleForTrackedDeviceIndex(unDeviceIndex); + return result; + } + public ETrackedDeviceClass GetTrackedDeviceClass(uint unDeviceIndex) + { + ETrackedDeviceClass result = FnTable.GetTrackedDeviceClass(unDeviceIndex); + return result; + } + public bool IsTrackedDeviceConnected(uint unDeviceIndex) + { + bool result = FnTable.IsTrackedDeviceConnected(unDeviceIndex); + return result; + } + public bool GetBoolTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError) + { + bool result = FnTable.GetBoolTrackedDeviceProperty(unDeviceIndex,prop,ref pError); + return result; + } + public float GetFloatTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError) + { + float result = FnTable.GetFloatTrackedDeviceProperty(unDeviceIndex,prop,ref pError); + return result; + } + public int GetInt32TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError) + { + int result = FnTable.GetInt32TrackedDeviceProperty(unDeviceIndex,prop,ref pError); + return result; + } + public ulong GetUint64TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError) + { + ulong result = FnTable.GetUint64TrackedDeviceProperty(unDeviceIndex,prop,ref pError); + return result; + } + public HmdMatrix34_t GetMatrix34TrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,ref ETrackedPropertyError pError) + { + HmdMatrix34_t result = FnTable.GetMatrix34TrackedDeviceProperty(unDeviceIndex,prop,ref pError); + return result; + } + public uint GetStringTrackedDeviceProperty(uint unDeviceIndex,ETrackedDeviceProperty prop,System.Text.StringBuilder pchValue,uint unBufferSize,ref ETrackedPropertyError pError) + { + uint result = FnTable.GetStringTrackedDeviceProperty(unDeviceIndex,prop,pchValue,unBufferSize,ref pError); + return result; + } + public string GetPropErrorNameFromEnum(ETrackedPropertyError error) + { + IntPtr result = FnTable.GetPropErrorNameFromEnum(error); + return Marshal.PtrToStringAnsi(result); + } + public bool PollNextEvent(ref VREvent_t pEvent,uint uncbVREvent) + { + bool result = FnTable.PollNextEvent(ref pEvent,uncbVREvent); + return result; + } + public bool PollNextEventWithPose(ETrackingUniverseOrigin eOrigin,ref VREvent_t pEvent,uint uncbVREvent,ref TrackedDevicePose_t pTrackedDevicePose) + { + bool result = FnTable.PollNextEventWithPose(eOrigin,ref pEvent,uncbVREvent,ref pTrackedDevicePose); + return result; + } + public string GetEventTypeNameFromEnum(EVREventType eType) + { + IntPtr result = FnTable.GetEventTypeNameFromEnum(eType); + return Marshal.PtrToStringAnsi(result); + } + public HiddenAreaMesh_t GetHiddenAreaMesh(EVREye eEye) + { + HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye); + return result; + } + public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState) + { + bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState); + return result; + } + public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,ref TrackedDevicePose_t pTrackedDevicePose) + { + bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,ref pTrackedDevicePose); + return result; + } + public void TriggerHapticPulse(uint unControllerDeviceIndex,uint unAxisId,char usDurationMicroSec) + { + FnTable.TriggerHapticPulse(unControllerDeviceIndex,unAxisId,usDurationMicroSec); + } + public string GetButtonIdNameFromEnum(EVRButtonId eButtonId) + { + IntPtr result = FnTable.GetButtonIdNameFromEnum(eButtonId); + return Marshal.PtrToStringAnsi(result); + } + public string GetControllerAxisTypeNameFromEnum(EVRControllerAxisType eAxisType) + { + IntPtr result = FnTable.GetControllerAxisTypeNameFromEnum(eAxisType); + return Marshal.PtrToStringAnsi(result); + } + public bool CaptureInputFocus() + { + bool result = FnTable.CaptureInputFocus(); + return result; + } + public void ReleaseInputFocus() + { + FnTable.ReleaseInputFocus(); + } + public bool IsInputFocusCapturedByAnotherProcess() + { + bool result = FnTable.IsInputFocusCapturedByAnotherProcess(); + return result; + } + public uint DriverDebugRequest(uint unDeviceIndex,string pchRequest,string pchResponseBuffer,uint unResponseBufferSize) + { + uint result = FnTable.DriverDebugRequest(unDeviceIndex,pchRequest,pchResponseBuffer,unResponseBufferSize); + return result; + } + public EVRFirmwareError PerformFirmwareUpdate(uint unDeviceIndex) + { + EVRFirmwareError result = FnTable.PerformFirmwareUpdate(unDeviceIndex); + return result; + } + public void AcknowledgeQuit_Exiting() + { + FnTable.AcknowledgeQuit_Exiting(); + } + public void AcknowledgeQuit_UserPrompt() + { + FnTable.AcknowledgeQuit_UserPrompt(); + } +} + + +public class CVRExtendedDisplay +{ + IVRExtendedDisplay FnTable; + internal CVRExtendedDisplay(IntPtr pInterface) + { + FnTable = (IVRExtendedDisplay)Marshal.PtrToStructure(pInterface, typeof(IVRExtendedDisplay)); + } + public void GetWindowBounds(ref int pnX,ref int pnY,ref uint pnWidth,ref uint pnHeight) + { + pnX = 0; + pnY = 0; + pnWidth = 0; + pnHeight = 0; + FnTable.GetWindowBounds(ref pnX,ref pnY,ref pnWidth,ref pnHeight); + } + public void GetEyeOutputViewport(EVREye eEye,ref uint pnX,ref uint pnY,ref uint pnWidth,ref uint pnHeight) + { + pnX = 0; + pnY = 0; + pnWidth = 0; + pnHeight = 0; + FnTable.GetEyeOutputViewport(eEye,ref pnX,ref pnY,ref pnWidth,ref pnHeight); + } + public void GetDXGIOutputInfo(ref int pnAdapterIndex,ref int pnAdapterOutputIndex) + { + pnAdapterIndex = 0; + pnAdapterOutputIndex = 0; + FnTable.GetDXGIOutputInfo(ref pnAdapterIndex,ref pnAdapterOutputIndex); + } +} + + +public class CVRTrackedCamera +{ + IVRTrackedCamera FnTable; + internal CVRTrackedCamera(IntPtr pInterface) + { + FnTable = (IVRTrackedCamera)Marshal.PtrToStructure(pInterface, typeof(IVRTrackedCamera)); + } + public string GetCameraErrorNameFromEnum(EVRTrackedCameraError eCameraError) + { + IntPtr result = FnTable.GetCameraErrorNameFromEnum(eCameraError); + return Marshal.PtrToStringAnsi(result); + } + public EVRTrackedCameraError HasCamera(uint nDeviceIndex,ref bool pHasCamera) + { + pHasCamera = false; + EVRTrackedCameraError result = FnTable.HasCamera(nDeviceIndex,ref pHasCamera); + return result; + } + public EVRTrackedCameraError GetCameraFrameSize(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref uint pnWidth,ref uint pnHeight,ref uint pnFrameBufferSize) + { + pnWidth = 0; + pnHeight = 0; + pnFrameBufferSize = 0; + EVRTrackedCameraError result = FnTable.GetCameraFrameSize(nDeviceIndex,eFrameType,ref pnWidth,ref pnHeight,ref pnFrameBufferSize); + return result; + } + public EVRTrackedCameraError GetCameraIntrinisics(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,ref HmdVector2_t pFocalLength,ref HmdVector2_t pCenter) + { + EVRTrackedCameraError result = FnTable.GetCameraIntrinisics(nDeviceIndex,eFrameType,ref pFocalLength,ref pCenter); + return result; + } + public EVRTrackedCameraError GetCameraProjection(uint nDeviceIndex,EVRTrackedCameraFrameType eFrameType,float flZNear,float flZFar,ref HmdMatrix44_t pProjection) + { + EVRTrackedCameraError result = FnTable.GetCameraProjection(nDeviceIndex,eFrameType,flZNear,flZFar,ref pProjection); + return result; + } + public EVRTrackedCameraError AcquireVideoStreamingService(uint nDeviceIndex,ref ulong pHandle) + { + pHandle = 0; + EVRTrackedCameraError result = FnTable.AcquireVideoStreamingService(nDeviceIndex,ref pHandle); + return result; + } + public EVRTrackedCameraError ReleaseVideoStreamingService(ulong hTrackedCamera) + { + EVRTrackedCameraError result = FnTable.ReleaseVideoStreamingService(hTrackedCamera); + return result; + } + public EVRTrackedCameraError GetVideoStreamFrameBuffer(ulong hTrackedCamera,EVRTrackedCameraFrameType eFrameType,IntPtr pFrameBuffer,uint nFrameBufferSize,ref CameraVideoStreamFrameHeader_t pFrameHeader,uint nFrameHeaderSize) + { + EVRTrackedCameraError result = FnTable.GetVideoStreamFrameBuffer(hTrackedCamera,eFrameType,pFrameBuffer,nFrameBufferSize,ref pFrameHeader,nFrameHeaderSize); + return result; + } +} + + +public class CVRApplications +{ + IVRApplications FnTable; + internal CVRApplications(IntPtr pInterface) + { + FnTable = (IVRApplications)Marshal.PtrToStructure(pInterface, typeof(IVRApplications)); + } + public EVRApplicationError AddApplicationManifest(string pchApplicationManifestFullPath,bool bTemporary) + { + EVRApplicationError result = FnTable.AddApplicationManifest(pchApplicationManifestFullPath,bTemporary); + return result; + } + public EVRApplicationError RemoveApplicationManifest(string pchApplicationManifestFullPath) + { + EVRApplicationError result = FnTable.RemoveApplicationManifest(pchApplicationManifestFullPath); + return result; + } + public bool IsApplicationInstalled(string pchAppKey) + { + bool result = FnTable.IsApplicationInstalled(pchAppKey); + return result; + } + public uint GetApplicationCount() + { + uint result = FnTable.GetApplicationCount(); + return result; + } + public EVRApplicationError GetApplicationKeyByIndex(uint unApplicationIndex,string pchAppKeyBuffer,uint unAppKeyBufferLen) + { + EVRApplicationError result = FnTable.GetApplicationKeyByIndex(unApplicationIndex,pchAppKeyBuffer,unAppKeyBufferLen); + return result; + } + public EVRApplicationError GetApplicationKeyByProcessId(uint unProcessId,string pchAppKeyBuffer,uint unAppKeyBufferLen) + { + EVRApplicationError result = FnTable.GetApplicationKeyByProcessId(unProcessId,pchAppKeyBuffer,unAppKeyBufferLen); + return result; + } + public EVRApplicationError LaunchApplication(string pchAppKey) + { + EVRApplicationError result = FnTable.LaunchApplication(pchAppKey); + return result; + } + public EVRApplicationError LaunchTemplateApplication(string pchTemplateAppKey,string pchNewAppKey,AppOverrideKeys_t [] pKeys) + { + EVRApplicationError result = FnTable.LaunchTemplateApplication(pchTemplateAppKey,pchNewAppKey,pKeys,(uint) pKeys.Length); + return result; + } + public EVRApplicationError LaunchDashboardOverlay(string pchAppKey) + { + EVRApplicationError result = FnTable.LaunchDashboardOverlay(pchAppKey); + return result; + } + public bool CancelApplicationLaunch(string pchAppKey) + { + bool result = FnTable.CancelApplicationLaunch(pchAppKey); + return result; + } + public EVRApplicationError IdentifyApplication(uint unProcessId,string pchAppKey) + { + EVRApplicationError result = FnTable.IdentifyApplication(unProcessId,pchAppKey); + return result; + } + public uint GetApplicationProcessId(string pchAppKey) + { + uint result = FnTable.GetApplicationProcessId(pchAppKey); + return result; + } + public string GetApplicationsErrorNameFromEnum(EVRApplicationError error) + { + IntPtr result = FnTable.GetApplicationsErrorNameFromEnum(error); + return Marshal.PtrToStringAnsi(result); + } + public uint GetApplicationPropertyString(string pchAppKey,EVRApplicationProperty eProperty,string pchPropertyValueBuffer,uint unPropertyValueBufferLen,ref EVRApplicationError peError) + { + uint result = FnTable.GetApplicationPropertyString(pchAppKey,eProperty,pchPropertyValueBuffer,unPropertyValueBufferLen,ref peError); + return result; + } + public bool GetApplicationPropertyBool(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError) + { + bool result = FnTable.GetApplicationPropertyBool(pchAppKey,eProperty,ref peError); + return result; + } + public ulong GetApplicationPropertyUint64(string pchAppKey,EVRApplicationProperty eProperty,ref EVRApplicationError peError) + { + ulong result = FnTable.GetApplicationPropertyUint64(pchAppKey,eProperty,ref peError); + return result; + } + public EVRApplicationError SetApplicationAutoLaunch(string pchAppKey,bool bAutoLaunch) + { + EVRApplicationError result = FnTable.SetApplicationAutoLaunch(pchAppKey,bAutoLaunch); + return result; + } + public bool GetApplicationAutoLaunch(string pchAppKey) + { + bool result = FnTable.GetApplicationAutoLaunch(pchAppKey); + return result; + } + public EVRApplicationError GetStartingApplication(string pchAppKeyBuffer,uint unAppKeyBufferLen) + { + EVRApplicationError result = FnTable.GetStartingApplication(pchAppKeyBuffer,unAppKeyBufferLen); + return result; + } + public EVRApplicationTransitionState GetTransitionState() + { + EVRApplicationTransitionState result = FnTable.GetTransitionState(); + return result; + } + public EVRApplicationError PerformApplicationPrelaunchCheck(string pchAppKey) + { + EVRApplicationError result = FnTable.PerformApplicationPrelaunchCheck(pchAppKey); + return result; + } + public string GetApplicationsTransitionStateNameFromEnum(EVRApplicationTransitionState state) + { + IntPtr result = FnTable.GetApplicationsTransitionStateNameFromEnum(state); + return Marshal.PtrToStringAnsi(result); + } + public bool IsQuitUserPromptRequested() + { + bool result = FnTable.IsQuitUserPromptRequested(); + return result; + } + public EVRApplicationError LaunchInternalProcess(string pchBinaryPath,string pchArguments,string pchWorkingDirectory) + { + EVRApplicationError result = FnTable.LaunchInternalProcess(pchBinaryPath,pchArguments,pchWorkingDirectory); + return result; + } +} + + +public class CVRChaperone +{ + IVRChaperone FnTable; + internal CVRChaperone(IntPtr pInterface) + { + FnTable = (IVRChaperone)Marshal.PtrToStructure(pInterface, typeof(IVRChaperone)); + } + public ChaperoneCalibrationState GetCalibrationState() + { + ChaperoneCalibrationState result = FnTable.GetCalibrationState(); + return result; + } + public bool GetPlayAreaSize(ref float pSizeX,ref float pSizeZ) + { + pSizeX = 0; + pSizeZ = 0; + bool result = FnTable.GetPlayAreaSize(ref pSizeX,ref pSizeZ); + return result; + } + public bool GetPlayAreaRect(ref HmdQuad_t rect) + { + bool result = FnTable.GetPlayAreaRect(ref rect); + return result; + } + public void ReloadInfo() + { + FnTable.ReloadInfo(); + } + public void SetSceneColor(HmdColor_t color) + { + FnTable.SetSceneColor(color); + } + public void GetBoundsColor(ref HmdColor_t pOutputColorArray,int nNumOutputColors,float flCollisionBoundsFadeDistance,ref HmdColor_t pOutputCameraColor) + { + FnTable.GetBoundsColor(ref pOutputColorArray,nNumOutputColors,flCollisionBoundsFadeDistance,ref pOutputCameraColor); + } + public bool AreBoundsVisible() + { + bool result = FnTable.AreBoundsVisible(); + return result; + } + public void ForceBoundsVisible(bool bForce) + { + FnTable.ForceBoundsVisible(bForce); + } +} + + +public class CVRChaperoneSetup +{ + IVRChaperoneSetup FnTable; + internal CVRChaperoneSetup(IntPtr pInterface) + { + FnTable = (IVRChaperoneSetup)Marshal.PtrToStructure(pInterface, typeof(IVRChaperoneSetup)); + } + public bool CommitWorkingCopy(EChaperoneConfigFile configFile) + { + bool result = FnTable.CommitWorkingCopy(configFile); + return result; + } + public void RevertWorkingCopy() + { + FnTable.RevertWorkingCopy(); + } + public bool GetWorkingPlayAreaSize(ref float pSizeX,ref float pSizeZ) + { + pSizeX = 0; + pSizeZ = 0; + bool result = FnTable.GetWorkingPlayAreaSize(ref pSizeX,ref pSizeZ); + return result; + } + public bool GetWorkingPlayAreaRect(ref HmdQuad_t rect) + { + bool result = FnTable.GetWorkingPlayAreaRect(ref rect); + return result; + } + public bool GetWorkingCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer) + { + uint punQuadsCount = 0; + bool result = FnTable.GetWorkingCollisionBoundsInfo(null,ref punQuadsCount); + pQuadsBuffer= new HmdQuad_t[punQuadsCount]; + result = FnTable.GetWorkingCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount); + return result; + } + public bool GetLiveCollisionBoundsInfo(out HmdQuad_t [] pQuadsBuffer) + { + uint punQuadsCount = 0; + bool result = FnTable.GetLiveCollisionBoundsInfo(null,ref punQuadsCount); + pQuadsBuffer= new HmdQuad_t[punQuadsCount]; + result = FnTable.GetLiveCollisionBoundsInfo(pQuadsBuffer,ref punQuadsCount); + return result; + } + public bool GetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose) + { + bool result = FnTable.GetWorkingSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose); + return result; + } + public bool GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose) + { + bool result = FnTable.GetWorkingStandingZeroPoseToRawTrackingPose(ref pmatStandingZeroPoseToRawTrackingPose); + return result; + } + public void SetWorkingPlayAreaSize(float sizeX,float sizeZ) + { + FnTable.SetWorkingPlayAreaSize(sizeX,sizeZ); + } + public void SetWorkingCollisionBoundsInfo(HmdQuad_t [] pQuadsBuffer) + { + FnTable.SetWorkingCollisionBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length); + } + public void SetWorkingSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatSeatedZeroPoseToRawTrackingPose) + { + FnTable.SetWorkingSeatedZeroPoseToRawTrackingPose(ref pMatSeatedZeroPoseToRawTrackingPose); + } + public void SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose) + { + FnTable.SetWorkingStandingZeroPoseToRawTrackingPose(ref pMatStandingZeroPoseToRawTrackingPose); + } + public void ReloadFromDisk(EChaperoneConfigFile configFile) + { + FnTable.ReloadFromDisk(configFile); + } + public bool GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose) + { + bool result = FnTable.GetLiveSeatedZeroPoseToRawTrackingPose(ref pmatSeatedZeroPoseToRawTrackingPose); + return result; + } + public void SetWorkingCollisionBoundsTagsInfo(byte [] pTagsBuffer) + { + FnTable.SetWorkingCollisionBoundsTagsInfo(pTagsBuffer,(uint) pTagsBuffer.Length); + } + public bool GetLiveCollisionBoundsTagsInfo(out byte [] pTagsBuffer) + { + uint punTagCount = 0; + bool result = FnTable.GetLiveCollisionBoundsTagsInfo(null,ref punTagCount); + pTagsBuffer= new byte[punTagCount]; + result = FnTable.GetLiveCollisionBoundsTagsInfo(pTagsBuffer,ref punTagCount); + return result; + } + public bool SetWorkingPhysicalBoundsInfo(HmdQuad_t [] pQuadsBuffer) + { + bool result = FnTable.SetWorkingPhysicalBoundsInfo(pQuadsBuffer,(uint) pQuadsBuffer.Length); + return result; + } + public bool GetLivePhysicalBoundsInfo(out HmdQuad_t [] pQuadsBuffer) + { + uint punQuadsCount = 0; + bool result = FnTable.GetLivePhysicalBoundsInfo(null,ref punQuadsCount); + pQuadsBuffer= new HmdQuad_t[punQuadsCount]; + result = FnTable.GetLivePhysicalBoundsInfo(pQuadsBuffer,ref punQuadsCount); + return result; + } + public bool ExportLiveToBuffer(System.Text.StringBuilder pBuffer,ref uint pnBufferLength) + { + pnBufferLength = 0; + bool result = FnTable.ExportLiveToBuffer(pBuffer,ref pnBufferLength); + return result; + } + public bool ImportFromBufferToWorking(string pBuffer,uint nImportFlags) + { + bool result = FnTable.ImportFromBufferToWorking(pBuffer,nImportFlags); + return result; + } +} + + +public class CVRCompositor +{ + IVRCompositor FnTable; + internal CVRCompositor(IntPtr pInterface) + { + FnTable = (IVRCompositor)Marshal.PtrToStructure(pInterface, typeof(IVRCompositor)); + } + public void SetTrackingSpace(ETrackingUniverseOrigin eOrigin) + { + FnTable.SetTrackingSpace(eOrigin); + } + public ETrackingUniverseOrigin GetTrackingSpace() + { + ETrackingUniverseOrigin result = FnTable.GetTrackingSpace(); + return result; + } + public EVRCompositorError WaitGetPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray) + { + EVRCompositorError result = FnTable.WaitGetPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length); + return result; + } + public EVRCompositorError GetLastPoses(TrackedDevicePose_t [] pRenderPoseArray,TrackedDevicePose_t [] pGamePoseArray) + { + EVRCompositorError result = FnTable.GetLastPoses(pRenderPoseArray,(uint) pRenderPoseArray.Length,pGamePoseArray,(uint) pGamePoseArray.Length); + return result; + } + public EVRCompositorError GetLastPoseForTrackedDeviceIndex(uint unDeviceIndex,ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pOutputGamePose) + { + EVRCompositorError result = FnTable.GetLastPoseForTrackedDeviceIndex(unDeviceIndex,ref pOutputPose,ref pOutputGamePose); + return result; + } + public EVRCompositorError Submit(EVREye eEye,ref Texture_t pTexture,ref VRTextureBounds_t pBounds,EVRSubmitFlags nSubmitFlags) + { + EVRCompositorError result = FnTable.Submit(eEye,ref pTexture,ref pBounds,nSubmitFlags); + return result; + } + public void ClearLastSubmittedFrame() + { + FnTable.ClearLastSubmittedFrame(); + } + public void PostPresentHandoff() + { + FnTable.PostPresentHandoff(); + } + public bool GetFrameTiming(ref Compositor_FrameTiming pTiming,uint unFramesAgo) + { + bool result = FnTable.GetFrameTiming(ref pTiming,unFramesAgo); + return result; + } + public float GetFrameTimeRemaining() + { + float result = FnTable.GetFrameTimeRemaining(); + return result; + } + public void GetCumulativeStats(ref Compositor_CumulativeStats pStats,uint nStatsSizeInBytes) + { + FnTable.GetCumulativeStats(ref pStats,nStatsSizeInBytes); + } + public void FadeToColor(float fSeconds,float fRed,float fGreen,float fBlue,float fAlpha,bool bBackground) + { + FnTable.FadeToColor(fSeconds,fRed,fGreen,fBlue,fAlpha,bBackground); + } + public void FadeGrid(float fSeconds,bool bFadeIn) + { + FnTable.FadeGrid(fSeconds,bFadeIn); + } + public EVRCompositorError SetSkyboxOverride(Texture_t [] pTextures) + { + EVRCompositorError result = FnTable.SetSkyboxOverride(pTextures,(uint) pTextures.Length); + return result; + } + public void ClearSkyboxOverride() + { + FnTable.ClearSkyboxOverride(); + } + public void CompositorBringToFront() + { + FnTable.CompositorBringToFront(); + } + public void CompositorGoToBack() + { + FnTable.CompositorGoToBack(); + } + public void CompositorQuit() + { + FnTable.CompositorQuit(); + } + public bool IsFullscreen() + { + bool result = FnTable.IsFullscreen(); + return result; + } + public uint GetCurrentSceneFocusProcess() + { + uint result = FnTable.GetCurrentSceneFocusProcess(); + return result; + } + public uint GetLastFrameRenderer() + { + uint result = FnTable.GetLastFrameRenderer(); + return result; + } + public bool CanRenderScene() + { + bool result = FnTable.CanRenderScene(); + return result; + } + public void ShowMirrorWindow() + { + FnTable.ShowMirrorWindow(); + } + public void HideMirrorWindow() + { + FnTable.HideMirrorWindow(); + } + public bool IsMirrorWindowVisible() + { + bool result = FnTable.IsMirrorWindowVisible(); + return result; + } + public void CompositorDumpImages() + { + FnTable.CompositorDumpImages(); + } + public bool ShouldAppRenderWithLowResources() + { + bool result = FnTable.ShouldAppRenderWithLowResources(); + return result; + } + public void ForceInterleavedReprojectionOn(bool bOverride) + { + FnTable.ForceInterleavedReprojectionOn(bOverride); + } + public void ForceReconnectProcess() + { + FnTable.ForceReconnectProcess(); + } + public void SuspendRendering(bool bSuspend) + { + FnTable.SuspendRendering(bSuspend); + } + public EVRCompositorError RequestScreenshot(EVRScreenshotType type,string pchDestinationFileName,string pchVRDestinationFileName) + { + EVRCompositorError result = FnTable.RequestScreenshot(type,pchDestinationFileName,pchVRDestinationFileName); + return result; + } + public EVRScreenshotType GetCurrentScreenshotType() + { + EVRScreenshotType result = FnTable.GetCurrentScreenshotType(); + return result; + } + public EVRCompositorError GetMirrorTextureD3D11(EVREye eEye,IntPtr pD3D11DeviceOrResource,ref IntPtr ppD3D11ShaderResourceView) + { + EVRCompositorError result = FnTable.GetMirrorTextureD3D11(eEye,pD3D11DeviceOrResource,ref ppD3D11ShaderResourceView); + return result; + } + public EVRCompositorError GetMirrorTextureGL(EVREye eEye,ref uint pglTextureId,IntPtr pglSharedTextureHandle) + { + pglTextureId = 0; + EVRCompositorError result = FnTable.GetMirrorTextureGL(eEye,ref pglTextureId,pglSharedTextureHandle); + return result; + } + public bool ReleaseSharedGLTexture(uint glTextureId,IntPtr glSharedTextureHandle) + { + bool result = FnTable.ReleaseSharedGLTexture(glTextureId,glSharedTextureHandle); + return result; + } + public void LockGLSharedTextureForAccess(IntPtr glSharedTextureHandle) + { + FnTable.LockGLSharedTextureForAccess(glSharedTextureHandle); + } + public void UnlockGLSharedTextureForAccess(IntPtr glSharedTextureHandle) + { + FnTable.UnlockGLSharedTextureForAccess(glSharedTextureHandle); + } +} + + +public class CVROverlay +{ + IVROverlay FnTable; + internal CVROverlay(IntPtr pInterface) + { + FnTable = (IVROverlay)Marshal.PtrToStructure(pInterface, typeof(IVROverlay)); + } + public EVROverlayError FindOverlay(string pchOverlayKey,ref ulong pOverlayHandle) + { + pOverlayHandle = 0; + EVROverlayError result = FnTable.FindOverlay(pchOverlayKey,ref pOverlayHandle); + return result; + } + public EVROverlayError CreateOverlay(string pchOverlayKey,string pchOverlayFriendlyName,ref ulong pOverlayHandle) + { + pOverlayHandle = 0; + EVROverlayError result = FnTable.CreateOverlay(pchOverlayKey,pchOverlayFriendlyName,ref pOverlayHandle); + return result; + } + public EVROverlayError DestroyOverlay(ulong ulOverlayHandle) + { + EVROverlayError result = FnTable.DestroyOverlay(ulOverlayHandle); + return result; + } + public EVROverlayError SetHighQualityOverlay(ulong ulOverlayHandle) + { + EVROverlayError result = FnTable.SetHighQualityOverlay(ulOverlayHandle); + return result; + } + public ulong GetHighQualityOverlay() + { + ulong result = FnTable.GetHighQualityOverlay(); + return result; + } + public uint GetOverlayKey(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError) + { + uint result = FnTable.GetOverlayKey(ulOverlayHandle,pchValue,unBufferSize,ref pError); + return result; + } + public uint GetOverlayName(ulong ulOverlayHandle,System.Text.StringBuilder pchValue,uint unBufferSize,ref EVROverlayError pError) + { + uint result = FnTable.GetOverlayName(ulOverlayHandle,pchValue,unBufferSize,ref pError); + return result; + } + public EVROverlayError GetOverlayImageData(ulong ulOverlayHandle,IntPtr pvBuffer,uint unBufferSize,ref uint punWidth,ref uint punHeight) + { + punWidth = 0; + punHeight = 0; + EVROverlayError result = FnTable.GetOverlayImageData(ulOverlayHandle,pvBuffer,unBufferSize,ref punWidth,ref punHeight); + return result; + } + public string GetOverlayErrorNameFromEnum(EVROverlayError error) + { + IntPtr result = FnTable.GetOverlayErrorNameFromEnum(error); + return Marshal.PtrToStringAnsi(result); + } + public EVROverlayError SetOverlayRenderingPid(ulong ulOverlayHandle,uint unPID) + { + EVROverlayError result = FnTable.SetOverlayRenderingPid(ulOverlayHandle,unPID); + return result; + } + public uint GetOverlayRenderingPid(ulong ulOverlayHandle) + { + uint result = FnTable.GetOverlayRenderingPid(ulOverlayHandle); + return result; + } + public EVROverlayError SetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,bool bEnabled) + { + EVROverlayError result = FnTable.SetOverlayFlag(ulOverlayHandle,eOverlayFlag,bEnabled); + return result; + } + public EVROverlayError GetOverlayFlag(ulong ulOverlayHandle,VROverlayFlags eOverlayFlag,ref bool pbEnabled) + { + pbEnabled = false; + EVROverlayError result = FnTable.GetOverlayFlag(ulOverlayHandle,eOverlayFlag,ref pbEnabled); + return result; + } + public EVROverlayError SetOverlayColor(ulong ulOverlayHandle,float fRed,float fGreen,float fBlue) + { + EVROverlayError result = FnTable.SetOverlayColor(ulOverlayHandle,fRed,fGreen,fBlue); + return result; + } + public EVROverlayError GetOverlayColor(ulong ulOverlayHandle,ref float pfRed,ref float pfGreen,ref float pfBlue) + { + pfRed = 0; + pfGreen = 0; + pfBlue = 0; + EVROverlayError result = FnTable.GetOverlayColor(ulOverlayHandle,ref pfRed,ref pfGreen,ref pfBlue); + return result; + } + public EVROverlayError SetOverlayAlpha(ulong ulOverlayHandle,float fAlpha) + { + EVROverlayError result = FnTable.SetOverlayAlpha(ulOverlayHandle,fAlpha); + return result; + } + public EVROverlayError GetOverlayAlpha(ulong ulOverlayHandle,ref float pfAlpha) + { + pfAlpha = 0; + EVROverlayError result = FnTable.GetOverlayAlpha(ulOverlayHandle,ref pfAlpha); + return result; + } + public EVROverlayError SetOverlayWidthInMeters(ulong ulOverlayHandle,float fWidthInMeters) + { + EVROverlayError result = FnTable.SetOverlayWidthInMeters(ulOverlayHandle,fWidthInMeters); + return result; + } + public EVROverlayError GetOverlayWidthInMeters(ulong ulOverlayHandle,ref float pfWidthInMeters) + { + pfWidthInMeters = 0; + EVROverlayError result = FnTable.GetOverlayWidthInMeters(ulOverlayHandle,ref pfWidthInMeters); + return result; + } + public EVROverlayError SetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,float fMinDistanceInMeters,float fMaxDistanceInMeters) + { + EVROverlayError result = FnTable.SetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,fMinDistanceInMeters,fMaxDistanceInMeters); + return result; + } + public EVROverlayError GetOverlayAutoCurveDistanceRangeInMeters(ulong ulOverlayHandle,ref float pfMinDistanceInMeters,ref float pfMaxDistanceInMeters) + { + pfMinDistanceInMeters = 0; + pfMaxDistanceInMeters = 0; + EVROverlayError result = FnTable.GetOverlayAutoCurveDistanceRangeInMeters(ulOverlayHandle,ref pfMinDistanceInMeters,ref pfMaxDistanceInMeters); + return result; + } + public EVROverlayError SetOverlayTextureColorSpace(ulong ulOverlayHandle,EColorSpace eTextureColorSpace) + { + EVROverlayError result = FnTable.SetOverlayTextureColorSpace(ulOverlayHandle,eTextureColorSpace); + return result; + } + public EVROverlayError GetOverlayTextureColorSpace(ulong ulOverlayHandle,ref EColorSpace peTextureColorSpace) + { + EVROverlayError result = FnTable.GetOverlayTextureColorSpace(ulOverlayHandle,ref peTextureColorSpace); + return result; + } + public EVROverlayError SetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds) + { + EVROverlayError result = FnTable.SetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds); + return result; + } + public EVROverlayError GetOverlayTextureBounds(ulong ulOverlayHandle,ref VRTextureBounds_t pOverlayTextureBounds) + { + EVROverlayError result = FnTable.GetOverlayTextureBounds(ulOverlayHandle,ref pOverlayTextureBounds); + return result; + } + public EVROverlayError GetOverlayTransformType(ulong ulOverlayHandle,ref VROverlayTransformType peTransformType) + { + EVROverlayError result = FnTable.GetOverlayTransformType(ulOverlayHandle,ref peTransformType); + return result; + } + public EVROverlayError SetOverlayTransformAbsolute(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform) + { + EVROverlayError result = FnTable.SetOverlayTransformAbsolute(ulOverlayHandle,eTrackingOrigin,ref pmatTrackingOriginToOverlayTransform); + return result; + } + public EVROverlayError GetOverlayTransformAbsolute(ulong ulOverlayHandle,ref ETrackingUniverseOrigin peTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform) + { + EVROverlayError result = FnTable.GetOverlayTransformAbsolute(ulOverlayHandle,ref peTrackingOrigin,ref pmatTrackingOriginToOverlayTransform); + return result; + } + public EVROverlayError SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,uint unTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform) + { + EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,unTrackedDevice,ref pmatTrackedDeviceToOverlayTransform); + return result; + } + public EVROverlayError GetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,ref uint punTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform) + { + punTrackedDevice = 0; + EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceRelative(ulOverlayHandle,ref punTrackedDevice,ref pmatTrackedDeviceToOverlayTransform); + return result; + } + public EVROverlayError SetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,uint unDeviceIndex,string pchComponentName) + { + EVROverlayError result = FnTable.SetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,unDeviceIndex,pchComponentName); + return result; + } + public EVROverlayError GetOverlayTransformTrackedDeviceComponent(ulong ulOverlayHandle,ref uint punDeviceIndex,string pchComponentName,uint unComponentNameSize) + { + punDeviceIndex = 0; + EVROverlayError result = FnTable.GetOverlayTransformTrackedDeviceComponent(ulOverlayHandle,ref punDeviceIndex,pchComponentName,unComponentNameSize); + return result; + } + public EVROverlayError ShowOverlay(ulong ulOverlayHandle) + { + EVROverlayError result = FnTable.ShowOverlay(ulOverlayHandle); + return result; + } + public EVROverlayError HideOverlay(ulong ulOverlayHandle) + { + EVROverlayError result = FnTable.HideOverlay(ulOverlayHandle); + return result; + } + public bool IsOverlayVisible(ulong ulOverlayHandle) + { + bool result = FnTable.IsOverlayVisible(ulOverlayHandle); + return result; + } + public EVROverlayError GetTransformForOverlayCoordinates(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,HmdVector2_t coordinatesInOverlay,ref HmdMatrix34_t pmatTransform) + { + EVROverlayError result = FnTable.GetTransformForOverlayCoordinates(ulOverlayHandle,eTrackingOrigin,coordinatesInOverlay,ref pmatTransform); + return result; + } + public bool PollNextOverlayEvent(ulong ulOverlayHandle,ref VREvent_t pEvent,uint uncbVREvent) + { + bool result = FnTable.PollNextOverlayEvent(ulOverlayHandle,ref pEvent,uncbVREvent); + return result; + } + public EVROverlayError GetOverlayInputMethod(ulong ulOverlayHandle,ref VROverlayInputMethod peInputMethod) + { + EVROverlayError result = FnTable.GetOverlayInputMethod(ulOverlayHandle,ref peInputMethod); + return result; + } + public EVROverlayError SetOverlayInputMethod(ulong ulOverlayHandle,VROverlayInputMethod eInputMethod) + { + EVROverlayError result = FnTable.SetOverlayInputMethod(ulOverlayHandle,eInputMethod); + return result; + } + public EVROverlayError GetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale) + { + EVROverlayError result = FnTable.GetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale); + return result; + } + public EVROverlayError SetOverlayMouseScale(ulong ulOverlayHandle,ref HmdVector2_t pvecMouseScale) + { + EVROverlayError result = FnTable.SetOverlayMouseScale(ulOverlayHandle,ref pvecMouseScale); + return result; + } + public bool ComputeOverlayIntersection(ulong ulOverlayHandle,ref VROverlayIntersectionParams_t pParams,ref VROverlayIntersectionResults_t pResults) + { + bool result = FnTable.ComputeOverlayIntersection(ulOverlayHandle,ref pParams,ref pResults); + return result; + } + public bool HandleControllerOverlayInteractionAsMouse(ulong ulOverlayHandle,uint unControllerDeviceIndex) + { + bool result = FnTable.HandleControllerOverlayInteractionAsMouse(ulOverlayHandle,unControllerDeviceIndex); + return result; + } + public bool IsHoverTargetOverlay(ulong ulOverlayHandle) + { + bool result = FnTable.IsHoverTargetOverlay(ulOverlayHandle); + return result; + } + public ulong GetGamepadFocusOverlay() + { + ulong result = FnTable.GetGamepadFocusOverlay(); + return result; + } + public EVROverlayError SetGamepadFocusOverlay(ulong ulNewFocusOverlay) + { + EVROverlayError result = FnTable.SetGamepadFocusOverlay(ulNewFocusOverlay); + return result; + } + public EVROverlayError SetOverlayNeighbor(EOverlayDirection eDirection,ulong ulFrom,ulong ulTo) + { + EVROverlayError result = FnTable.SetOverlayNeighbor(eDirection,ulFrom,ulTo); + return result; + } + public EVROverlayError MoveGamepadFocusToNeighbor(EOverlayDirection eDirection,ulong ulFrom) + { + EVROverlayError result = FnTable.MoveGamepadFocusToNeighbor(eDirection,ulFrom); + return result; + } + public EVROverlayError SetOverlayTexture(ulong ulOverlayHandle,ref Texture_t pTexture) + { + EVROverlayError result = FnTable.SetOverlayTexture(ulOverlayHandle,ref pTexture); + return result; + } + public EVROverlayError ClearOverlayTexture(ulong ulOverlayHandle) + { + EVROverlayError result = FnTable.ClearOverlayTexture(ulOverlayHandle); + return result; + } + public EVROverlayError SetOverlayRaw(ulong ulOverlayHandle,IntPtr pvBuffer,uint unWidth,uint unHeight,uint unDepth) + { + EVROverlayError result = FnTable.SetOverlayRaw(ulOverlayHandle,pvBuffer,unWidth,unHeight,unDepth); + return result; + } + public EVROverlayError SetOverlayFromFile(ulong ulOverlayHandle,string pchFilePath) + { + EVROverlayError result = FnTable.SetOverlayFromFile(ulOverlayHandle,pchFilePath); + return result; + } + public EVROverlayError GetOverlayTexture(ulong ulOverlayHandle,ref IntPtr pNativeTextureHandle,IntPtr pNativeTextureRef,ref uint pWidth,ref uint pHeight,ref uint pNativeFormat,ref EGraphicsAPIConvention pAPI,ref EColorSpace pColorSpace) + { + pWidth = 0; + pHeight = 0; + pNativeFormat = 0; + EVROverlayError result = FnTable.GetOverlayTexture(ulOverlayHandle,ref pNativeTextureHandle,pNativeTextureRef,ref pWidth,ref pHeight,ref pNativeFormat,ref pAPI,ref pColorSpace); + return result; + } + public EVROverlayError ReleaseNativeOverlayHandle(ulong ulOverlayHandle,IntPtr pNativeTextureHandle) + { + EVROverlayError result = FnTable.ReleaseNativeOverlayHandle(ulOverlayHandle,pNativeTextureHandle); + return result; + } + public EVROverlayError GetOverlayTextureSize(ulong ulOverlayHandle,ref uint pWidth,ref uint pHeight) + { + pWidth = 0; + pHeight = 0; + EVROverlayError result = FnTable.GetOverlayTextureSize(ulOverlayHandle,ref pWidth,ref pHeight); + return result; + } + public EVROverlayError CreateDashboardOverlay(string pchOverlayKey,string pchOverlayFriendlyName,ref ulong pMainHandle,ref ulong pThumbnailHandle) + { + pMainHandle = 0; + pThumbnailHandle = 0; + EVROverlayError result = FnTable.CreateDashboardOverlay(pchOverlayKey,pchOverlayFriendlyName,ref pMainHandle,ref pThumbnailHandle); + return result; + } + public bool IsDashboardVisible() + { + bool result = FnTable.IsDashboardVisible(); + return result; + } + public bool IsActiveDashboardOverlay(ulong ulOverlayHandle) + { + bool result = FnTable.IsActiveDashboardOverlay(ulOverlayHandle); + return result; + } + public EVROverlayError SetDashboardOverlaySceneProcess(ulong ulOverlayHandle,uint unProcessId) + { + EVROverlayError result = FnTable.SetDashboardOverlaySceneProcess(ulOverlayHandle,unProcessId); + return result; + } + public EVROverlayError GetDashboardOverlaySceneProcess(ulong ulOverlayHandle,ref uint punProcessId) + { + punProcessId = 0; + EVROverlayError result = FnTable.GetDashboardOverlaySceneProcess(ulOverlayHandle,ref punProcessId); + return result; + } + public void ShowDashboard(string pchOverlayToShow) + { + FnTable.ShowDashboard(pchOverlayToShow); + } + public uint GetPrimaryDashboardDevice() + { + uint result = FnTable.GetPrimaryDashboardDevice(); + return result; + } + public EVROverlayError ShowKeyboard(int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue) + { + EVROverlayError result = FnTable.ShowKeyboard(eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue); + return result; + } + public EVROverlayError ShowKeyboardForOverlay(ulong ulOverlayHandle,int eInputMode,int eLineInputMode,string pchDescription,uint unCharMax,string pchExistingText,bool bUseMinimalMode,ulong uUserValue) + { + EVROverlayError result = FnTable.ShowKeyboardForOverlay(ulOverlayHandle,eInputMode,eLineInputMode,pchDescription,unCharMax,pchExistingText,bUseMinimalMode,uUserValue); + return result; + } + public uint GetKeyboardText(System.Text.StringBuilder pchText,uint cchText) + { + uint result = FnTable.GetKeyboardText(pchText,cchText); + return result; + } + public void HideKeyboard() + { + FnTable.HideKeyboard(); + } + public void SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform) + { + FnTable.SetKeyboardTransformAbsolute(eTrackingOrigin,ref pmatTrackingOriginToKeyboardTransform); + } + public void SetKeyboardPositionForOverlay(ulong ulOverlayHandle,HmdRect2_t avoidRect) + { + FnTable.SetKeyboardPositionForOverlay(ulOverlayHandle,avoidRect); + } +} + + +public class CVRRenderModels +{ + IVRRenderModels FnTable; + internal CVRRenderModels(IntPtr pInterface) + { + FnTable = (IVRRenderModels)Marshal.PtrToStructure(pInterface, typeof(IVRRenderModels)); + } + public EVRRenderModelError LoadRenderModel_Async(string pchRenderModelName,ref IntPtr ppRenderModel) + { + EVRRenderModelError result = FnTable.LoadRenderModel_Async(pchRenderModelName,ref ppRenderModel); + return result; + } + public void FreeRenderModel(IntPtr pRenderModel) + { + FnTable.FreeRenderModel(pRenderModel); + } + public EVRRenderModelError LoadTexture_Async(int textureId,ref IntPtr ppTexture) + { + EVRRenderModelError result = FnTable.LoadTexture_Async(textureId,ref ppTexture); + return result; + } + public void FreeTexture(IntPtr pTexture) + { + FnTable.FreeTexture(pTexture); + } + public EVRRenderModelError LoadTextureD3D11_Async(int textureId,IntPtr pD3D11Device,ref IntPtr ppD3D11Texture2D) + { + EVRRenderModelError result = FnTable.LoadTextureD3D11_Async(textureId,pD3D11Device,ref ppD3D11Texture2D); + return result; + } + public EVRRenderModelError LoadIntoTextureD3D11_Async(int textureId,IntPtr pDstTexture) + { + EVRRenderModelError result = FnTable.LoadIntoTextureD3D11_Async(textureId,pDstTexture); + return result; + } + public void FreeTextureD3D11(IntPtr pD3D11Texture2D) + { + FnTable.FreeTextureD3D11(pD3D11Texture2D); + } + public uint GetRenderModelName(uint unRenderModelIndex,System.Text.StringBuilder pchRenderModelName,uint unRenderModelNameLen) + { + uint result = FnTable.GetRenderModelName(unRenderModelIndex,pchRenderModelName,unRenderModelNameLen); + return result; + } + public uint GetRenderModelCount() + { + uint result = FnTable.GetRenderModelCount(); + return result; + } + public uint GetComponentCount(string pchRenderModelName) + { + uint result = FnTable.GetComponentCount(pchRenderModelName); + return result; + } + public uint GetComponentName(string pchRenderModelName,uint unComponentIndex,System.Text.StringBuilder pchComponentName,uint unComponentNameLen) + { + uint result = FnTable.GetComponentName(pchRenderModelName,unComponentIndex,pchComponentName,unComponentNameLen); + return result; + } + public ulong GetComponentButtonMask(string pchRenderModelName,string pchComponentName) + { + ulong result = FnTable.GetComponentButtonMask(pchRenderModelName,pchComponentName); + return result; + } + public uint GetComponentRenderModelName(string pchRenderModelName,string pchComponentName,System.Text.StringBuilder pchComponentRenderModelName,uint unComponentRenderModelNameLen) + { + uint result = FnTable.GetComponentRenderModelName(pchRenderModelName,pchComponentName,pchComponentRenderModelName,unComponentRenderModelNameLen); + return result; + } + public bool GetComponentState(string pchRenderModelName,string pchComponentName,ref VRControllerState_t pControllerState,ref RenderModel_ControllerMode_State_t pState,ref RenderModel_ComponentState_t pComponentState) + { + bool result = FnTable.GetComponentState(pchRenderModelName,pchComponentName,ref pControllerState,ref pState,ref pComponentState); + return result; + } + public bool RenderModelHasComponent(string pchRenderModelName,string pchComponentName) + { + bool result = FnTable.RenderModelHasComponent(pchRenderModelName,pchComponentName); + return result; + } + public uint GetRenderModelThumbnailURL(string pchRenderModelName,System.Text.StringBuilder pchThumbnailURL,uint unThumbnailURLLen,ref EVRRenderModelError peError) + { + uint result = FnTable.GetRenderModelThumbnailURL(pchRenderModelName,pchThumbnailURL,unThumbnailURLLen,ref peError); + return result; + } + public uint GetRenderModelOriginalPath(string pchRenderModelName,System.Text.StringBuilder pchOriginalPath,uint unOriginalPathLen,ref EVRRenderModelError peError) + { + uint result = FnTable.GetRenderModelOriginalPath(pchRenderModelName,pchOriginalPath,unOriginalPathLen,ref peError); + return result; + } + public string GetRenderModelErrorNameFromEnum(EVRRenderModelError error) + { + IntPtr result = FnTable.GetRenderModelErrorNameFromEnum(error); + return Marshal.PtrToStringAnsi(result); + } +} + + +public class CVRNotifications +{ + IVRNotifications FnTable; + internal CVRNotifications(IntPtr pInterface) + { + FnTable = (IVRNotifications)Marshal.PtrToStructure(pInterface, typeof(IVRNotifications)); + } + public EVRNotificationError CreateNotification(ulong ulOverlayHandle,ulong ulUserValue,EVRNotificationType type,string pchText,EVRNotificationStyle style,ref NotificationBitmap_t pImage,ref uint pNotificationId) + { + pNotificationId = 0; + EVRNotificationError result = FnTable.CreateNotification(ulOverlayHandle,ulUserValue,type,pchText,style,ref pImage,ref pNotificationId); + return result; + } + public EVRNotificationError RemoveNotification(uint notificationId) + { + EVRNotificationError result = FnTable.RemoveNotification(notificationId); + return result; + } +} + + +public class CVRSettings +{ + IVRSettings FnTable; + internal CVRSettings(IntPtr pInterface) + { + FnTable = (IVRSettings)Marshal.PtrToStructure(pInterface, typeof(IVRSettings)); + } + public string GetSettingsErrorNameFromEnum(EVRSettingsError eError) + { + IntPtr result = FnTable.GetSettingsErrorNameFromEnum(eError); + return Marshal.PtrToStringAnsi(result); + } + public bool Sync(bool bForce,ref EVRSettingsError peError) + { + bool result = FnTable.Sync(bForce,ref peError); + return result; + } + public bool GetBool(string pchSection,string pchSettingsKey,bool bDefaultValue,ref EVRSettingsError peError) + { + bool result = FnTable.GetBool(pchSection,pchSettingsKey,bDefaultValue,ref peError); + return result; + } + public void SetBool(string pchSection,string pchSettingsKey,bool bValue,ref EVRSettingsError peError) + { + FnTable.SetBool(pchSection,pchSettingsKey,bValue,ref peError); + } + public int GetInt32(string pchSection,string pchSettingsKey,int nDefaultValue,ref EVRSettingsError peError) + { + int result = FnTable.GetInt32(pchSection,pchSettingsKey,nDefaultValue,ref peError); + return result; + } + public void SetInt32(string pchSection,string pchSettingsKey,int nValue,ref EVRSettingsError peError) + { + FnTable.SetInt32(pchSection,pchSettingsKey,nValue,ref peError); + } + public float GetFloat(string pchSection,string pchSettingsKey,float flDefaultValue,ref EVRSettingsError peError) + { + float result = FnTable.GetFloat(pchSection,pchSettingsKey,flDefaultValue,ref peError); + return result; + } + public void SetFloat(string pchSection,string pchSettingsKey,float flValue,ref EVRSettingsError peError) + { + FnTable.SetFloat(pchSection,pchSettingsKey,flValue,ref peError); + } + public void GetString(string pchSection,string pchSettingsKey,string pchValue,uint unValueLen,string pchDefaultValue,ref EVRSettingsError peError) + { + FnTable.GetString(pchSection,pchSettingsKey,pchValue,unValueLen,pchDefaultValue,ref peError); + } + public void SetString(string pchSection,string pchSettingsKey,string pchValue,ref EVRSettingsError peError) + { + FnTable.SetString(pchSection,pchSettingsKey,pchValue,ref peError); + } + public void RemoveSection(string pchSection,ref EVRSettingsError peError) + { + FnTable.RemoveSection(pchSection,ref peError); + } + public void RemoveKeyInSection(string pchSection,string pchSettingsKey,ref EVRSettingsError peError) + { + FnTable.RemoveKeyInSection(pchSection,pchSettingsKey,ref peError); + } +} + + +public class CVRScreenshots +{ + IVRScreenshots FnTable; + internal CVRScreenshots(IntPtr pInterface) + { + FnTable = (IVRScreenshots)Marshal.PtrToStructure(pInterface, typeof(IVRScreenshots)); + } + public EVRScreenshotError RequestScreenshot(ref uint pOutScreenshotHandle,EVRScreenshotType type,string pchPreviewFilename,string pchVRFilename) + { + pOutScreenshotHandle = 0; + EVRScreenshotError result = FnTable.RequestScreenshot(ref pOutScreenshotHandle,type,pchPreviewFilename,pchVRFilename); + return result; + } + public EVRScreenshotError HookScreenshot(EVRScreenshotType [] pSupportedTypes) + { + EVRScreenshotError result = FnTable.HookScreenshot(pSupportedTypes,(int) pSupportedTypes.Length); + return result; + } + public EVRScreenshotType GetScreenshotPropertyType(uint screenshotHandle,ref EVRScreenshotError pError) + { + EVRScreenshotType result = FnTable.GetScreenshotPropertyType(screenshotHandle,ref pError); + return result; + } + public uint GetScreenshotPropertyFilename(uint screenshotHandle,EVRScreenshotPropertyFilenames filenameType,System.Text.StringBuilder pchFilename,uint cchFilename,ref EVRScreenshotError pError) + { + uint result = FnTable.GetScreenshotPropertyFilename(screenshotHandle,filenameType,pchFilename,cchFilename,ref pError); + return result; + } + public EVRScreenshotError UpdateScreenshotProgress(uint screenshotHandle,float flProgress) + { + EVRScreenshotError result = FnTable.UpdateScreenshotProgress(screenshotHandle,flProgress); + return result; + } + public EVRScreenshotError TakeStereoScreenshot(ref uint pOutScreenshotHandle,string pchPreviewFilename,string pchVRFilename) + { + pOutScreenshotHandle = 0; + EVRScreenshotError result = FnTable.TakeStereoScreenshot(ref pOutScreenshotHandle,pchPreviewFilename,pchVRFilename); + return result; + } + public EVRScreenshotError SubmitScreenshot(uint screenshotHandle,EVRScreenshotType type,string pchSourcePreviewFilename,string pchSourceVRFilename) + { + EVRScreenshotError result = FnTable.SubmitScreenshot(screenshotHandle,type,pchSourcePreviewFilename,pchSourceVRFilename); + return result; + } +} + + +public class OpenVRInterop +{ + [DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal")] + internal static extern uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType); + [DllImportAttribute("openvr_api", EntryPoint = "VR_ShutdownInternal")] + internal static extern void ShutdownInternal(); + [DllImportAttribute("openvr_api", EntryPoint = "VR_IsHmdPresent")] + internal static extern bool IsHmdPresent(); + [DllImportAttribute("openvr_api", EntryPoint = "VR_IsRuntimeInstalled")] + internal static extern bool IsRuntimeInstalled(); + [DllImportAttribute("openvr_api", EntryPoint = "VR_GetStringForHmdError")] + internal static extern IntPtr GetStringForHmdError(EVRInitError error); + [DllImportAttribute("openvr_api", EntryPoint = "VR_GetGenericInterface")] + internal static extern IntPtr GetGenericInterface([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion, ref EVRInitError peError); + [DllImportAttribute("openvr_api", EntryPoint = "VR_IsInterfaceVersionValid")] + internal static extern bool IsInterfaceVersionValid([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion); + [DllImportAttribute("openvr_api", EntryPoint = "VR_GetInitToken")] + internal static extern uint GetInitToken(); +} + + +public enum EVREye +{ + Eye_Left = 0, + Eye_Right = 1, +} +public enum EGraphicsAPIConvention +{ + API_DirectX = 0, + API_OpenGL = 1, +} +public enum EColorSpace +{ + Auto = 0, + Gamma = 1, + Linear = 2, +} +public enum ETrackingResult +{ + Uninitialized = 1, + Calibrating_InProgress = 100, + Calibrating_OutOfRange = 101, + Running_OK = 200, + Running_OutOfRange = 201, +} +public enum ETrackedDeviceClass +{ + Invalid = 0, + HMD = 1, + Controller = 2, + TrackingReference = 4, + Other = 1000, +} +public enum ETrackedControllerRole +{ + Invalid = 0, + LeftHand = 1, + RightHand = 2, +} +public enum ETrackingUniverseOrigin +{ + TrackingUniverseSeated = 0, + TrackingUniverseStanding = 1, + TrackingUniverseRawAndUncalibrated = 2, +} +public enum ETrackedDeviceProperty +{ + Prop_TrackingSystemName_String = 1000, + Prop_ModelNumber_String = 1001, + Prop_SerialNumber_String = 1002, + Prop_RenderModelName_String = 1003, + Prop_WillDriftInYaw_Bool = 1004, + Prop_ManufacturerName_String = 1005, + Prop_TrackingFirmwareVersion_String = 1006, + Prop_HardwareRevision_String = 1007, + Prop_AllWirelessDongleDescriptions_String = 1008, + Prop_ConnectedWirelessDongle_String = 1009, + Prop_DeviceIsWireless_Bool = 1010, + Prop_DeviceIsCharging_Bool = 1011, + Prop_DeviceBatteryPercentage_Float = 1012, + Prop_StatusDisplayTransform_Matrix34 = 1013, + Prop_Firmware_UpdateAvailable_Bool = 1014, + Prop_Firmware_ManualUpdate_Bool = 1015, + Prop_Firmware_ManualUpdateURL_String = 1016, + Prop_HardwareRevision_Uint64 = 1017, + Prop_FirmwareVersion_Uint64 = 1018, + Prop_FPGAVersion_Uint64 = 1019, + Prop_VRCVersion_Uint64 = 1020, + Prop_RadioVersion_Uint64 = 1021, + Prop_DongleVersion_Uint64 = 1022, + Prop_BlockServerShutdown_Bool = 1023, + Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024, + Prop_ContainsProximitySensor_Bool = 1025, + Prop_DeviceProvidesBatteryStatus_Bool = 1026, + Prop_DeviceCanPowerOff_Bool = 1027, + Prop_Firmware_ProgrammingTarget_String = 1028, + Prop_DeviceClass_Int32 = 1029, + Prop_HasCamera_Bool = 1030, + Prop_DriverVersion_String = 1031, + Prop_Firmware_ForceUpdateRequired_Bool = 1032, + Prop_ReportsTimeSinceVSync_Bool = 2000, + Prop_SecondsFromVsyncToPhotons_Float = 2001, + Prop_DisplayFrequency_Float = 2002, + Prop_UserIpdMeters_Float = 2003, + Prop_CurrentUniverseId_Uint64 = 2004, + Prop_PreviousUniverseId_Uint64 = 2005, + Prop_DisplayFirmwareVersion_Uint64 = 2006, + Prop_IsOnDesktop_Bool = 2007, + Prop_DisplayMCType_Int32 = 2008, + Prop_DisplayMCOffset_Float = 2009, + Prop_DisplayMCScale_Float = 2010, + Prop_EdidVendorID_Int32 = 2011, + Prop_DisplayMCImageLeft_String = 2012, + Prop_DisplayMCImageRight_String = 2013, + Prop_DisplayGCBlackClamp_Float = 2014, + Prop_EdidProductID_Int32 = 2015, + Prop_CameraToHeadTransform_Matrix34 = 2016, + Prop_DisplayGCType_Int32 = 2017, + Prop_DisplayGCOffset_Float = 2018, + Prop_DisplayGCScale_Float = 2019, + Prop_DisplayGCPrescale_Float = 2020, + Prop_DisplayGCImage_String = 2021, + Prop_LensCenterLeftU_Float = 2022, + Prop_LensCenterLeftV_Float = 2023, + Prop_LensCenterRightU_Float = 2024, + Prop_LensCenterRightV_Float = 2025, + Prop_UserHeadToEyeDepthMeters_Float = 2026, + Prop_CameraFirmwareVersion_Uint64 = 2027, + Prop_CameraFirmwareDescription_String = 2028, + Prop_DisplayFPGAVersion_Uint64 = 2029, + Prop_DisplayBootloaderVersion_Uint64 = 2030, + Prop_DisplayHardwareVersion_Uint64 = 2031, + Prop_AudioFirmwareVersion_Uint64 = 2032, + Prop_CameraCompatibilityMode_Int32 = 2033, + Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, + Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, + Prop_DisplaySuppressed_Bool = 2036, + Prop_AttachedDeviceId_String = 3000, + Prop_SupportedButtons_Uint64 = 3001, + Prop_Axis0Type_Int32 = 3002, + Prop_Axis1Type_Int32 = 3003, + Prop_Axis2Type_Int32 = 3004, + Prop_Axis3Type_Int32 = 3005, + Prop_Axis4Type_Int32 = 3006, + Prop_FieldOfViewLeftDegrees_Float = 4000, + Prop_FieldOfViewRightDegrees_Float = 4001, + Prop_FieldOfViewTopDegrees_Float = 4002, + Prop_FieldOfViewBottomDegrees_Float = 4003, + Prop_TrackingRangeMinimumMeters_Float = 4004, + Prop_TrackingRangeMaximumMeters_Float = 4005, + Prop_ModeLabel_String = 4006, + Prop_VendorSpecific_Reserved_Start = 10000, + Prop_VendorSpecific_Reserved_End = 10999, +} +public enum ETrackedPropertyError +{ + TrackedProp_Success = 0, + TrackedProp_WrongDataType = 1, + TrackedProp_WrongDeviceClass = 2, + TrackedProp_BufferTooSmall = 3, + TrackedProp_UnknownProperty = 4, + TrackedProp_InvalidDevice = 5, + TrackedProp_CouldNotContactServer = 6, + TrackedProp_ValueNotProvidedByDevice = 7, + TrackedProp_StringExceedsMaximumLength = 8, + TrackedProp_NotYetAvailable = 9, +} +public enum EVRSubmitFlags +{ + Submit_Default = 0, + Submit_LensDistortionAlreadyApplied = 1, + Submit_GlRenderBuffer = 2, +} +public enum EVRState +{ + Undefined = -1, + Off = 0, + Searching = 1, + Searching_Alert = 2, + Ready = 3, + Ready_Alert = 4, + NotReady = 5, + Standby = 6, +} +public enum EVREventType +{ + VREvent_None = 0, + VREvent_TrackedDeviceActivated = 100, + VREvent_TrackedDeviceDeactivated = 101, + VREvent_TrackedDeviceUpdated = 102, + VREvent_TrackedDeviceUserInteractionStarted = 103, + VREvent_TrackedDeviceUserInteractionEnded = 104, + VREvent_IpdChanged = 105, + VREvent_EnterStandbyMode = 106, + VREvent_LeaveStandbyMode = 107, + VREvent_TrackedDeviceRoleChanged = 108, + VREvent_ButtonPress = 200, + VREvent_ButtonUnpress = 201, + VREvent_ButtonTouch = 202, + VREvent_ButtonUntouch = 203, + VREvent_MouseMove = 300, + VREvent_MouseButtonDown = 301, + VREvent_MouseButtonUp = 302, + VREvent_FocusEnter = 303, + VREvent_FocusLeave = 304, + VREvent_Scroll = 305, + VREvent_TouchPadMove = 306, + VREvent_InputFocusCaptured = 400, + VREvent_InputFocusReleased = 401, + VREvent_SceneFocusLost = 402, + VREvent_SceneFocusGained = 403, + VREvent_SceneApplicationChanged = 404, + VREvent_SceneFocusChanged = 405, + VREvent_InputFocusChanged = 406, + VREvent_SceneApplicationSecondaryRenderingStarted = 407, + VREvent_HideRenderModels = 410, + VREvent_ShowRenderModels = 411, + VREvent_OverlayShown = 500, + VREvent_OverlayHidden = 501, + VREvent_DashboardActivated = 502, + VREvent_DashboardDeactivated = 503, + VREvent_DashboardThumbSelected = 504, + VREvent_DashboardRequested = 505, + VREvent_ResetDashboard = 506, + VREvent_RenderToast = 507, + VREvent_ImageLoaded = 508, + VREvent_ShowKeyboard = 509, + VREvent_HideKeyboard = 510, + VREvent_OverlayGamepadFocusGained = 511, + VREvent_OverlayGamepadFocusLost = 512, + VREvent_OverlaySharedTextureChanged = 513, + VREvent_DashboardGuideButtonDown = 514, + VREvent_DashboardGuideButtonUp = 515, + VREvent_ScreenshotTriggered = 516, + VREvent_ImageFailed = 517, + VREvent_RequestScreenshot = 520, + VREvent_ScreenshotTaken = 521, + VREvent_ScreenshotFailed = 522, + VREvent_SubmitScreenshotToDashboard = 523, + VREvent_Notification_Shown = 600, + VREvent_Notification_Hidden = 601, + VREvent_Notification_BeginInteraction = 602, + VREvent_Notification_Destroyed = 603, + VREvent_Quit = 700, + VREvent_ProcessQuit = 701, + VREvent_QuitAborted_UserPrompt = 702, + VREvent_QuitAcknowledged = 703, + VREvent_DriverRequestedQuit = 704, + VREvent_ChaperoneDataHasChanged = 800, + VREvent_ChaperoneUniverseHasChanged = 801, + VREvent_ChaperoneTempDataHasChanged = 802, + VREvent_ChaperoneSettingsHaveChanged = 803, + VREvent_SeatedZeroPoseReset = 804, + VREvent_AudioSettingsHaveChanged = 820, + VREvent_BackgroundSettingHasChanged = 850, + VREvent_CameraSettingsHaveChanged = 851, + VREvent_ReprojectionSettingHasChanged = 852, + VREvent_ModelSkinSettingsHaveChanged = 853, + VREvent_EnvironmentSettingsHaveChanged = 854, + VREvent_StatusUpdate = 900, + VREvent_MCImageUpdated = 1000, + VREvent_FirmwareUpdateStarted = 1100, + VREvent_FirmwareUpdateFinished = 1101, + VREvent_KeyboardClosed = 1200, + VREvent_KeyboardCharInput = 1201, + VREvent_KeyboardDone = 1202, + VREvent_ApplicationTransitionStarted = 1300, + VREvent_ApplicationTransitionAborted = 1301, + VREvent_ApplicationTransitionNewAppStarted = 1302, + VREvent_ApplicationListUpdated = 1303, + VREvent_Compositor_MirrorWindowShown = 1400, + VREvent_Compositor_MirrorWindowHidden = 1401, + VREvent_Compositor_ChaperoneBoundsShown = 1410, + VREvent_Compositor_ChaperoneBoundsHidden = 1411, + VREvent_TrackedCamera_StartVideoStream = 1500, + VREvent_TrackedCamera_StopVideoStream = 1501, + VREvent_TrackedCamera_PauseVideoStream = 1502, + VREvent_TrackedCamera_ResumeVideoStream = 1503, + VREvent_PerformanceTest_EnableCapture = 1600, + VREvent_PerformanceTest_DisableCapture = 1601, + VREvent_PerformanceTest_FidelityLevel = 1602, + VREvent_VendorSpecific_Reserved_Start = 10000, + VREvent_VendorSpecific_Reserved_End = 19999, +} +public enum EDeviceActivityLevel +{ + k_EDeviceActivityLevel_Unknown = -1, + k_EDeviceActivityLevel_Idle = 0, + k_EDeviceActivityLevel_UserInteraction = 1, + k_EDeviceActivityLevel_UserInteraction_Timeout = 2, + k_EDeviceActivityLevel_Standby = 3, +} +public enum EVRButtonId +{ + k_EButton_System = 0, + k_EButton_ApplicationMenu = 1, + k_EButton_Grip = 2, + k_EButton_DPad_Left = 3, + k_EButton_DPad_Up = 4, + k_EButton_DPad_Right = 5, + k_EButton_DPad_Down = 6, + k_EButton_A = 7, + k_EButton_Axis0 = 32, + k_EButton_Axis1 = 33, + k_EButton_Axis2 = 34, + k_EButton_Axis3 = 35, + k_EButton_Axis4 = 36, + k_EButton_SteamVR_Touchpad = 32, + k_EButton_SteamVR_Trigger = 33, + k_EButton_Dashboard_Back = 2, + k_EButton_Max = 64, +} +public enum EVRMouseButton +{ + Left = 1, + Right = 2, + Middle = 4, +} +public enum EVRControllerAxisType +{ + k_eControllerAxis_None = 0, + k_eControllerAxis_TrackPad = 1, + k_eControllerAxis_Joystick = 2, + k_eControllerAxis_Trigger = 3, +} +public enum EVRControllerEventOutputType +{ + ControllerEventOutput_OSEvents = 0, + ControllerEventOutput_VREvents = 1, +} +public enum ECollisionBoundsStyle +{ + COLLISION_BOUNDS_STYLE_BEGINNER = 0, + COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1, + COLLISION_BOUNDS_STYLE_SQUARES = 2, + COLLISION_BOUNDS_STYLE_ADVANCED = 3, + COLLISION_BOUNDS_STYLE_NONE = 4, + COLLISION_BOUNDS_STYLE_COUNT = 5, +} +public enum EVROverlayError +{ + None = 0, + UnknownOverlay = 10, + InvalidHandle = 11, + PermissionDenied = 12, + OverlayLimitExceeded = 13, + WrongVisibilityType = 14, + KeyTooLong = 15, + NameTooLong = 16, + KeyInUse = 17, + WrongTransformType = 18, + InvalidTrackedDevice = 19, + InvalidParameter = 20, + ThumbnailCantBeDestroyed = 21, + ArrayTooSmall = 22, + RequestFailed = 23, + InvalidTexture = 24, + UnableToLoadFile = 25, + VROVerlayError_KeyboardAlreadyInUse = 26, + NoNeighbor = 27, +} +public enum EVRApplicationType +{ + VRApplication_Other = 0, + VRApplication_Scene = 1, + VRApplication_Overlay = 2, + VRApplication_Background = 3, + VRApplication_Utility = 4, + VRApplication_VRMonitor = 5, +} +public enum EVRFirmwareError +{ + None = 0, + Success = 1, + Fail = 2, +} +public enum EVRNotificationError +{ + OK = 0, + InvalidNotificationId = 100, + NotificationQueueFull = 101, + InvalidOverlayHandle = 102, + SystemWithUserValueAlreadyExists = 103, +} +public enum EVRInitError +{ + None = 0, + Unknown = 1, + Init_InstallationNotFound = 100, + Init_InstallationCorrupt = 101, + Init_VRClientDLLNotFound = 102, + Init_FileNotFound = 103, + Init_FactoryNotFound = 104, + Init_InterfaceNotFound = 105, + Init_InvalidInterface = 106, + Init_UserConfigDirectoryInvalid = 107, + Init_HmdNotFound = 108, + Init_NotInitialized = 109, + Init_PathRegistryNotFound = 110, + Init_NoConfigPath = 111, + Init_NoLogPath = 112, + Init_PathRegistryNotWritable = 113, + Init_AppInfoInitFailed = 114, + Init_Retry = 115, + Init_InitCanceledByUser = 116, + Init_AnotherAppLaunching = 117, + Init_SettingsInitFailed = 118, + Init_ShuttingDown = 119, + Init_TooManyObjects = 120, + Init_NoServerForBackgroundApp = 121, + Init_NotSupportedWithCompositor = 122, + Init_NotAvailableToUtilityApps = 123, + Init_Internal = 124, + Driver_Failed = 200, + Driver_Unknown = 201, + Driver_HmdUnknown = 202, + Driver_NotLoaded = 203, + Driver_RuntimeOutOfDate = 204, + Driver_HmdInUse = 205, + Driver_NotCalibrated = 206, + Driver_CalibrationInvalid = 207, + Driver_HmdDisplayNotFound = 208, + IPC_ServerInitFailed = 300, + IPC_ConnectFailed = 301, + IPC_SharedStateInitFailed = 302, + IPC_CompositorInitFailed = 303, + IPC_MutexInitFailed = 304, + IPC_Failed = 305, + Compositor_Failed = 400, + Compositor_D3D11HardwareRequired = 401, + Compositor_FirmwareRequiresUpdate = 402, + Compositor_OverlayInitFailed = 403, + Compositor_ScreenshotsInitFailed = 404, + VendorSpecific_UnableToConnectToOculusRuntime = 1000, + VendorSpecific_HmdFound_CantOpenDevice = 1101, + VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102, + VendorSpecific_HmdFound_NoStoredConfig = 1103, + VendorSpecific_HmdFound_ConfigTooBig = 1104, + VendorSpecific_HmdFound_ConfigTooSmall = 1105, + VendorSpecific_HmdFound_UnableToInitZLib = 1106, + VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107, + VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108, + VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109, + VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110, + VendorSpecific_HmdFound_UserDataAddressRange = 1111, + VendorSpecific_HmdFound_UserDataError = 1112, + VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113, + Steam_SteamInstallationNotFound = 2000, +} +public enum EVRScreenshotType +{ + None = 0, + Mono = 1, + Stereo = 2, + Cubemap = 3, + MonoPanorama = 4, + StereoPanorama = 5, +} +public enum EVRScreenshotPropertyFilenames +{ + Preview = 0, + VR = 1, +} +public enum EVRTrackedCameraError +{ + None = 0, + OperationFailed = 100, + InvalidHandle = 101, + InvalidFrameHeaderVersion = 102, + OutOfHandles = 103, + IPCFailure = 104, + NotSupportedForThisDevice = 105, + SharedMemoryFailure = 106, + FrameBufferingFailure = 107, + StreamSetupFailure = 108, + InvalidGLTextureId = 109, + InvalidSharedTextureHandle = 110, + FailedToGetGLTextureId = 111, + SharedTextureFailure = 112, + NoFrameAvailable = 113, + InvalidArgument = 114, + InvalidFrameBufferSize = 115, +} +public enum EVRTrackedCameraFrameType +{ + Distorted = 0, + Undistorted = 1, + MaximumUndistorted = 2, + MAX_CAMERA_FRAME_TYPES = 3, +} +public enum EVRApplicationError +{ + None = 0, + AppKeyAlreadyExists = 100, + NoManifest = 101, + NoApplication = 102, + InvalidIndex = 103, + UnknownApplication = 104, + IPCFailed = 105, + ApplicationAlreadyRunning = 106, + InvalidManifest = 107, + InvalidApplication = 108, + LaunchFailed = 109, + ApplicationAlreadyStarting = 110, + LaunchInProgress = 111, + OldApplicationQuitting = 112, + TransitionAborted = 113, + IsTemplate = 114, + BufferTooSmall = 200, + PropertyNotSet = 201, + UnknownProperty = 202, + InvalidParameter = 203, +} +public enum EVRApplicationProperty +{ + Name_String = 0, + LaunchType_String = 11, + WorkingDirectory_String = 12, + BinaryPath_String = 13, + Arguments_String = 14, + URL_String = 15, + Description_String = 50, + NewsURL_String = 51, + ImagePath_String = 52, + Source_String = 53, + IsDashboardOverlay_Bool = 60, + IsTemplate_Bool = 61, + IsInstanced_Bool = 62, + LastLaunchTime_Uint64 = 70, +} +public enum EVRApplicationTransitionState +{ + VRApplicationTransition_None = 0, + VRApplicationTransition_OldAppQuitSent = 10, + VRApplicationTransition_WaitingForExternalLaunch = 11, + VRApplicationTransition_NewAppLaunched = 20, +} +public enum ChaperoneCalibrationState +{ + OK = 1, + Warning = 100, + Warning_BaseStationMayHaveMoved = 101, + Warning_BaseStationRemoved = 102, + Warning_SeatedBoundsInvalid = 103, + Error = 200, + Error_BaseStationUninitalized = 201, + Error_BaseStationConflict = 202, + Error_PlayAreaInvalid = 203, + Error_CollisionBoundsInvalid = 204, +} +public enum EChaperoneConfigFile +{ + Live = 1, + Temp = 2, +} +public enum EChaperoneImportFlags +{ + EChaperoneImport_BoundsOnly = 1, +} +public enum EVRCompositorError +{ + None = 0, + RequestFailed = 1, + IncompatibleVersion = 100, + DoNotHaveFocus = 101, + InvalidTexture = 102, + IsNotSceneApplication = 103, + TextureIsOnWrongDevice = 104, + TextureUsesUnsupportedFormat = 105, + SharedTexturesNotSupported = 106, + IndexOutOfRange = 107, +} +public enum VROverlayInputMethod +{ + None = 0, + Mouse = 1, +} +public enum VROverlayTransformType +{ + VROverlayTransform_Absolute = 0, + VROverlayTransform_TrackedDeviceRelative = 1, + VROverlayTransform_SystemOverlay = 2, + VROverlayTransform_TrackedComponent = 3, +} +public enum VROverlayFlags +{ + None = 0, + Curved = 1, + RGSS4X = 2, + NoDashboardTab = 3, + AcceptsGamepadEvents = 4, + ShowGamepadFocus = 5, + SendVRScrollEvents = 6, + SendVRTouchpadEvents = 7, + ShowTouchPadScrollWheel = 8, + TransferOwnershipToInternalProcess = 9, + SideBySide_Parallel = 10, + SideBySide_Crossed = 11, + Panorama = 12, + StereoPanorama = 13, +} +public enum EGamepadTextInputMode +{ + k_EGamepadTextInputModeNormal = 0, + k_EGamepadTextInputModePassword = 1, + k_EGamepadTextInputModeSubmit = 2, +} +public enum EGamepadTextInputLineMode +{ + k_EGamepadTextInputLineModeSingleLine = 0, + k_EGamepadTextInputLineModeMultipleLines = 1, +} +public enum EOverlayDirection +{ + Up = 0, + Down = 1, + Left = 2, + Right = 3, + Count = 4, +} +public enum EVRRenderModelError +{ + None = 0, + Loading = 100, + NotSupported = 200, + InvalidArg = 300, + InvalidModel = 301, + NoShapes = 302, + MultipleShapes = 303, + TooManyVertices = 304, + MultipleTextures = 305, + BufferTooSmall = 306, + NotEnoughNormals = 307, + NotEnoughTexCoords = 308, + InvalidTexture = 400, +} +public enum EVRComponentProperty +{ + IsStatic = 1, + IsVisible = 2, + IsTouched = 4, + IsPressed = 8, + IsScrolled = 16, +} +public enum EVRNotificationType +{ + Transient = 0, + Persistent = 1, + Transient_SystemWithUserValue = 2, +} +public enum EVRNotificationStyle +{ + None = 0, + Application = 100, + Contact_Disabled = 200, + Contact_Enabled = 201, + Contact_Active = 202, +} +public enum EVRSettingsError +{ + None = 0, + IPCFailed = 1, + WriteFailed = 2, + ReadFailed = 3, +} +public enum EVRScreenshotError +{ + None = 0, + RequestFailed = 1, + IncompatibleVersion = 100, + NotFound = 101, + BufferTooSmall = 102, + ScreenshotAlreadyInProgress = 108, +} + +[StructLayout(LayoutKind.Explicit)] public struct VREvent_Data_t +{ + [FieldOffset(0)] public VREvent_Reserved_t reserved; + [FieldOffset(0)] public VREvent_Controller_t controller; + [FieldOffset(0)] public VREvent_Mouse_t mouse; + [FieldOffset(0)] public VREvent_Scroll_t scroll; + [FieldOffset(0)] public VREvent_Process_t process; + [FieldOffset(0)] public VREvent_Notification_t notification; + [FieldOffset(0)] public VREvent_Overlay_t overlay; + [FieldOffset(0)] public VREvent_Status_t status; + [FieldOffset(0)] public VREvent_Ipd_t ipd; + [FieldOffset(0)] public VREvent_Chaperone_t chaperone; + [FieldOffset(0)] public VREvent_PerformanceTest_t performanceTest; + [FieldOffset(0)] public VREvent_TouchPadMove_t touchPadMove; + [FieldOffset(0)] public VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset; + [FieldOffset(0)] public VREvent_Screenshot_t screenshot; + [FieldOffset(0)] public VREvent_Keyboard_t keyboard; // This has to be at the end due to a mono bug +} + +[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix34_t +{ + public float m0; //float[3][4] + public float m1; + public float m2; + public float m3; + public float m4; + public float m5; + public float m6; + public float m7; + public float m8; + public float m9; + public float m10; + public float m11; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdMatrix44_t +{ + public float m0; //float[4][4] + public float m1; + public float m2; + public float m3; + public float m4; + public float m5; + public float m6; + public float m7; + public float m8; + public float m9; + public float m10; + public float m11; + public float m12; + public float m13; + public float m14; + public float m15; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdVector3_t +{ + public float v0; //float[3] + public float v1; + public float v2; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdVector4_t +{ + public float v0; //float[4] + public float v1; + public float v2; + public float v3; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdVector3d_t +{ + public double v0; //double[3] + public double v1; + public double v2; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdVector2_t +{ + public float v0; //float[2] + public float v1; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdQuaternion_t +{ + public double w; + public double x; + public double y; + public double z; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdColor_t +{ + public float r; + public float g; + public float b; + public float a; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdQuad_t +{ + public HmdVector3_t vCorners0; //HmdVector3_t[4] + public HmdVector3_t vCorners1; + public HmdVector3_t vCorners2; + public HmdVector3_t vCorners3; +} +[StructLayout(LayoutKind.Sequential)] public struct HmdRect2_t +{ + public HmdVector2_t vTopLeft; + public HmdVector2_t vBottomRight; +} +[StructLayout(LayoutKind.Sequential)] public struct DistortionCoordinates_t +{ + public float rfRed0; //float[2] + public float rfRed1; + public float rfGreen0; //float[2] + public float rfGreen1; + public float rfBlue0; //float[2] + public float rfBlue1; +} +[StructLayout(LayoutKind.Sequential)] public struct Texture_t +{ + public IntPtr handle; // void * + public EGraphicsAPIConvention eType; + public EColorSpace eColorSpace; +} +[StructLayout(LayoutKind.Sequential)] public struct TrackedDevicePose_t +{ + public HmdMatrix34_t mDeviceToAbsoluteTracking; + public HmdVector3_t vVelocity; + public HmdVector3_t vAngularVelocity; + public ETrackingResult eTrackingResult; + [MarshalAs(UnmanagedType.I1)] + public bool bPoseIsValid; + [MarshalAs(UnmanagedType.I1)] + public bool bDeviceIsConnected; +} +[StructLayout(LayoutKind.Sequential)] public struct VRTextureBounds_t +{ + public float uMin; + public float vMin; + public float uMax; + public float vMax; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Controller_t +{ + public uint button; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Mouse_t +{ + public float x; + public float y; + public uint button; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Scroll_t +{ + public float xdelta; + public float ydelta; + public uint repeatCount; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_TouchPadMove_t +{ + [MarshalAs(UnmanagedType.I1)] + public bool bFingerDown; + public float flSecondsFingerDown; + public float fValueXFirst; + public float fValueYFirst; + public float fValueXRaw; + public float fValueYRaw; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Notification_t +{ + public ulong ulUserValue; + public uint notificationId; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Process_t +{ + public uint pid; + public uint oldPid; + [MarshalAs(UnmanagedType.I1)] + public bool bForced; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Overlay_t +{ + public ulong overlayHandle; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Status_t +{ + public uint statusState; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Keyboard_t +{ + public byte cNewInput0,cNewInput1,cNewInput2,cNewInput3,cNewInput4,cNewInput5,cNewInput6,cNewInput7; + public ulong uUserValue; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Ipd_t +{ + public float ipdMeters; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Chaperone_t +{ + public ulong m_nPreviousUniverse; + public ulong m_nCurrentUniverse; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Reserved_t +{ + public ulong reserved0; + public ulong reserved1; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_PerformanceTest_t +{ + public uint m_nFidelityLevel; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_SeatedZeroPoseReset_t +{ + [MarshalAs(UnmanagedType.I1)] + public bool bResetBySystemMenu; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_Screenshot_t +{ + public uint handle; + public uint type; +} +[StructLayout(LayoutKind.Sequential)] public struct VREvent_t +{ + public uint eventType; + public uint trackedDeviceIndex; + public float eventAgeSeconds; + public VREvent_Data_t data; +} +[StructLayout(LayoutKind.Sequential)] public struct HiddenAreaMesh_t +{ + public IntPtr pVertexData; // const struct vr::HmdVector2_t * + public uint unTriangleCount; +} +[StructLayout(LayoutKind.Sequential)] public struct VRControllerAxis_t +{ + public float x; + public float y; +} +[StructLayout(LayoutKind.Sequential)] public struct VRControllerState_t +{ + public uint unPacketNum; + public ulong ulButtonPressed; + public ulong ulButtonTouched; + public VRControllerAxis_t rAxis0; //VRControllerAxis_t[5] + public VRControllerAxis_t rAxis1; + public VRControllerAxis_t rAxis2; + public VRControllerAxis_t rAxis3; + public VRControllerAxis_t rAxis4; +} +[StructLayout(LayoutKind.Sequential)] public struct Compositor_OverlaySettings +{ + public uint size; + [MarshalAs(UnmanagedType.I1)] + public bool curved; + [MarshalAs(UnmanagedType.I1)] + public bool antialias; + public float scale; + public float distance; + public float alpha; + public float uOffset; + public float vOffset; + public float uScale; + public float vScale; + public float gridDivs; + public float gridWidth; + public float gridScale; + public HmdMatrix44_t transform; +} +[StructLayout(LayoutKind.Sequential)] public struct CameraVideoStreamFrameHeader_t +{ + public EVRTrackedCameraFrameType eFrameType; + public uint nWidth; + public uint nHeight; + public uint nBytesPerPixel; + public uint nFrameSequence; + public TrackedDevicePose_t standingTrackedDevicePose; +} +[StructLayout(LayoutKind.Sequential)] public struct AppOverrideKeys_t +{ + public IntPtr pchKey; // const char * + public IntPtr pchValue; // const char * +} +[StructLayout(LayoutKind.Sequential)] public struct Compositor_FrameTiming +{ + public uint m_nSize; + public uint m_nFrameIndex; + public uint m_nNumFramePresents; + public uint m_nNumDroppedFrames; + public double m_flSystemTimeInSeconds; + public float m_flSceneRenderGpuMs; + public float m_flTotalRenderGpuMs; + public float m_flCompositorRenderGpuMs; + public float m_flCompositorRenderCpuMs; + public float m_flCompositorIdleCpuMs; + public float m_flClientFrameIntervalMs; + public float m_flPresentCallCpuMs; + public float m_flWaitForPresentCpuMs; + public float m_flSubmitFrameMs; + public float m_flWaitGetPosesCalledMs; + public float m_flNewPosesReadyMs; + public float m_flNewFrameReadyMs; + public float m_flCompositorUpdateStartMs; + public float m_flCompositorUpdateEndMs; + public float m_flCompositorRenderStartMs; + public TrackedDevicePose_t m_HmdPose; + public int m_nFidelityLevel; + public uint m_nReprojectionFlags; +} +[StructLayout(LayoutKind.Sequential)] public struct Compositor_CumulativeStats +{ + public uint m_nPid; + public uint m_nNumFramePresents; + public uint m_nNumDroppedFrames; + public uint m_nNumReprojectedFrames; + public uint m_nNumFramePresentsOnStartup; + public uint m_nNumDroppedFramesOnStartup; + public uint m_nNumReprojectedFramesOnStartup; + public uint m_nNumLoading; + public uint m_nNumFramePresentsLoading; + public uint m_nNumDroppedFramesLoading; + public uint m_nNumReprojectedFramesLoading; + public uint m_nNumTimedOut; + public uint m_nNumFramePresentsTimedOut; + public uint m_nNumDroppedFramesTimedOut; + public uint m_nNumReprojectedFramesTimedOut; +} +[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionParams_t +{ + public HmdVector3_t vSource; + public HmdVector3_t vDirection; + public ETrackingUniverseOrigin eOrigin; +} +[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionResults_t +{ + public HmdVector3_t vPoint; + public HmdVector3_t vNormal; + public HmdVector2_t vUVs; + public float fDistance; +} +[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ComponentState_t +{ + public HmdMatrix34_t mTrackingToComponentRenderModel; + public HmdMatrix34_t mTrackingToComponentLocal; + public uint uProperties; +} +[StructLayout(LayoutKind.Sequential)] public struct RenderModel_Vertex_t +{ + public HmdVector3_t vPosition; + public HmdVector3_t vNormal; + public float rfTextureCoord0; //float[2] + public float rfTextureCoord1; +} +[StructLayout(LayoutKind.Sequential)] public struct RenderModel_TextureMap_t +{ + public char unWidth; + public char unHeight; + public IntPtr rubTextureMapData; // const uint8_t * +} +[StructLayout(LayoutKind.Sequential)] public struct RenderModel_t +{ + public IntPtr rVertexData; // const struct vr::RenderModel_Vertex_t * + public uint unVertexCount; + public IntPtr rIndexData; // const uint16_t * + public uint unTriangleCount; + public int diffuseTextureId; +} +[StructLayout(LayoutKind.Sequential)] public struct RenderModel_ControllerMode_State_t +{ + [MarshalAs(UnmanagedType.I1)] + public bool bScrollWheelVisible; +} +[StructLayout(LayoutKind.Sequential)] public struct NotificationBitmap_t +{ + public IntPtr m_pImageData; // void * + public int m_nWidth; + public int m_nHeight; + public int m_nBytesPerPixel; +} +[StructLayout(LayoutKind.Sequential)] public struct COpenVRContext +{ + public IntPtr m_pVRSystem; // class vr::IVRSystem * + public IntPtr m_pVRChaperone; // class vr::IVRChaperone * + public IntPtr m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup * + public IntPtr m_pVRCompositor; // class vr::IVRCompositor * + public IntPtr m_pVROverlay; // class vr::IVROverlay * + public IntPtr m_pVRRenderModels; // class vr::IVRRenderModels * + public IntPtr m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay * + public IntPtr m_pVRSettings; // class vr::IVRSettings * + public IntPtr m_pVRApplications; // class vr::IVRApplications * + public IntPtr m_pVRTrackedCamera; // class vr::IVRTrackedCamera * + public IntPtr m_pVRScreenshots; // class vr::IVRScreenshots * +} + +public class OpenVR +{ + + public static uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType) + { + return OpenVRInterop.InitInternal(ref peError, eApplicationType); + } + + public static void ShutdownInternal() + { + OpenVRInterop.ShutdownInternal(); + } + + public static bool IsHmdPresent() + { + return OpenVRInterop.IsHmdPresent(); + } + + public static bool IsRuntimeInstalled() + { + return OpenVRInterop.IsRuntimeInstalled(); + } + + public static string GetStringForHmdError(EVRInitError error) + { + return Marshal.PtrToStringAnsi(OpenVRInterop.GetStringForHmdError(error)); + } + + public static IntPtr GetGenericInterface(string pchInterfaceVersion, ref EVRInitError peError) + { + return OpenVRInterop.GetGenericInterface(pchInterfaceVersion, ref peError); + } + + public static bool IsInterfaceVersionValid(string pchInterfaceVersion) + { + return OpenVRInterop.IsInterfaceVersionValid(pchInterfaceVersion); + } + + public static uint GetInitToken() + { + return OpenVRInterop.GetInitToken(); + } + + public const uint k_unTrackingStringSize = 32; + public const uint k_unMaxDriverDebugResponseSize = 32768; + public const uint k_unTrackedDeviceIndex_Hmd = 0; + public const uint k_unMaxTrackedDeviceCount = 16; + public const uint k_unTrackedDeviceIndexOther = 4294967294; + public const uint k_unTrackedDeviceIndexInvalid = 4294967295; + public const uint k_unMaxPropertyStringSize = 32768; + public const uint k_unControllerStateAxisCount = 5; + public const ulong k_ulOverlayHandleInvalid = 0; + public const uint k_unScreenshotHandleInvalid = 0; + public const string IVRSystem_Version = "IVRSystem_012"; + public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001"; + public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003"; + public const uint k_unMaxApplicationKeyLength = 128; + public const string IVRApplications_Version = "IVRApplications_005"; + public const string IVRChaperone_Version = "IVRChaperone_003"; + public const string IVRChaperoneSetup_Version = "IVRChaperoneSetup_005"; + public const string IVRCompositor_Version = "IVRCompositor_015"; + public const uint k_unVROverlayMaxKeyLength = 128; + public const uint k_unVROverlayMaxNameLength = 128; + public const uint k_unMaxOverlayCount = 32; + public const string IVROverlay_Version = "IVROverlay_012"; + public const string k_pch_Controller_Component_GDC2015 = "gdc2015"; + public const string k_pch_Controller_Component_Base = "base"; + public const string k_pch_Controller_Component_Tip = "tip"; + public const string k_pch_Controller_Component_HandGrip = "handgrip"; + public const string k_pch_Controller_Component_Status = "status"; + public const string IVRRenderModels_Version = "IVRRenderModels_005"; + public const uint k_unNotificationTextMaxSize = 256; + public const string IVRNotifications_Version = "IVRNotifications_002"; + public const uint k_unMaxSettingsKeyLength = 128; + public const string IVRSettings_Version = "IVRSettings_001"; + public const string k_pch_SteamVR_Section = "steamvr"; + public const string k_pch_SteamVR_RequireHmd_String = "requireHmd"; + public const string k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver"; + public const string k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd"; + public const string k_pch_SteamVR_DisplayDebug_Bool = "displayDebug"; + public const string k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe"; + public const string k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion"; + public const string k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX"; + public const string k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY"; + public const string k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps"; + public const string k_pch_SteamVR_LogLevel_Int32 = "loglevel"; + public const string k_pch_SteamVR_IPD_Float = "ipd"; + public const string k_pch_SteamVR_Background_String = "background"; + public const string k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; + public const string k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; + public const string k_pch_SteamVR_Environment_String = "environment"; + public const string k_pch_SteamVR_GridColor_String = "gridColor"; + public const string k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; + public const string k_pch_SteamVR_ShowStage_Bool = "showStage"; + public const string k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers"; + public const string k_pch_SteamVR_PowerOffOnExit_Bool = "powerOffOnExit"; + public const string k_pch_SteamVR_StandbyAppRunningTimeout_Float = "standbyAppRunningTimeout"; + public const string k_pch_SteamVR_StandbyNoAppTimeout_Float = "standbyNoAppTimeout"; + public const string k_pch_SteamVR_DirectMode_Bool = "directMode"; + public const string k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid"; + public const string k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid"; + public const string k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers"; + public const string k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees"; + public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; + public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; + public const string k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; + public const string k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; + public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; + public const string k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; + public const string k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; + public const string k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView"; + public const string k_pch_Lighthouse_Section = "driver_lighthouse"; + public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu"; + public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation"; + public const string k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug"; + public const string k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation"; + public const string k_pch_Lighthouse_LighthouseName_String = "lighthousename"; + public const string k_pch_Lighthouse_MaxIncidenceAngleDegrees_Float = "maxincidenceangledegrees"; + public const string k_pch_Lighthouse_UseLighthouseDirect_Bool = "uselighthousedirect"; + public const string k_pch_Lighthouse_DBHistory_Bool = "dbhistory"; + public const string k_pch_Null_Section = "driver_null"; + public const string k_pch_Null_EnableNullDriver_Bool = "enable"; + public const string k_pch_Null_SerialNumber_String = "serialNumber"; + public const string k_pch_Null_ModelNumber_String = "modelNumber"; + public const string k_pch_Null_WindowX_Int32 = "windowX"; + public const string k_pch_Null_WindowY_Int32 = "windowY"; + public const string k_pch_Null_WindowWidth_Int32 = "windowWidth"; + public const string k_pch_Null_WindowHeight_Int32 = "windowHeight"; + public const string k_pch_Null_RenderWidth_Int32 = "renderWidth"; + public const string k_pch_Null_RenderHeight_Int32 = "renderHeight"; + public const string k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons"; + public const string k_pch_Null_DisplayFrequency_Float = "displayFrequency"; + public const string k_pch_UserInterface_Section = "userinterface"; + public const string k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; + public const string k_pch_UserInterface_EnableScreenshots_Bool = "EnableScreenshots"; + public const string k_pch_Notifications_Section = "notifications"; + public const string k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb"; + public const string k_pch_Keyboard_Section = "keyboard"; + public const string k_pch_Keyboard_TutorialCompletions = "TutorialCompletions"; + public const string k_pch_Keyboard_ScaleX = "ScaleX"; + public const string k_pch_Keyboard_ScaleY = "ScaleY"; + public const string k_pch_Keyboard_OffsetLeftX = "OffsetLeftX"; + public const string k_pch_Keyboard_OffsetRightX = "OffsetRightX"; + public const string k_pch_Keyboard_OffsetY = "OffsetY"; + public const string k_pch_Keyboard_Smoothing = "Smoothing"; + public const string k_pch_Perf_Section = "perfcheck"; + public const string k_pch_Perf_HeuristicActive_Bool = "heuristicActive"; + public const string k_pch_Perf_NotifyInHMD_Bool = "warnInHMD"; + public const string k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce"; + public const string k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore"; + public const string k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit"; + public const string k_pch_Perf_TestData_Float = "perfTestData"; + public const string k_pch_CollisionBounds_Section = "collisionBounds"; + public const string k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle"; + public const string k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn"; + public const string k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn"; + public const string k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn"; + public const string k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance"; + public const string k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR"; + public const string k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG"; + public const string k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB"; + public const string k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA"; + public const string k_pch_Camera_Section = "camera"; + public const string k_pch_Camera_EnableCamera_Bool = "enableCamera"; + public const string k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard"; + public const string k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds"; + public const string k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView"; + public const string k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR"; + public const string k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG"; + public const string k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB"; + public const string k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA"; + public const string k_pch_audio_Section = "audio"; + public const string k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice"; + public const string k_pch_audio_OnRecordDevice_String = "onRecordDevice"; + public const string k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice"; + public const string k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice"; + public const string k_pch_audio_OffRecordDevice_String = "offRecordDevice"; + public const string k_pch_audio_VIVEHDMIGain = "viveHDMIGain"; + public const string k_pch_modelskin_Section = "modelskins"; + public const string IVRScreenshots_Version = "IVRScreenshots_001"; + + static uint VRToken { get; set; } + + const string FnTable_Prefix = "FnTable:"; + + class COpenVRContext + { + public COpenVRContext() { Clear(); } + + public void Clear() + { + m_pVRSystem = null; + m_pVRChaperone = null; + m_pVRChaperoneSetup = null; + m_pVRCompositor = null; + m_pVROverlay = null; + m_pVRRenderModels = null; + m_pVRExtendedDisplay = null; + m_pVRSettings = null; + m_pVRApplications = null; + m_pVRScreenshots = null; + } + + void CheckClear() + { + if (VRToken != GetInitToken()) + { + Clear(); + VRToken = GetInitToken(); + } + } + + public CVRSystem VRSystem() + { + CheckClear(); + if (m_pVRSystem == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSystem_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRSystem = new CVRSystem(pInterface); + } + return m_pVRSystem; + } + + public CVRChaperone VRChaperone() + { + CheckClear(); + if (m_pVRChaperone == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperone_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRChaperone = new CVRChaperone(pInterface); + } + return m_pVRChaperone; + } + + public CVRChaperoneSetup VRChaperoneSetup() + { + CheckClear(); + if (m_pVRChaperoneSetup == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRChaperoneSetup_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRChaperoneSetup = new CVRChaperoneSetup(pInterface); + } + return m_pVRChaperoneSetup; + } + + public CVRCompositor VRCompositor() + { + CheckClear(); + if (m_pVRCompositor == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRCompositor_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRCompositor = new CVRCompositor(pInterface); + } + return m_pVRCompositor; + } + + public CVROverlay VROverlay() + { + CheckClear(); + if (m_pVROverlay == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVROverlay_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVROverlay = new CVROverlay(pInterface); + } + return m_pVROverlay; + } + + public CVRRenderModels VRRenderModels() + { + CheckClear(); + if (m_pVRRenderModels == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRRenderModels_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRRenderModels = new CVRRenderModels(pInterface); + } + return m_pVRRenderModels; + } + + public CVRExtendedDisplay VRExtendedDisplay() + { + CheckClear(); + if (m_pVRExtendedDisplay == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRExtendedDisplay_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRExtendedDisplay = new CVRExtendedDisplay(pInterface); + } + return m_pVRExtendedDisplay; + } + + public CVRSettings VRSettings() + { + CheckClear(); + if (m_pVRSettings == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRSettings_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRSettings = new CVRSettings(pInterface); + } + return m_pVRSettings; + } + + public CVRApplications VRApplications() + { + CheckClear(); + if (m_pVRApplications == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRApplications_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRApplications = new CVRApplications(pInterface); + } + return m_pVRApplications; + } + + public CVRScreenshots VRScreenshots() + { + CheckClear(); + if (m_pVRScreenshots == null) + { + var eError = EVRInitError.None; + var pInterface = OpenVRInterop.GetGenericInterface(FnTable_Prefix+IVRScreenshots_Version, ref eError); + if (pInterface != IntPtr.Zero && eError == EVRInitError.None) + m_pVRScreenshots = new CVRScreenshots(pInterface); + } + return m_pVRScreenshots; + } + + private CVRSystem m_pVRSystem; + private CVRChaperone m_pVRChaperone; + private CVRChaperoneSetup m_pVRChaperoneSetup; + private CVRCompositor m_pVRCompositor; + private CVROverlay m_pVROverlay; + private CVRRenderModels m_pVRRenderModels; + private CVRExtendedDisplay m_pVRExtendedDisplay; + private CVRSettings m_pVRSettings; + private CVRApplications m_pVRApplications; + private CVRScreenshots m_pVRScreenshots; + }; + + private static COpenVRContext _OpenVRInternal_ModuleContext = null; + static COpenVRContext OpenVRInternal_ModuleContext + { + get + { + if (_OpenVRInternal_ModuleContext == null) + _OpenVRInternal_ModuleContext = new COpenVRContext(); + return _OpenVRInternal_ModuleContext; + } + } + + public static CVRSystem System { get { return OpenVRInternal_ModuleContext.VRSystem(); } } + public static CVRChaperone Chaperone { get { return OpenVRInternal_ModuleContext.VRChaperone(); } } + public static CVRChaperoneSetup ChaperoneSetup { get { return OpenVRInternal_ModuleContext.VRChaperoneSetup(); } } + public static CVRCompositor Compositor { get { return OpenVRInternal_ModuleContext.VRCompositor(); } } + public static CVROverlay Overlay { get { return OpenVRInternal_ModuleContext.VROverlay(); } } + public static CVRRenderModels RenderModels { get { return OpenVRInternal_ModuleContext.VRRenderModels(); } } + public static CVRApplications Applications { get { return OpenVRInternal_ModuleContext.VRApplications(); } } + public static CVRSettings Settings { get { return OpenVRInternal_ModuleContext.VRSettings(); } } + public static CVRExtendedDisplay ExtendedDisplay { get { return OpenVRInternal_ModuleContext.VRExtendedDisplay(); } } + public static CVRScreenshots Screenshots { get { return OpenVRInternal_ModuleContext.VRScreenshots(); } } + + /** Finds the active installation of vrclient.dll and initializes it */ + public static CVRSystem Init(ref EVRInitError peError, EVRApplicationType eApplicationType = EVRApplicationType.VRApplication_Scene) + { + VRToken = InitInternal(ref peError, eApplicationType); + OpenVRInternal_ModuleContext.Clear(); + + if (peError != EVRInitError.None) + return null; + + bool bInterfaceValid = IsInterfaceVersionValid(IVRSystem_Version); + if (!bInterfaceValid) + { + ShutdownInternal(); + peError = EVRInitError.Init_InterfaceNotFound; + return null; + } + + return OpenVR.System; + } + + /** unloads vrclient.dll. Any interface pointers from the interface are + * invalid after this point */ + public static void Shutdown() + { + ShutdownInternal(); + } + +} + + + +} + diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json new file mode 100644 index 000000000..c72b2c415 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json @@ -0,0 +1,3347 @@ +{"typedefs":[{"typedef": "vr::glSharedTextureHandle_t","type": "void *"} +,{"typedef": "vr::glInt_t","type": "int32_t"} +,{"typedef": "vr::glUInt_t","type": "uint32_t"} +,{"typedef": "vr::TrackedDeviceIndex_t","type": "uint32_t"} +,{"typedef": "vr::VREvent_Data_t","type": "union VREvent_Data_t"} +,{"typedef": "vr::VRControllerState_t","type": "struct vr::VRControllerState001_t"} +,{"typedef": "vr::VROverlayHandle_t","type": "uint64_t"} +,{"typedef": "vr::TrackedCameraHandle_t","type": "uint64_t"} +,{"typedef": "vr::ScreenshotHandle_t","type": "uint32_t"} +,{"typedef": "vr::VRComponentProperties","type": "uint32_t"} +,{"typedef": "vr::TextureID_t","type": "int32_t"} +,{"typedef": "vr::VRNotificationId","type": "uint32_t"} +,{"typedef": "vr::HmdError","type": "enum vr::EVRInitError"} +,{"typedef": "vr::Hmd_Eye","type": "enum vr::EVREye"} +,{"typedef": "vr::GraphicsAPIConvention","type": "enum vr::EGraphicsAPIConvention"} +,{"typedef": "vr::ColorSpace","type": "enum vr::EColorSpace"} +,{"typedef": "vr::HmdTrackingResult","type": "enum vr::ETrackingResult"} +,{"typedef": "vr::TrackedDeviceClass","type": "enum vr::ETrackedDeviceClass"} +,{"typedef": "vr::TrackingUniverseOrigin","type": "enum vr::ETrackingUniverseOrigin"} +,{"typedef": "vr::TrackedDeviceProperty","type": "enum vr::ETrackedDeviceProperty"} +,{"typedef": "vr::TrackedPropertyError","type": "enum vr::ETrackedPropertyError"} +,{"typedef": "vr::VRSubmitFlags_t","type": "enum vr::EVRSubmitFlags"} +,{"typedef": "vr::VRState_t","type": "enum vr::EVRState"} +,{"typedef": "vr::CollisionBoundsStyle_t","type": "enum vr::ECollisionBoundsStyle"} +,{"typedef": "vr::VROverlayError","type": "enum vr::EVROverlayError"} +,{"typedef": "vr::VRFirmwareError","type": "enum vr::EVRFirmwareError"} +,{"typedef": "vr::VRCompositorError","type": "enum vr::EVRCompositorError"} +,{"typedef": "vr::VRScreenshotsError","type": "enum vr::EVRScreenshotError"} +], +"enums":[ + {"enumname": "vr::EVREye","values": [ + {"name": "Eye_Left","value": "0"} + ,{"name": "Eye_Right","value": "1"} +]} +, {"enumname": "vr::EGraphicsAPIConvention","values": [ + {"name": "API_DirectX","value": "0"} + ,{"name": "API_OpenGL","value": "1"} +]} +, {"enumname": "vr::EColorSpace","values": [ + {"name": "ColorSpace_Auto","value": "0"} + ,{"name": "ColorSpace_Gamma","value": "1"} + ,{"name": "ColorSpace_Linear","value": "2"} +]} +, {"enumname": "vr::ETrackingResult","values": [ + {"name": "TrackingResult_Uninitialized","value": "1"} + ,{"name": "TrackingResult_Calibrating_InProgress","value": "100"} + ,{"name": "TrackingResult_Calibrating_OutOfRange","value": "101"} + ,{"name": "TrackingResult_Running_OK","value": "200"} + ,{"name": "TrackingResult_Running_OutOfRange","value": "201"} +]} +, {"enumname": "vr::ETrackedDeviceClass","values": [ + {"name": "TrackedDeviceClass_Invalid","value": "0"} + ,{"name": "TrackedDeviceClass_HMD","value": "1"} + ,{"name": "TrackedDeviceClass_Controller","value": "2"} + ,{"name": "TrackedDeviceClass_TrackingReference","value": "4"} + ,{"name": "TrackedDeviceClass_Other","value": "1000"} +]} +, {"enumname": "vr::ETrackedControllerRole","values": [ + {"name": "TrackedControllerRole_Invalid","value": "0"} + ,{"name": "TrackedControllerRole_LeftHand","value": "1"} + ,{"name": "TrackedControllerRole_RightHand","value": "2"} +]} +, {"enumname": "vr::ETrackingUniverseOrigin","values": [ + {"name": "TrackingUniverseSeated","value": "0"} + ,{"name": "TrackingUniverseStanding","value": "1"} + ,{"name": "TrackingUniverseRawAndUncalibrated","value": "2"} +]} +, {"enumname": "vr::ETrackedDeviceProperty","values": [ + {"name": "Prop_TrackingSystemName_String","value": "1000"} + ,{"name": "Prop_ModelNumber_String","value": "1001"} + ,{"name": "Prop_SerialNumber_String","value": "1002"} + ,{"name": "Prop_RenderModelName_String","value": "1003"} + ,{"name": "Prop_WillDriftInYaw_Bool","value": "1004"} + ,{"name": "Prop_ManufacturerName_String","value": "1005"} + ,{"name": "Prop_TrackingFirmwareVersion_String","value": "1006"} + ,{"name": "Prop_HardwareRevision_String","value": "1007"} + ,{"name": "Prop_AllWirelessDongleDescriptions_String","value": "1008"} + ,{"name": "Prop_ConnectedWirelessDongle_String","value": "1009"} + ,{"name": "Prop_DeviceIsWireless_Bool","value": "1010"} + ,{"name": "Prop_DeviceIsCharging_Bool","value": "1011"} + ,{"name": "Prop_DeviceBatteryPercentage_Float","value": "1012"} + ,{"name": "Prop_StatusDisplayTransform_Matrix34","value": "1013"} + ,{"name": "Prop_Firmware_UpdateAvailable_Bool","value": "1014"} + ,{"name": "Prop_Firmware_ManualUpdate_Bool","value": "1015"} + ,{"name": "Prop_Firmware_ManualUpdateURL_String","value": "1016"} + ,{"name": "Prop_HardwareRevision_Uint64","value": "1017"} + ,{"name": "Prop_FirmwareVersion_Uint64","value": "1018"} + ,{"name": "Prop_FPGAVersion_Uint64","value": "1019"} + ,{"name": "Prop_VRCVersion_Uint64","value": "1020"} + ,{"name": "Prop_RadioVersion_Uint64","value": "1021"} + ,{"name": "Prop_DongleVersion_Uint64","value": "1022"} + ,{"name": "Prop_BlockServerShutdown_Bool","value": "1023"} + ,{"name": "Prop_CanUnifyCoordinateSystemWithHmd_Bool","value": "1024"} + ,{"name": "Prop_ContainsProximitySensor_Bool","value": "1025"} + ,{"name": "Prop_DeviceProvidesBatteryStatus_Bool","value": "1026"} + ,{"name": "Prop_DeviceCanPowerOff_Bool","value": "1027"} + ,{"name": "Prop_Firmware_ProgrammingTarget_String","value": "1028"} + ,{"name": "Prop_DeviceClass_Int32","value": "1029"} + ,{"name": "Prop_HasCamera_Bool","value": "1030"} + ,{"name": "Prop_DriverVersion_String","value": "1031"} + ,{"name": "Prop_Firmware_ForceUpdateRequired_Bool","value": "1032"} + ,{"name": "Prop_ReportsTimeSinceVSync_Bool","value": "2000"} + ,{"name": "Prop_SecondsFromVsyncToPhotons_Float","value": "2001"} + ,{"name": "Prop_DisplayFrequency_Float","value": "2002"} + ,{"name": "Prop_UserIpdMeters_Float","value": "2003"} + ,{"name": "Prop_CurrentUniverseId_Uint64","value": "2004"} + ,{"name": "Prop_PreviousUniverseId_Uint64","value": "2005"} + ,{"name": "Prop_DisplayFirmwareVersion_Uint64","value": "2006"} + ,{"name": "Prop_IsOnDesktop_Bool","value": "2007"} + ,{"name": "Prop_DisplayMCType_Int32","value": "2008"} + ,{"name": "Prop_DisplayMCOffset_Float","value": "2009"} + ,{"name": "Prop_DisplayMCScale_Float","value": "2010"} + ,{"name": "Prop_EdidVendorID_Int32","value": "2011"} + ,{"name": "Prop_DisplayMCImageLeft_String","value": "2012"} + ,{"name": "Prop_DisplayMCImageRight_String","value": "2013"} + ,{"name": "Prop_DisplayGCBlackClamp_Float","value": "2014"} + ,{"name": "Prop_EdidProductID_Int32","value": "2015"} + ,{"name": "Prop_CameraToHeadTransform_Matrix34","value": "2016"} + ,{"name": "Prop_DisplayGCType_Int32","value": "2017"} + ,{"name": "Prop_DisplayGCOffset_Float","value": "2018"} + ,{"name": "Prop_DisplayGCScale_Float","value": "2019"} + ,{"name": "Prop_DisplayGCPrescale_Float","value": "2020"} + ,{"name": "Prop_DisplayGCImage_String","value": "2021"} + ,{"name": "Prop_LensCenterLeftU_Float","value": "2022"} + ,{"name": "Prop_LensCenterLeftV_Float","value": "2023"} + ,{"name": "Prop_LensCenterRightU_Float","value": "2024"} + ,{"name": "Prop_LensCenterRightV_Float","value": "2025"} + ,{"name": "Prop_UserHeadToEyeDepthMeters_Float","value": "2026"} + ,{"name": "Prop_CameraFirmwareVersion_Uint64","value": "2027"} + ,{"name": "Prop_CameraFirmwareDescription_String","value": "2028"} + ,{"name": "Prop_DisplayFPGAVersion_Uint64","value": "2029"} + ,{"name": "Prop_DisplayBootloaderVersion_Uint64","value": "2030"} + ,{"name": "Prop_DisplayHardwareVersion_Uint64","value": "2031"} + ,{"name": "Prop_AudioFirmwareVersion_Uint64","value": "2032"} + ,{"name": "Prop_CameraCompatibilityMode_Int32","value": "2033"} + ,{"name": "Prop_ScreenshotHorizontalFieldOfViewDegrees_Float","value": "2034"} + ,{"name": "Prop_ScreenshotVerticalFieldOfViewDegrees_Float","value": "2035"} + ,{"name": "Prop_DisplaySuppressed_Bool","value": "2036"} + ,{"name": "Prop_AttachedDeviceId_String","value": "3000"} + ,{"name": "Prop_SupportedButtons_Uint64","value": "3001"} + ,{"name": "Prop_Axis0Type_Int32","value": "3002"} + ,{"name": "Prop_Axis1Type_Int32","value": "3003"} + ,{"name": "Prop_Axis2Type_Int32","value": "3004"} + ,{"name": "Prop_Axis3Type_Int32","value": "3005"} + ,{"name": "Prop_Axis4Type_Int32","value": "3006"} + ,{"name": "Prop_FieldOfViewLeftDegrees_Float","value": "4000"} + ,{"name": "Prop_FieldOfViewRightDegrees_Float","value": "4001"} + ,{"name": "Prop_FieldOfViewTopDegrees_Float","value": "4002"} + ,{"name": "Prop_FieldOfViewBottomDegrees_Float","value": "4003"} + ,{"name": "Prop_TrackingRangeMinimumMeters_Float","value": "4004"} + ,{"name": "Prop_TrackingRangeMaximumMeters_Float","value": "4005"} + ,{"name": "Prop_ModeLabel_String","value": "4006"} + ,{"name": "Prop_VendorSpecific_Reserved_Start","value": "10000"} + ,{"name": "Prop_VendorSpecific_Reserved_End","value": "10999"} +]} +, {"enumname": "vr::ETrackedPropertyError","values": [ + {"name": "TrackedProp_Success","value": "0"} + ,{"name": "TrackedProp_WrongDataType","value": "1"} + ,{"name": "TrackedProp_WrongDeviceClass","value": "2"} + ,{"name": "TrackedProp_BufferTooSmall","value": "3"} + ,{"name": "TrackedProp_UnknownProperty","value": "4"} + ,{"name": "TrackedProp_InvalidDevice","value": "5"} + ,{"name": "TrackedProp_CouldNotContactServer","value": "6"} + ,{"name": "TrackedProp_ValueNotProvidedByDevice","value": "7"} + ,{"name": "TrackedProp_StringExceedsMaximumLength","value": "8"} + ,{"name": "TrackedProp_NotYetAvailable","value": "9"} +]} +, {"enumname": "vr::EVRSubmitFlags","values": [ + {"name": "Submit_Default","value": "0"} + ,{"name": "Submit_LensDistortionAlreadyApplied","value": "1"} + ,{"name": "Submit_GlRenderBuffer","value": "2"} +]} +, {"enumname": "vr::EVRState","values": [ + {"name": "VRState_Undefined","value": "-1"} + ,{"name": "VRState_Off","value": "0"} + ,{"name": "VRState_Searching","value": "1"} + ,{"name": "VRState_Searching_Alert","value": "2"} + ,{"name": "VRState_Ready","value": "3"} + ,{"name": "VRState_Ready_Alert","value": "4"} + ,{"name": "VRState_NotReady","value": "5"} + ,{"name": "VRState_Standby","value": "6"} +]} +, {"enumname": "vr::EVREventType","values": [ + {"name": "VREvent_None","value": "0"} + ,{"name": "VREvent_TrackedDeviceActivated","value": "100"} + ,{"name": "VREvent_TrackedDeviceDeactivated","value": "101"} + ,{"name": "VREvent_TrackedDeviceUpdated","value": "102"} + ,{"name": "VREvent_TrackedDeviceUserInteractionStarted","value": "103"} + ,{"name": "VREvent_TrackedDeviceUserInteractionEnded","value": "104"} + ,{"name": "VREvent_IpdChanged","value": "105"} + ,{"name": "VREvent_EnterStandbyMode","value": "106"} + ,{"name": "VREvent_LeaveStandbyMode","value": "107"} + ,{"name": "VREvent_TrackedDeviceRoleChanged","value": "108"} + ,{"name": "VREvent_ButtonPress","value": "200"} + ,{"name": "VREvent_ButtonUnpress","value": "201"} + ,{"name": "VREvent_ButtonTouch","value": "202"} + ,{"name": "VREvent_ButtonUntouch","value": "203"} + ,{"name": "VREvent_MouseMove","value": "300"} + ,{"name": "VREvent_MouseButtonDown","value": "301"} + ,{"name": "VREvent_MouseButtonUp","value": "302"} + ,{"name": "VREvent_FocusEnter","value": "303"} + ,{"name": "VREvent_FocusLeave","value": "304"} + ,{"name": "VREvent_Scroll","value": "305"} + ,{"name": "VREvent_TouchPadMove","value": "306"} + ,{"name": "VREvent_InputFocusCaptured","value": "400"} + ,{"name": "VREvent_InputFocusReleased","value": "401"} + ,{"name": "VREvent_SceneFocusLost","value": "402"} + ,{"name": "VREvent_SceneFocusGained","value": "403"} + ,{"name": "VREvent_SceneApplicationChanged","value": "404"} + ,{"name": "VREvent_SceneFocusChanged","value": "405"} + ,{"name": "VREvent_InputFocusChanged","value": "406"} + ,{"name": "VREvent_SceneApplicationSecondaryRenderingStarted","value": "407"} + ,{"name": "VREvent_HideRenderModels","value": "410"} + ,{"name": "VREvent_ShowRenderModels","value": "411"} + ,{"name": "VREvent_OverlayShown","value": "500"} + ,{"name": "VREvent_OverlayHidden","value": "501"} + ,{"name": "VREvent_DashboardActivated","value": "502"} + ,{"name": "VREvent_DashboardDeactivated","value": "503"} + ,{"name": "VREvent_DashboardThumbSelected","value": "504"} + ,{"name": "VREvent_DashboardRequested","value": "505"} + ,{"name": "VREvent_ResetDashboard","value": "506"} + ,{"name": "VREvent_RenderToast","value": "507"} + ,{"name": "VREvent_ImageLoaded","value": "508"} + ,{"name": "VREvent_ShowKeyboard","value": "509"} + ,{"name": "VREvent_HideKeyboard","value": "510"} + ,{"name": "VREvent_OverlayGamepadFocusGained","value": "511"} + ,{"name": "VREvent_OverlayGamepadFocusLost","value": "512"} + ,{"name": "VREvent_OverlaySharedTextureChanged","value": "513"} + ,{"name": "VREvent_DashboardGuideButtonDown","value": "514"} + ,{"name": "VREvent_DashboardGuideButtonUp","value": "515"} + ,{"name": "VREvent_ScreenshotTriggered","value": "516"} + ,{"name": "VREvent_ImageFailed","value": "517"} + ,{"name": "VREvent_RequestScreenshot","value": "520"} + ,{"name": "VREvent_ScreenshotTaken","value": "521"} + ,{"name": "VREvent_ScreenshotFailed","value": "522"} + ,{"name": "VREvent_SubmitScreenshotToDashboard","value": "523"} + ,{"name": "VREvent_Notification_Shown","value": "600"} + ,{"name": "VREvent_Notification_Hidden","value": "601"} + ,{"name": "VREvent_Notification_BeginInteraction","value": "602"} + ,{"name": "VREvent_Notification_Destroyed","value": "603"} + ,{"name": "VREvent_Quit","value": "700"} + ,{"name": "VREvent_ProcessQuit","value": "701"} + ,{"name": "VREvent_QuitAborted_UserPrompt","value": "702"} + ,{"name": "VREvent_QuitAcknowledged","value": "703"} + ,{"name": "VREvent_DriverRequestedQuit","value": "704"} + ,{"name": "VREvent_ChaperoneDataHasChanged","value": "800"} + ,{"name": "VREvent_ChaperoneUniverseHasChanged","value": "801"} + ,{"name": "VREvent_ChaperoneTempDataHasChanged","value": "802"} + ,{"name": "VREvent_ChaperoneSettingsHaveChanged","value": "803"} + ,{"name": "VREvent_SeatedZeroPoseReset","value": "804"} + ,{"name": "VREvent_AudioSettingsHaveChanged","value": "820"} + ,{"name": "VREvent_BackgroundSettingHasChanged","value": "850"} + ,{"name": "VREvent_CameraSettingsHaveChanged","value": "851"} + ,{"name": "VREvent_ReprojectionSettingHasChanged","value": "852"} + ,{"name": "VREvent_ModelSkinSettingsHaveChanged","value": "853"} + ,{"name": "VREvent_EnvironmentSettingsHaveChanged","value": "854"} + ,{"name": "VREvent_StatusUpdate","value": "900"} + ,{"name": "VREvent_MCImageUpdated","value": "1000"} + ,{"name": "VREvent_FirmwareUpdateStarted","value": "1100"} + ,{"name": "VREvent_FirmwareUpdateFinished","value": "1101"} + ,{"name": "VREvent_KeyboardClosed","value": "1200"} + ,{"name": "VREvent_KeyboardCharInput","value": "1201"} + ,{"name": "VREvent_KeyboardDone","value": "1202"} + ,{"name": "VREvent_ApplicationTransitionStarted","value": "1300"} + ,{"name": "VREvent_ApplicationTransitionAborted","value": "1301"} + ,{"name": "VREvent_ApplicationTransitionNewAppStarted","value": "1302"} + ,{"name": "VREvent_ApplicationListUpdated","value": "1303"} + ,{"name": "VREvent_Compositor_MirrorWindowShown","value": "1400"} + ,{"name": "VREvent_Compositor_MirrorWindowHidden","value": "1401"} + ,{"name": "VREvent_Compositor_ChaperoneBoundsShown","value": "1410"} + ,{"name": "VREvent_Compositor_ChaperoneBoundsHidden","value": "1411"} + ,{"name": "VREvent_TrackedCamera_StartVideoStream","value": "1500"} + ,{"name": "VREvent_TrackedCamera_StopVideoStream","value": "1501"} + ,{"name": "VREvent_TrackedCamera_PauseVideoStream","value": "1502"} + ,{"name": "VREvent_TrackedCamera_ResumeVideoStream","value": "1503"} + ,{"name": "VREvent_PerformanceTest_EnableCapture","value": "1600"} + ,{"name": "VREvent_PerformanceTest_DisableCapture","value": "1601"} + ,{"name": "VREvent_PerformanceTest_FidelityLevel","value": "1602"} + ,{"name": "VREvent_VendorSpecific_Reserved_Start","value": "10000"} + ,{"name": "VREvent_VendorSpecific_Reserved_End","value": "19999"} +]} +, {"enumname": "vr::EDeviceActivityLevel","values": [ + {"name": "k_EDeviceActivityLevel_Unknown","value": "-1"} + ,{"name": "k_EDeviceActivityLevel_Idle","value": "0"} + ,{"name": "k_EDeviceActivityLevel_UserInteraction","value": "1"} + ,{"name": "k_EDeviceActivityLevel_UserInteraction_Timeout","value": "2"} + ,{"name": "k_EDeviceActivityLevel_Standby","value": "3"} +]} +, {"enumname": "vr::EVRButtonId","values": [ + {"name": "k_EButton_System","value": "0"} + ,{"name": "k_EButton_ApplicationMenu","value": "1"} + ,{"name": "k_EButton_Grip","value": "2"} + ,{"name": "k_EButton_DPad_Left","value": "3"} + ,{"name": "k_EButton_DPad_Up","value": "4"} + ,{"name": "k_EButton_DPad_Right","value": "5"} + ,{"name": "k_EButton_DPad_Down","value": "6"} + ,{"name": "k_EButton_A","value": "7"} + ,{"name": "k_EButton_Axis0","value": "32"} + ,{"name": "k_EButton_Axis1","value": "33"} + ,{"name": "k_EButton_Axis2","value": "34"} + ,{"name": "k_EButton_Axis3","value": "35"} + ,{"name": "k_EButton_Axis4","value": "36"} + ,{"name": "k_EButton_SteamVR_Touchpad","value": "32"} + ,{"name": "k_EButton_SteamVR_Trigger","value": "33"} + ,{"name": "k_EButton_Dashboard_Back","value": "2"} + ,{"name": "k_EButton_Max","value": "64"} +]} +, {"enumname": "vr::EVRMouseButton","values": [ + {"name": "VRMouseButton_Left","value": "1"} + ,{"name": "VRMouseButton_Right","value": "2"} + ,{"name": "VRMouseButton_Middle","value": "4"} +]} +, {"enumname": "vr::EVRControllerAxisType","values": [ + {"name": "k_eControllerAxis_None","value": "0"} + ,{"name": "k_eControllerAxis_TrackPad","value": "1"} + ,{"name": "k_eControllerAxis_Joystick","value": "2"} + ,{"name": "k_eControllerAxis_Trigger","value": "3"} +]} +, {"enumname": "vr::EVRControllerEventOutputType","values": [ + {"name": "ControllerEventOutput_OSEvents","value": "0"} + ,{"name": "ControllerEventOutput_VREvents","value": "1"} +]} +, {"enumname": "vr::ECollisionBoundsStyle","values": [ + {"name": "COLLISION_BOUNDS_STYLE_BEGINNER","value": "0"} + ,{"name": "COLLISION_BOUNDS_STYLE_INTERMEDIATE","value": "1"} + ,{"name": "COLLISION_BOUNDS_STYLE_SQUARES","value": "2"} + ,{"name": "COLLISION_BOUNDS_STYLE_ADVANCED","value": "3"} + ,{"name": "COLLISION_BOUNDS_STYLE_NONE","value": "4"} + ,{"name": "COLLISION_BOUNDS_STYLE_COUNT","value": "5"} +]} +, {"enumname": "vr::EVROverlayError","values": [ + {"name": "VROverlayError_None","value": "0"} + ,{"name": "VROverlayError_UnknownOverlay","value": "10"} + ,{"name": "VROverlayError_InvalidHandle","value": "11"} + ,{"name": "VROverlayError_PermissionDenied","value": "12"} + ,{"name": "VROverlayError_OverlayLimitExceeded","value": "13"} + ,{"name": "VROverlayError_WrongVisibilityType","value": "14"} + ,{"name": "VROverlayError_KeyTooLong","value": "15"} + ,{"name": "VROverlayError_NameTooLong","value": "16"} + ,{"name": "VROverlayError_KeyInUse","value": "17"} + ,{"name": "VROverlayError_WrongTransformType","value": "18"} + ,{"name": "VROverlayError_InvalidTrackedDevice","value": "19"} + ,{"name": "VROverlayError_InvalidParameter","value": "20"} + ,{"name": "VROverlayError_ThumbnailCantBeDestroyed","value": "21"} + ,{"name": "VROverlayError_ArrayTooSmall","value": "22"} + ,{"name": "VROverlayError_RequestFailed","value": "23"} + ,{"name": "VROverlayError_InvalidTexture","value": "24"} + ,{"name": "VROverlayError_UnableToLoadFile","value": "25"} + ,{"name": "VROVerlayError_KeyboardAlreadyInUse","value": "26"} + ,{"name": "VROverlayError_NoNeighbor","value": "27"} +]} +, {"enumname": "vr::EVRApplicationType","values": [ + {"name": "VRApplication_Other","value": "0"} + ,{"name": "VRApplication_Scene","value": "1"} + ,{"name": "VRApplication_Overlay","value": "2"} + ,{"name": "VRApplication_Background","value": "3"} + ,{"name": "VRApplication_Utility","value": "4"} + ,{"name": "VRApplication_VRMonitor","value": "5"} +]} +, {"enumname": "vr::EVRFirmwareError","values": [ + {"name": "VRFirmwareError_None","value": "0"} + ,{"name": "VRFirmwareError_Success","value": "1"} + ,{"name": "VRFirmwareError_Fail","value": "2"} +]} +, {"enumname": "vr::EVRNotificationError","values": [ + {"name": "VRNotificationError_OK","value": "0"} + ,{"name": "VRNotificationError_InvalidNotificationId","value": "100"} + ,{"name": "VRNotificationError_NotificationQueueFull","value": "101"} + ,{"name": "VRNotificationError_InvalidOverlayHandle","value": "102"} + ,{"name": "VRNotificationError_SystemWithUserValueAlreadyExists","value": "103"} +]} +, {"enumname": "vr::EVRInitError","values": [ + {"name": "VRInitError_None","value": "0"} + ,{"name": "VRInitError_Unknown","value": "1"} + ,{"name": "VRInitError_Init_InstallationNotFound","value": "100"} + ,{"name": "VRInitError_Init_InstallationCorrupt","value": "101"} + ,{"name": "VRInitError_Init_VRClientDLLNotFound","value": "102"} + ,{"name": "VRInitError_Init_FileNotFound","value": "103"} + ,{"name": "VRInitError_Init_FactoryNotFound","value": "104"} + ,{"name": "VRInitError_Init_InterfaceNotFound","value": "105"} + ,{"name": "VRInitError_Init_InvalidInterface","value": "106"} + ,{"name": "VRInitError_Init_UserConfigDirectoryInvalid","value": "107"} + ,{"name": "VRInitError_Init_HmdNotFound","value": "108"} + ,{"name": "VRInitError_Init_NotInitialized","value": "109"} + ,{"name": "VRInitError_Init_PathRegistryNotFound","value": "110"} + ,{"name": "VRInitError_Init_NoConfigPath","value": "111"} + ,{"name": "VRInitError_Init_NoLogPath","value": "112"} + ,{"name": "VRInitError_Init_PathRegistryNotWritable","value": "113"} + ,{"name": "VRInitError_Init_AppInfoInitFailed","value": "114"} + ,{"name": "VRInitError_Init_Retry","value": "115"} + ,{"name": "VRInitError_Init_InitCanceledByUser","value": "116"} + ,{"name": "VRInitError_Init_AnotherAppLaunching","value": "117"} + ,{"name": "VRInitError_Init_SettingsInitFailed","value": "118"} + ,{"name": "VRInitError_Init_ShuttingDown","value": "119"} + ,{"name": "VRInitError_Init_TooManyObjects","value": "120"} + ,{"name": "VRInitError_Init_NoServerForBackgroundApp","value": "121"} + ,{"name": "VRInitError_Init_NotSupportedWithCompositor","value": "122"} + ,{"name": "VRInitError_Init_NotAvailableToUtilityApps","value": "123"} + ,{"name": "VRInitError_Init_Internal","value": "124"} + ,{"name": "VRInitError_Driver_Failed","value": "200"} + ,{"name": "VRInitError_Driver_Unknown","value": "201"} + ,{"name": "VRInitError_Driver_HmdUnknown","value": "202"} + ,{"name": "VRInitError_Driver_NotLoaded","value": "203"} + ,{"name": "VRInitError_Driver_RuntimeOutOfDate","value": "204"} + ,{"name": "VRInitError_Driver_HmdInUse","value": "205"} + ,{"name": "VRInitError_Driver_NotCalibrated","value": "206"} + ,{"name": "VRInitError_Driver_CalibrationInvalid","value": "207"} + ,{"name": "VRInitError_Driver_HmdDisplayNotFound","value": "208"} + ,{"name": "VRInitError_IPC_ServerInitFailed","value": "300"} + ,{"name": "VRInitError_IPC_ConnectFailed","value": "301"} + ,{"name": "VRInitError_IPC_SharedStateInitFailed","value": "302"} + ,{"name": "VRInitError_IPC_CompositorInitFailed","value": "303"} + ,{"name": "VRInitError_IPC_MutexInitFailed","value": "304"} + ,{"name": "VRInitError_IPC_Failed","value": "305"} + ,{"name": "VRInitError_Compositor_Failed","value": "400"} + ,{"name": "VRInitError_Compositor_D3D11HardwareRequired","value": "401"} + ,{"name": "VRInitError_Compositor_FirmwareRequiresUpdate","value": "402"} + ,{"name": "VRInitError_Compositor_OverlayInitFailed","value": "403"} + ,{"name": "VRInitError_Compositor_ScreenshotsInitFailed","value": "404"} + ,{"name": "VRInitError_VendorSpecific_UnableToConnectToOculusRuntime","value": "1000"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_CantOpenDevice","value": "1101"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart","value": "1102"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_NoStoredConfig","value": "1103"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooBig","value": "1104"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigTooSmall","value": "1105"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToInitZLib","value": "1106"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion","value": "1107"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart","value": "1108"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart","value": "1109"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext","value": "1110"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataAddressRange","value": "1111"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_UserDataError","value": "1112"} + ,{"name": "VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck","value": "1113"} + ,{"name": "VRInitError_Steam_SteamInstallationNotFound","value": "2000"} +]} +, {"enumname": "vr::EVRScreenshotType","values": [ + {"name": "VRScreenshotType_None","value": "0"} + ,{"name": "VRScreenshotType_Mono","value": "1"} + ,{"name": "VRScreenshotType_Stereo","value": "2"} + ,{"name": "VRScreenshotType_Cubemap","value": "3"} + ,{"name": "VRScreenshotType_MonoPanorama","value": "4"} + ,{"name": "VRScreenshotType_StereoPanorama","value": "5"} +]} +, {"enumname": "vr::EVRScreenshotPropertyFilenames","values": [ + {"name": "VRScreenshotPropertyFilenames_Preview","value": "0"} + ,{"name": "VRScreenshotPropertyFilenames_VR","value": "1"} +]} +, {"enumname": "vr::EVRTrackedCameraError","values": [ + {"name": "VRTrackedCameraError_None","value": "0"} + ,{"name": "VRTrackedCameraError_OperationFailed","value": "100"} + ,{"name": "VRTrackedCameraError_InvalidHandle","value": "101"} + ,{"name": "VRTrackedCameraError_InvalidFrameHeaderVersion","value": "102"} + ,{"name": "VRTrackedCameraError_OutOfHandles","value": "103"} + ,{"name": "VRTrackedCameraError_IPCFailure","value": "104"} + ,{"name": "VRTrackedCameraError_NotSupportedForThisDevice","value": "105"} + ,{"name": "VRTrackedCameraError_SharedMemoryFailure","value": "106"} + ,{"name": "VRTrackedCameraError_FrameBufferingFailure","value": "107"} + ,{"name": "VRTrackedCameraError_StreamSetupFailure","value": "108"} + ,{"name": "VRTrackedCameraError_InvalidGLTextureId","value": "109"} + ,{"name": "VRTrackedCameraError_InvalidSharedTextureHandle","value": "110"} + ,{"name": "VRTrackedCameraError_FailedToGetGLTextureId","value": "111"} + ,{"name": "VRTrackedCameraError_SharedTextureFailure","value": "112"} + ,{"name": "VRTrackedCameraError_NoFrameAvailable","value": "113"} + ,{"name": "VRTrackedCameraError_InvalidArgument","value": "114"} + ,{"name": "VRTrackedCameraError_InvalidFrameBufferSize","value": "115"} +]} +, {"enumname": "vr::EVRTrackedCameraFrameType","values": [ + {"name": "VRTrackedCameraFrameType_Distorted","value": "0"} + ,{"name": "VRTrackedCameraFrameType_Undistorted","value": "1"} + ,{"name": "VRTrackedCameraFrameType_MaximumUndistorted","value": "2"} + ,{"name": "MAX_CAMERA_FRAME_TYPES","value": "3"} +]} +, {"enumname": "vr::EVRApplicationError","values": [ + {"name": "VRApplicationError_None","value": "0"} + ,{"name": "VRApplicationError_AppKeyAlreadyExists","value": "100"} + ,{"name": "VRApplicationError_NoManifest","value": "101"} + ,{"name": "VRApplicationError_NoApplication","value": "102"} + ,{"name": "VRApplicationError_InvalidIndex","value": "103"} + ,{"name": "VRApplicationError_UnknownApplication","value": "104"} + ,{"name": "VRApplicationError_IPCFailed","value": "105"} + ,{"name": "VRApplicationError_ApplicationAlreadyRunning","value": "106"} + ,{"name": "VRApplicationError_InvalidManifest","value": "107"} + ,{"name": "VRApplicationError_InvalidApplication","value": "108"} + ,{"name": "VRApplicationError_LaunchFailed","value": "109"} + ,{"name": "VRApplicationError_ApplicationAlreadyStarting","value": "110"} + ,{"name": "VRApplicationError_LaunchInProgress","value": "111"} + ,{"name": "VRApplicationError_OldApplicationQuitting","value": "112"} + ,{"name": "VRApplicationError_TransitionAborted","value": "113"} + ,{"name": "VRApplicationError_IsTemplate","value": "114"} + ,{"name": "VRApplicationError_BufferTooSmall","value": "200"} + ,{"name": "VRApplicationError_PropertyNotSet","value": "201"} + ,{"name": "VRApplicationError_UnknownProperty","value": "202"} + ,{"name": "VRApplicationError_InvalidParameter","value": "203"} +]} +, {"enumname": "vr::EVRApplicationProperty","values": [ + {"name": "VRApplicationProperty_Name_String","value": "0"} + ,{"name": "VRApplicationProperty_LaunchType_String","value": "11"} + ,{"name": "VRApplicationProperty_WorkingDirectory_String","value": "12"} + ,{"name": "VRApplicationProperty_BinaryPath_String","value": "13"} + ,{"name": "VRApplicationProperty_Arguments_String","value": "14"} + ,{"name": "VRApplicationProperty_URL_String","value": "15"} + ,{"name": "VRApplicationProperty_Description_String","value": "50"} + ,{"name": "VRApplicationProperty_NewsURL_String","value": "51"} + ,{"name": "VRApplicationProperty_ImagePath_String","value": "52"} + ,{"name": "VRApplicationProperty_Source_String","value": "53"} + ,{"name": "VRApplicationProperty_IsDashboardOverlay_Bool","value": "60"} + ,{"name": "VRApplicationProperty_IsTemplate_Bool","value": "61"} + ,{"name": "VRApplicationProperty_IsInstanced_Bool","value": "62"} + ,{"name": "VRApplicationProperty_LastLaunchTime_Uint64","value": "70"} +]} +, {"enumname": "vr::EVRApplicationTransitionState","values": [ + {"name": "VRApplicationTransition_None","value": "0"} + ,{"name": "VRApplicationTransition_OldAppQuitSent","value": "10"} + ,{"name": "VRApplicationTransition_WaitingForExternalLaunch","value": "11"} + ,{"name": "VRApplicationTransition_NewAppLaunched","value": "20"} +]} +, {"enumname": "vr::ChaperoneCalibrationState","values": [ + {"name": "ChaperoneCalibrationState_OK","value": "1"} + ,{"name": "ChaperoneCalibrationState_Warning","value": "100"} + ,{"name": "ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved","value": "101"} + ,{"name": "ChaperoneCalibrationState_Warning_BaseStationRemoved","value": "102"} + ,{"name": "ChaperoneCalibrationState_Warning_SeatedBoundsInvalid","value": "103"} + ,{"name": "ChaperoneCalibrationState_Error","value": "200"} + ,{"name": "ChaperoneCalibrationState_Error_BaseStationUninitalized","value": "201"} + ,{"name": "ChaperoneCalibrationState_Error_BaseStationConflict","value": "202"} + ,{"name": "ChaperoneCalibrationState_Error_PlayAreaInvalid","value": "203"} + ,{"name": "ChaperoneCalibrationState_Error_CollisionBoundsInvalid","value": "204"} +]} +, {"enumname": "vr::EChaperoneConfigFile","values": [ + {"name": "EChaperoneConfigFile_Live","value": "1"} + ,{"name": "EChaperoneConfigFile_Temp","value": "2"} +]} +, {"enumname": "vr::EChaperoneImportFlags","values": [ + {"name": "EChaperoneImport_BoundsOnly","value": "1"} +]} +, {"enumname": "vr::EVRCompositorError","values": [ + {"name": "VRCompositorError_None","value": "0"} + ,{"name": "VRCompositorError_RequestFailed","value": "1"} + ,{"name": "VRCompositorError_IncompatibleVersion","value": "100"} + ,{"name": "VRCompositorError_DoNotHaveFocus","value": "101"} + ,{"name": "VRCompositorError_InvalidTexture","value": "102"} + ,{"name": "VRCompositorError_IsNotSceneApplication","value": "103"} + ,{"name": "VRCompositorError_TextureIsOnWrongDevice","value": "104"} + ,{"name": "VRCompositorError_TextureUsesUnsupportedFormat","value": "105"} + ,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"} + ,{"name": "VRCompositorError_IndexOutOfRange","value": "107"} +]} +, {"enumname": "vr::VROverlayInputMethod","values": [ + {"name": "VROverlayInputMethod_None","value": "0"} + ,{"name": "VROverlayInputMethod_Mouse","value": "1"} +]} +, {"enumname": "vr::VROverlayTransformType","values": [ + {"name": "VROverlayTransform_Absolute","value": "0"} + ,{"name": "VROverlayTransform_TrackedDeviceRelative","value": "1"} + ,{"name": "VROverlayTransform_SystemOverlay","value": "2"} + ,{"name": "VROverlayTransform_TrackedComponent","value": "3"} +]} +, {"enumname": "vr::VROverlayFlags","values": [ + {"name": "VROverlayFlags_None","value": "0"} + ,{"name": "VROverlayFlags_Curved","value": "1"} + ,{"name": "VROverlayFlags_RGSS4X","value": "2"} + ,{"name": "VROverlayFlags_NoDashboardTab","value": "3"} + ,{"name": "VROverlayFlags_AcceptsGamepadEvents","value": "4"} + ,{"name": "VROverlayFlags_ShowGamepadFocus","value": "5"} + ,{"name": "VROverlayFlags_SendVRScrollEvents","value": "6"} + ,{"name": "VROverlayFlags_SendVRTouchpadEvents","value": "7"} + ,{"name": "VROverlayFlags_ShowTouchPadScrollWheel","value": "8"} + ,{"name": "VROverlayFlags_TransferOwnershipToInternalProcess","value": "9"} + ,{"name": "VROverlayFlags_SideBySide_Parallel","value": "10"} + ,{"name": "VROverlayFlags_SideBySide_Crossed","value": "11"} + ,{"name": "VROverlayFlags_Panorama","value": "12"} + ,{"name": "VROverlayFlags_StereoPanorama","value": "13"} +]} +, {"enumname": "vr::EGamepadTextInputMode","values": [ + {"name": "k_EGamepadTextInputModeNormal","value": "0"} + ,{"name": "k_EGamepadTextInputModePassword","value": "1"} + ,{"name": "k_EGamepadTextInputModeSubmit","value": "2"} +]} +, {"enumname": "vr::EGamepadTextInputLineMode","values": [ + {"name": "k_EGamepadTextInputLineModeSingleLine","value": "0"} + ,{"name": "k_EGamepadTextInputLineModeMultipleLines","value": "1"} +]} +, {"enumname": "vr::EOverlayDirection","values": [ + {"name": "OverlayDirection_Up","value": "0"} + ,{"name": "OverlayDirection_Down","value": "1"} + ,{"name": "OverlayDirection_Left","value": "2"} + ,{"name": "OverlayDirection_Right","value": "3"} + ,{"name": "OverlayDirection_Count","value": "4"} +]} +, {"enumname": "vr::EVRRenderModelError","values": [ + {"name": "VRRenderModelError_None","value": "0"} + ,{"name": "VRRenderModelError_Loading","value": "100"} + ,{"name": "VRRenderModelError_NotSupported","value": "200"} + ,{"name": "VRRenderModelError_InvalidArg","value": "300"} + ,{"name": "VRRenderModelError_InvalidModel","value": "301"} + ,{"name": "VRRenderModelError_NoShapes","value": "302"} + ,{"name": "VRRenderModelError_MultipleShapes","value": "303"} + ,{"name": "VRRenderModelError_TooManyVertices","value": "304"} + ,{"name": "VRRenderModelError_MultipleTextures","value": "305"} + ,{"name": "VRRenderModelError_BufferTooSmall","value": "306"} + ,{"name": "VRRenderModelError_NotEnoughNormals","value": "307"} + ,{"name": "VRRenderModelError_NotEnoughTexCoords","value": "308"} + ,{"name": "VRRenderModelError_InvalidTexture","value": "400"} +]} +, {"enumname": "vr::EVRComponentProperty","values": [ + {"name": "VRComponentProperty_IsStatic","value": "1"} + ,{"name": "VRComponentProperty_IsVisible","value": "2"} + ,{"name": "VRComponentProperty_IsTouched","value": "4"} + ,{"name": "VRComponentProperty_IsPressed","value": "8"} + ,{"name": "VRComponentProperty_IsScrolled","value": "16"} +]} +, {"enumname": "vr::EVRNotificationType","values": [ + {"name": "EVRNotificationType_Transient","value": "0"} + ,{"name": "EVRNotificationType_Persistent","value": "1"} + ,{"name": "EVRNotificationType_Transient_SystemWithUserValue","value": "2"} +]} +, {"enumname": "vr::EVRNotificationStyle","values": [ + {"name": "EVRNotificationStyle_None","value": "0"} + ,{"name": "EVRNotificationStyle_Application","value": "100"} + ,{"name": "EVRNotificationStyle_Contact_Disabled","value": "200"} + ,{"name": "EVRNotificationStyle_Contact_Enabled","value": "201"} + ,{"name": "EVRNotificationStyle_Contact_Active","value": "202"} +]} +, {"enumname": "vr::EVRSettingsError","values": [ + {"name": "VRSettingsError_None","value": "0"} + ,{"name": "VRSettingsError_IPCFailed","value": "1"} + ,{"name": "VRSettingsError_WriteFailed","value": "2"} + ,{"name": "VRSettingsError_ReadFailed","value": "3"} +]} +, {"enumname": "vr::EVRScreenshotError","values": [ + {"name": "VRScreenshotError_None","value": "0"} + ,{"name": "VRScreenshotError_RequestFailed","value": "1"} + ,{"name": "VRScreenshotError_IncompatibleVersion","value": "100"} + ,{"name": "VRScreenshotError_NotFound","value": "101"} + ,{"name": "VRScreenshotError_BufferTooSmall","value": "102"} + ,{"name": "VRScreenshotError_ScreenshotAlreadyInProgress","value": "108"} +]} +], +"consts":[{ + "constname": "k_unTrackingStringSize","consttype": "const uint32_t", "constval": "32"} +,{ + "constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"} +,{ + "constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"} +,{ + "constname": "k_unMaxTrackedDeviceCount","consttype": "const uint32_t", "constval": "16"} +,{ + "constname": "k_unTrackedDeviceIndexOther","consttype": "const uint32_t", "constval": "4294967294"} +,{ + "constname": "k_unTrackedDeviceIndexInvalid","consttype": "const uint32_t", "constval": "4294967295"} +,{ + "constname": "k_unMaxPropertyStringSize","consttype": "const uint32_t", "constval": "32768"} +,{ + "constname": "k_unControllerStateAxisCount","consttype": "const uint32_t", "constval": "5"} +,{ + "constname": "k_ulOverlayHandleInvalid","consttype": "const VROverlayHandle_t", "constval": "0"} +,{ + "constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"} +,{ + "constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_012"} +,{ + "constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"} +,{ + "constname": "IVRTrackedCamera_Version","consttype": "const char *const", "constval": "IVRTrackedCamera_003"} +,{ + "constname": "k_unMaxApplicationKeyLength","consttype": "const uint32_t", "constval": "128"} +,{ + "constname": "IVRApplications_Version","consttype": "const char *const", "constval": "IVRApplications_005"} +,{ + "constname": "IVRChaperone_Version","consttype": "const char *const", "constval": "IVRChaperone_003"} +,{ + "constname": "IVRChaperoneSetup_Version","consttype": "const char *const", "constval": "IVRChaperoneSetup_005"} +,{ + "constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_015"} +,{ + "constname": "k_unVROverlayMaxKeyLength","consttype": "const uint32_t", "constval": "128"} +,{ + "constname": "k_unVROverlayMaxNameLength","consttype": "const uint32_t", "constval": "128"} +,{ + "constname": "k_unMaxOverlayCount","consttype": "const uint32_t", "constval": "32"} +,{ + "constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_012"} +,{ + "constname": "k_pch_Controller_Component_GDC2015","consttype": "const char *const", "constval": "gdc2015"} +,{ + "constname": "k_pch_Controller_Component_Base","consttype": "const char *const", "constval": "base"} +,{ + "constname": "k_pch_Controller_Component_Tip","consttype": "const char *const", "constval": "tip"} +,{ + "constname": "k_pch_Controller_Component_HandGrip","consttype": "const char *const", "constval": "handgrip"} +,{ + "constname": "k_pch_Controller_Component_Status","consttype": "const char *const", "constval": "status"} +,{ + "constname": "IVRRenderModels_Version","consttype": "const char *const", "constval": "IVRRenderModels_005"} +,{ + "constname": "k_unNotificationTextMaxSize","consttype": "const uint32_t", "constval": "256"} +,{ + "constname": "IVRNotifications_Version","consttype": "const char *const", "constval": "IVRNotifications_002"} +,{ + "constname": "k_unMaxSettingsKeyLength","consttype": "const uint32_t", "constval": "128"} +,{ + "constname": "IVRSettings_Version","consttype": "const char *const", "constval": "IVRSettings_001"} +,{ + "constname": "k_pch_SteamVR_Section","consttype": "const char *const", "constval": "steamvr"} +,{ + "constname": "k_pch_SteamVR_RequireHmd_String","consttype": "const char *const", "constval": "requireHmd"} +,{ + "constname": "k_pch_SteamVR_ForcedDriverKey_String","consttype": "const char *const", "constval": "forcedDriver"} +,{ + "constname": "k_pch_SteamVR_ForcedHmdKey_String","consttype": "const char *const", "constval": "forcedHmd"} +,{ + "constname": "k_pch_SteamVR_DisplayDebug_Bool","consttype": "const char *const", "constval": "displayDebug"} +,{ + "constname": "k_pch_SteamVR_DebugProcessPipe_String","consttype": "const char *const", "constval": "debugProcessPipe"} +,{ + "constname": "k_pch_SteamVR_EnableDistortion_Bool","consttype": "const char *const", "constval": "enableDistortion"} +,{ + "constname": "k_pch_SteamVR_DisplayDebugX_Int32","consttype": "const char *const", "constval": "displayDebugX"} +,{ + "constname": "k_pch_SteamVR_DisplayDebugY_Int32","consttype": "const char *const", "constval": "displayDebugY"} +,{ + "constname": "k_pch_SteamVR_SendSystemButtonToAllApps_Bool","consttype": "const char *const", "constval": "sendSystemButtonToAllApps"} +,{ + "constname": "k_pch_SteamVR_LogLevel_Int32","consttype": "const char *const", "constval": "loglevel"} +,{ + "constname": "k_pch_SteamVR_IPD_Float","consttype": "const char *const", "constval": "ipd"} +,{ + "constname": "k_pch_SteamVR_Background_String","consttype": "const char *const", "constval": "background"} +,{ + "constname": "k_pch_SteamVR_BackgroundCameraHeight_Float","consttype": "const char *const", "constval": "backgroundCameraHeight"} +,{ + "constname": "k_pch_SteamVR_BackgroundDomeRadius_Float","consttype": "const char *const", "constval": "backgroundDomeRadius"} +,{ + "constname": "k_pch_SteamVR_Environment_String","consttype": "const char *const", "constval": "environment"} +,{ + "constname": "k_pch_SteamVR_GridColor_String","consttype": "const char *const", "constval": "gridColor"} +,{ + "constname": "k_pch_SteamVR_PlayAreaColor_String","consttype": "const char *const", "constval": "playAreaColor"} +,{ + "constname": "k_pch_SteamVR_ShowStage_Bool","consttype": "const char *const", "constval": "showStage"} +,{ + "constname": "k_pch_SteamVR_ActivateMultipleDrivers_Bool","consttype": "const char *const", "constval": "activateMultipleDrivers"} +,{ + "constname": "k_pch_SteamVR_PowerOffOnExit_Bool","consttype": "const char *const", "constval": "powerOffOnExit"} +,{ + "constname": "k_pch_SteamVR_StandbyAppRunningTimeout_Float","consttype": "const char *const", "constval": "standbyAppRunningTimeout"} +,{ + "constname": "k_pch_SteamVR_StandbyNoAppTimeout_Float","consttype": "const char *const", "constval": "standbyNoAppTimeout"} +,{ + "constname": "k_pch_SteamVR_DirectMode_Bool","consttype": "const char *const", "constval": "directMode"} +,{ + "constname": "k_pch_SteamVR_DirectModeEdidVid_Int32","consttype": "const char *const", "constval": "directModeEdidVid"} +,{ + "constname": "k_pch_SteamVR_DirectModeEdidPid_Int32","consttype": "const char *const", "constval": "directModeEdidPid"} +,{ + "constname": "k_pch_SteamVR_UsingSpeakers_Bool","consttype": "const char *const", "constval": "usingSpeakers"} +,{ + "constname": "k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float","consttype": "const char *const", "constval": "speakersForwardYawOffsetDegrees"} +,{ + "constname": "k_pch_SteamVR_BaseStationPowerManagement_Bool","consttype": "const char *const", "constval": "basestationPowerManagement"} +,{ + "constname": "k_pch_SteamVR_NeverKillProcesses_Bool","consttype": "const char *const", "constval": "neverKillProcesses"} +,{ + "constname": "k_pch_SteamVR_RenderTargetMultiplier_Float","consttype": "const char *const", "constval": "renderTargetMultiplier"} +,{ + "constname": "k_pch_SteamVR_AllowReprojection_Bool","consttype": "const char *const", "constval": "allowReprojection"} +,{ + "constname": "k_pch_SteamVR_ForceReprojection_Bool","consttype": "const char *const", "constval": "forceReprojection"} +,{ + "constname": "k_pch_SteamVR_ForceFadeOnBadTracking_Bool","consttype": "const char *const", "constval": "forceFadeOnBadTracking"} +,{ + "constname": "k_pch_SteamVR_DefaultMirrorView_Int32","consttype": "const char *const", "constval": "defaultMirrorView"} +,{ + "constname": "k_pch_SteamVR_ShowMirrorView_Bool","consttype": "const char *const", "constval": "showMirrorView"} +,{ + "constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"} +,{ + "constname": "k_pch_Lighthouse_DisableIMU_Bool","consttype": "const char *const", "constval": "disableimu"} +,{ + "constname": "k_pch_Lighthouse_UseDisambiguation_String","consttype": "const char *const", "constval": "usedisambiguation"} +,{ + "constname": "k_pch_Lighthouse_DisambiguationDebug_Int32","consttype": "const char *const", "constval": "disambiguationdebug"} +,{ + "constname": "k_pch_Lighthouse_PrimaryBasestation_Int32","consttype": "const char *const", "constval": "primarybasestation"} +,{ + "constname": "k_pch_Lighthouse_LighthouseName_String","consttype": "const char *const", "constval": "lighthousename"} +,{ + "constname": "k_pch_Lighthouse_MaxIncidenceAngleDegrees_Float","consttype": "const char *const", "constval": "maxincidenceangledegrees"} +,{ + "constname": "k_pch_Lighthouse_UseLighthouseDirect_Bool","consttype": "const char *const", "constval": "uselighthousedirect"} +,{ + "constname": "k_pch_Lighthouse_DBHistory_Bool","consttype": "const char *const", "constval": "dbhistory"} +,{ + "constname": "k_pch_Null_Section","consttype": "const char *const", "constval": "driver_null"} +,{ + "constname": "k_pch_Null_EnableNullDriver_Bool","consttype": "const char *const", "constval": "enable"} +,{ + "constname": "k_pch_Null_SerialNumber_String","consttype": "const char *const", "constval": "serialNumber"} +,{ + "constname": "k_pch_Null_ModelNumber_String","consttype": "const char *const", "constval": "modelNumber"} +,{ + "constname": "k_pch_Null_WindowX_Int32","consttype": "const char *const", "constval": "windowX"} +,{ + "constname": "k_pch_Null_WindowY_Int32","consttype": "const char *const", "constval": "windowY"} +,{ + "constname": "k_pch_Null_WindowWidth_Int32","consttype": "const char *const", "constval": "windowWidth"} +,{ + "constname": "k_pch_Null_WindowHeight_Int32","consttype": "const char *const", "constval": "windowHeight"} +,{ + "constname": "k_pch_Null_RenderWidth_Int32","consttype": "const char *const", "constval": "renderWidth"} +,{ + "constname": "k_pch_Null_RenderHeight_Int32","consttype": "const char *const", "constval": "renderHeight"} +,{ + "constname": "k_pch_Null_SecondsFromVsyncToPhotons_Float","consttype": "const char *const", "constval": "secondsFromVsyncToPhotons"} +,{ + "constname": "k_pch_Null_DisplayFrequency_Float","consttype": "const char *const", "constval": "displayFrequency"} +,{ + "constname": "k_pch_UserInterface_Section","consttype": "const char *const", "constval": "userinterface"} +,{ + "constname": "k_pch_UserInterface_StatusAlwaysOnTop_Bool","consttype": "const char *const", "constval": "StatusAlwaysOnTop"} +,{ + "constname": "k_pch_UserInterface_EnableScreenshots_Bool","consttype": "const char *const", "constval": "EnableScreenshots"} +,{ + "constname": "k_pch_Notifications_Section","consttype": "const char *const", "constval": "notifications"} +,{ + "constname": "k_pch_Notifications_DoNotDisturb_Bool","consttype": "const char *const", "constval": "DoNotDisturb"} +,{ + "constname": "k_pch_Keyboard_Section","consttype": "const char *const", "constval": "keyboard"} +,{ + "constname": "k_pch_Keyboard_TutorialCompletions","consttype": "const char *const", "constval": "TutorialCompletions"} +,{ + "constname": "k_pch_Keyboard_ScaleX","consttype": "const char *const", "constval": "ScaleX"} +,{ + "constname": "k_pch_Keyboard_ScaleY","consttype": "const char *const", "constval": "ScaleY"} +,{ + "constname": "k_pch_Keyboard_OffsetLeftX","consttype": "const char *const", "constval": "OffsetLeftX"} +,{ + "constname": "k_pch_Keyboard_OffsetRightX","consttype": "const char *const", "constval": "OffsetRightX"} +,{ + "constname": "k_pch_Keyboard_OffsetY","consttype": "const char *const", "constval": "OffsetY"} +,{ + "constname": "k_pch_Keyboard_Smoothing","consttype": "const char *const", "constval": "Smoothing"} +,{ + "constname": "k_pch_Perf_Section","consttype": "const char *const", "constval": "perfcheck"} +,{ + "constname": "k_pch_Perf_HeuristicActive_Bool","consttype": "const char *const", "constval": "heuristicActive"} +,{ + "constname": "k_pch_Perf_NotifyInHMD_Bool","consttype": "const char *const", "constval": "warnInHMD"} +,{ + "constname": "k_pch_Perf_NotifyOnlyOnce_Bool","consttype": "const char *const", "constval": "warnOnlyOnce"} +,{ + "constname": "k_pch_Perf_AllowTimingStore_Bool","consttype": "const char *const", "constval": "allowTimingStore"} +,{ + "constname": "k_pch_Perf_SaveTimingsOnExit_Bool","consttype": "const char *const", "constval": "saveTimingsOnExit"} +,{ + "constname": "k_pch_Perf_TestData_Float","consttype": "const char *const", "constval": "perfTestData"} +,{ + "constname": "k_pch_CollisionBounds_Section","consttype": "const char *const", "constval": "collisionBounds"} +,{ + "constname": "k_pch_CollisionBounds_Style_Int32","consttype": "const char *const", "constval": "CollisionBoundsStyle"} +,{ + "constname": "k_pch_CollisionBounds_GroundPerimeterOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsGroundPerimeterOn"} +,{ + "constname": "k_pch_CollisionBounds_CenterMarkerOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsCenterMarkerOn"} +,{ + "constname": "k_pch_CollisionBounds_PlaySpaceOn_Bool","consttype": "const char *const", "constval": "CollisionBoundsPlaySpaceOn"} +,{ + "constname": "k_pch_CollisionBounds_FadeDistance_Float","consttype": "const char *const", "constval": "CollisionBoundsFadeDistance"} +,{ + "constname": "k_pch_CollisionBounds_ColorGammaR_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaR"} +,{ + "constname": "k_pch_CollisionBounds_ColorGammaG_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaG"} +,{ + "constname": "k_pch_CollisionBounds_ColorGammaB_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaB"} +,{ + "constname": "k_pch_CollisionBounds_ColorGammaA_Int32","consttype": "const char *const", "constval": "CollisionBoundsColorGammaA"} +,{ + "constname": "k_pch_Camera_Section","consttype": "const char *const", "constval": "camera"} +,{ + "constname": "k_pch_Camera_EnableCamera_Bool","consttype": "const char *const", "constval": "enableCamera"} +,{ + "constname": "k_pch_Camera_EnableCameraInDashboard_Bool","consttype": "const char *const", "constval": "enableCameraInDashboard"} +,{ + "constname": "k_pch_Camera_EnableCameraForCollisionBounds_Bool","consttype": "const char *const", "constval": "enableCameraForCollisionBounds"} +,{ + "constname": "k_pch_Camera_EnableCameraForRoomView_Bool","consttype": "const char *const", "constval": "enableCameraForRoomView"} +,{ + "constname": "k_pch_Camera_BoundsColorGammaR_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaR"} +,{ + "constname": "k_pch_Camera_BoundsColorGammaG_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaG"} +,{ + "constname": "k_pch_Camera_BoundsColorGammaB_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaB"} +,{ + "constname": "k_pch_Camera_BoundsColorGammaA_Int32","consttype": "const char *const", "constval": "cameraBoundsColorGammaA"} +,{ + "constname": "k_pch_audio_Section","consttype": "const char *const", "constval": "audio"} +,{ + "constname": "k_pch_audio_OnPlaybackDevice_String","consttype": "const char *const", "constval": "onPlaybackDevice"} +,{ + "constname": "k_pch_audio_OnRecordDevice_String","consttype": "const char *const", "constval": "onRecordDevice"} +,{ + "constname": "k_pch_audio_OnPlaybackMirrorDevice_String","consttype": "const char *const", "constval": "onPlaybackMirrorDevice"} +,{ + "constname": "k_pch_audio_OffPlaybackDevice_String","consttype": "const char *const", "constval": "offPlaybackDevice"} +,{ + "constname": "k_pch_audio_OffRecordDevice_String","consttype": "const char *const", "constval": "offRecordDevice"} +,{ + "constname": "k_pch_audio_VIVEHDMIGain","consttype": "const char *const", "constval": "viveHDMIGain"} +,{ + "constname": "k_pch_modelskin_Section","consttype": "const char *const", "constval": "modelskins"} +,{ + "constname": "IVRScreenshots_Version","consttype": "const char *const", "constval": "IVRScreenshots_001"} +], +"structs":[{"struct": "vr::HmdMatrix34_t","fields": [ +{ "fieldname": "m", "fieldtype": "float [3][4]"}]} +,{"struct": "vr::HmdMatrix44_t","fields": [ +{ "fieldname": "m", "fieldtype": "float [4][4]"}]} +,{"struct": "vr::HmdVector3_t","fields": [ +{ "fieldname": "v", "fieldtype": "float [3]"}]} +,{"struct": "vr::HmdVector4_t","fields": [ +{ "fieldname": "v", "fieldtype": "float [4]"}]} +,{"struct": "vr::HmdVector3d_t","fields": [ +{ "fieldname": "v", "fieldtype": "double [3]"}]} +,{"struct": "vr::HmdVector2_t","fields": [ +{ "fieldname": "v", "fieldtype": "float [2]"}]} +,{"struct": "vr::HmdQuaternion_t","fields": [ +{ "fieldname": "w", "fieldtype": "double"}, +{ "fieldname": "x", "fieldtype": "double"}, +{ "fieldname": "y", "fieldtype": "double"}, +{ "fieldname": "z", "fieldtype": "double"}]} +,{"struct": "vr::HmdColor_t","fields": [ +{ "fieldname": "r", "fieldtype": "float"}, +{ "fieldname": "g", "fieldtype": "float"}, +{ "fieldname": "b", "fieldtype": "float"}, +{ "fieldname": "a", "fieldtype": "float"}]} +,{"struct": "vr::HmdQuad_t","fields": [ +{ "fieldname": "vCorners", "fieldtype": "struct vr::HmdVector3_t [4]"}]} +,{"struct": "vr::HmdRect2_t","fields": [ +{ "fieldname": "vTopLeft", "fieldtype": "struct vr::HmdVector2_t"}, +{ "fieldname": "vBottomRight", "fieldtype": "struct vr::HmdVector2_t"}]} +,{"struct": "vr::DistortionCoordinates_t","fields": [ +{ "fieldname": "rfRed", "fieldtype": "float [2]"}, +{ "fieldname": "rfGreen", "fieldtype": "float [2]"}, +{ "fieldname": "rfBlue", "fieldtype": "float [2]"}]} +,{"struct": "vr::Texture_t","fields": [ +{ "fieldname": "handle", "fieldtype": "void *"}, +{ "fieldname": "eType", "fieldtype": "enum vr::EGraphicsAPIConvention"}, +{ "fieldname": "eColorSpace", "fieldtype": "enum vr::EColorSpace"}]} +,{"struct": "vr::TrackedDevicePose_t","fields": [ +{ "fieldname": "mDeviceToAbsoluteTracking", "fieldtype": "struct vr::HmdMatrix34_t"}, +{ "fieldname": "vVelocity", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "vAngularVelocity", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "eTrackingResult", "fieldtype": "enum vr::ETrackingResult"}, +{ "fieldname": "bPoseIsValid", "fieldtype": "_Bool"}, +{ "fieldname": "bDeviceIsConnected", "fieldtype": "_Bool"}]} +,{"struct": "vr::VRTextureBounds_t","fields": [ +{ "fieldname": "uMin", "fieldtype": "float"}, +{ "fieldname": "vMin", "fieldtype": "float"}, +{ "fieldname": "uMax", "fieldtype": "float"}, +{ "fieldname": "vMax", "fieldtype": "float"}]} +,{"struct": "vr::VREvent_Controller_t","fields": [ +{ "fieldname": "button", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VREvent_Mouse_t","fields": [ +{ "fieldname": "x", "fieldtype": "float"}, +{ "fieldname": "y", "fieldtype": "float"}, +{ "fieldname": "button", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VREvent_Scroll_t","fields": [ +{ "fieldname": "xdelta", "fieldtype": "float"}, +{ "fieldname": "ydelta", "fieldtype": "float"}, +{ "fieldname": "repeatCount", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VREvent_TouchPadMove_t","fields": [ +{ "fieldname": "bFingerDown", "fieldtype": "_Bool"}, +{ "fieldname": "flSecondsFingerDown", "fieldtype": "float"}, +{ "fieldname": "fValueXFirst", "fieldtype": "float"}, +{ "fieldname": "fValueYFirst", "fieldtype": "float"}, +{ "fieldname": "fValueXRaw", "fieldtype": "float"}, +{ "fieldname": "fValueYRaw", "fieldtype": "float"}]} +,{"struct": "vr::VREvent_Notification_t","fields": [ +{ "fieldname": "ulUserValue", "fieldtype": "uint64_t"}, +{ "fieldname": "notificationId", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VREvent_Process_t","fields": [ +{ "fieldname": "pid", "fieldtype": "uint32_t"}, +{ "fieldname": "oldPid", "fieldtype": "uint32_t"}, +{ "fieldname": "bForced", "fieldtype": "_Bool"}]} +,{"struct": "vr::VREvent_Overlay_t","fields": [ +{ "fieldname": "overlayHandle", "fieldtype": "uint64_t"}]} +,{"struct": "vr::VREvent_Status_t","fields": [ +{ "fieldname": "statusState", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VREvent_Keyboard_t","fields": [ +{ "fieldname": "cNewInput", "fieldtype": "char [8]"}, +{ "fieldname": "uUserValue", "fieldtype": "uint64_t"}]} +,{"struct": "vr::VREvent_Ipd_t","fields": [ +{ "fieldname": "ipdMeters", "fieldtype": "float"}]} +,{"struct": "vr::VREvent_Chaperone_t","fields": [ +{ "fieldname": "m_nPreviousUniverse", "fieldtype": "uint64_t"}, +{ "fieldname": "m_nCurrentUniverse", "fieldtype": "uint64_t"}]} +,{"struct": "vr::VREvent_Reserved_t","fields": [ +{ "fieldname": "reserved0", "fieldtype": "uint64_t"}, +{ "fieldname": "reserved1", "fieldtype": "uint64_t"}]} +,{"struct": "vr::VREvent_PerformanceTest_t","fields": [ +{ "fieldname": "m_nFidelityLevel", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VREvent_SeatedZeroPoseReset_t","fields": [ +{ "fieldname": "bResetBySystemMenu", "fieldtype": "_Bool"}]} +,{"struct": "vr::VREvent_Screenshot_t","fields": [ +{ "fieldname": "handle", "fieldtype": "uint32_t"}, +{ "fieldname": "type", "fieldtype": "uint32_t"}]} +,{"struct": "vr::(anonymous)","fields": [ +{ "fieldname": "reserved", "fieldtype": "struct vr::VREvent_Reserved_t"}, +{ "fieldname": "controller", "fieldtype": "struct vr::VREvent_Controller_t"}, +{ "fieldname": "mouse", "fieldtype": "struct vr::VREvent_Mouse_t"}, +{ "fieldname": "scroll", "fieldtype": "struct vr::VREvent_Scroll_t"}, +{ "fieldname": "process", "fieldtype": "struct vr::VREvent_Process_t"}, +{ "fieldname": "notification", "fieldtype": "struct vr::VREvent_Notification_t"}, +{ "fieldname": "overlay", "fieldtype": "struct vr::VREvent_Overlay_t"}, +{ "fieldname": "status", "fieldtype": "struct vr::VREvent_Status_t"}, +{ "fieldname": "keyboard", "fieldtype": "struct vr::VREvent_Keyboard_t"}, +{ "fieldname": "ipd", "fieldtype": "struct vr::VREvent_Ipd_t"}, +{ "fieldname": "chaperone", "fieldtype": "struct vr::VREvent_Chaperone_t"}, +{ "fieldname": "performanceTest", "fieldtype": "struct vr::VREvent_PerformanceTest_t"}, +{ "fieldname": "touchPadMove", "fieldtype": "struct vr::VREvent_TouchPadMove_t"}, +{ "fieldname": "seatedZeroPoseReset", "fieldtype": "struct vr::VREvent_SeatedZeroPoseReset_t"}, +{ "fieldname": "screenshot", "fieldtype": "struct vr::VREvent_Screenshot_t"}]} +,{"struct": "vr::VREvent_t","fields": [ +{ "fieldname": "eventType", "fieldtype": "uint32_t"}, +{ "fieldname": "trackedDeviceIndex", "fieldtype": "TrackedDeviceIndex_t"}, +{ "fieldname": "eventAgeSeconds", "fieldtype": "float"}, +{ "fieldname": "data", "fieldtype": "VREvent_Data_t"}]} +,{"struct": "vr::HiddenAreaMesh_t","fields": [ +{ "fieldname": "pVertexData", "fieldtype": "const struct vr::HmdVector2_t *"}, +{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VRControllerAxis_t","fields": [ +{ "fieldname": "x", "fieldtype": "float"}, +{ "fieldname": "y", "fieldtype": "float"}]} +,{"struct": "vr::VRControllerState001_t","fields": [ +{ "fieldname": "unPacketNum", "fieldtype": "uint32_t"}, +{ "fieldname": "ulButtonPressed", "fieldtype": "uint64_t"}, +{ "fieldname": "ulButtonTouched", "fieldtype": "uint64_t"}, +{ "fieldname": "rAxis", "fieldtype": "struct vr::VRControllerAxis_t [5]"}]} +,{"struct": "vr::Compositor_OverlaySettings","fields": [ +{ "fieldname": "size", "fieldtype": "uint32_t"}, +{ "fieldname": "curved", "fieldtype": "_Bool"}, +{ "fieldname": "antialias", "fieldtype": "_Bool"}, +{ "fieldname": "scale", "fieldtype": "float"}, +{ "fieldname": "distance", "fieldtype": "float"}, +{ "fieldname": "alpha", "fieldtype": "float"}, +{ "fieldname": "uOffset", "fieldtype": "float"}, +{ "fieldname": "vOffset", "fieldtype": "float"}, +{ "fieldname": "uScale", "fieldtype": "float"}, +{ "fieldname": "vScale", "fieldtype": "float"}, +{ "fieldname": "gridDivs", "fieldtype": "float"}, +{ "fieldname": "gridWidth", "fieldtype": "float"}, +{ "fieldname": "gridScale", "fieldtype": "float"}, +{ "fieldname": "transform", "fieldtype": "struct vr::HmdMatrix44_t"}]} +,{"struct": "vr::CameraVideoStreamFrameHeader_t","fields": [ +{ "fieldname": "eFrameType", "fieldtype": "enum vr::EVRTrackedCameraFrameType"}, +{ "fieldname": "nWidth", "fieldtype": "uint32_t"}, +{ "fieldname": "nHeight", "fieldtype": "uint32_t"}, +{ "fieldname": "nBytesPerPixel", "fieldtype": "uint32_t"}, +{ "fieldname": "nFrameSequence", "fieldtype": "uint32_t"}, +{ "fieldname": "standingTrackedDevicePose", "fieldtype": "struct vr::TrackedDevicePose_t"}]} +,{"struct": "vr::AppOverrideKeys_t","fields": [ +{ "fieldname": "pchKey", "fieldtype": "const char *"}, +{ "fieldname": "pchValue", "fieldtype": "const char *"}]} +,{"struct": "vr::Compositor_FrameTiming","fields": [ +{ "fieldname": "m_nSize", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nFrameIndex", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"}, +{ "fieldname": "m_flSystemTimeInSeconds", "fieldtype": "double"}, +{ "fieldname": "m_flSceneRenderGpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flTotalRenderGpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flCompositorRenderGpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flCompositorRenderCpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flCompositorIdleCpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flClientFrameIntervalMs", "fieldtype": "float"}, +{ "fieldname": "m_flPresentCallCpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flWaitForPresentCpuMs", "fieldtype": "float"}, +{ "fieldname": "m_flSubmitFrameMs", "fieldtype": "float"}, +{ "fieldname": "m_flWaitGetPosesCalledMs", "fieldtype": "float"}, +{ "fieldname": "m_flNewPosesReadyMs", "fieldtype": "float"}, +{ "fieldname": "m_flNewFrameReadyMs", "fieldtype": "float"}, +{ "fieldname": "m_flCompositorUpdateStartMs", "fieldtype": "float"}, +{ "fieldname": "m_flCompositorUpdateEndMs", "fieldtype": "float"}, +{ "fieldname": "m_flCompositorRenderStartMs", "fieldtype": "float"}, +{ "fieldname": "m_HmdPose", "fieldtype": "vr::TrackedDevicePose_t"}, +{ "fieldname": "m_nFidelityLevel", "fieldtype": "int32_t"}, +{ "fieldname": "m_nReprojectionFlags", "fieldtype": "uint32_t"}]} +,{"struct": "vr::Compositor_CumulativeStats","fields": [ +{ "fieldname": "m_nPid", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumReprojectedFrames", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumFramePresentsOnStartup", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumDroppedFramesOnStartup", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumReprojectedFramesOnStartup", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumLoading", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumFramePresentsLoading", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumDroppedFramesLoading", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumReprojectedFramesLoading", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumTimedOut", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumFramePresentsTimedOut", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumDroppedFramesTimedOut", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumReprojectedFramesTimedOut", "fieldtype": "uint32_t"}]} +,{"struct": "vr::VROverlayIntersectionParams_t","fields": [ +{ "fieldname": "vSource", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "vDirection", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "eOrigin", "fieldtype": "enum vr::ETrackingUniverseOrigin"}]} +,{"struct": "vr::VROverlayIntersectionResults_t","fields": [ +{ "fieldname": "vPoint", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "vUVs", "fieldtype": "struct vr::HmdVector2_t"}, +{ "fieldname": "fDistance", "fieldtype": "float"}]} +,{"struct": "vr::RenderModel_ComponentState_t","fields": [ +{ "fieldname": "mTrackingToComponentRenderModel", "fieldtype": "struct vr::HmdMatrix34_t"}, +{ "fieldname": "mTrackingToComponentLocal", "fieldtype": "struct vr::HmdMatrix34_t"}, +{ "fieldname": "uProperties", "fieldtype": "VRComponentProperties"}]} +,{"struct": "vr::RenderModel_Vertex_t","fields": [ +{ "fieldname": "vPosition", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"}, +{ "fieldname": "rfTextureCoord", "fieldtype": "float [2]"}]} +,{"struct": "vr::RenderModel_TextureMap_t","fields": [ +{ "fieldname": "unWidth", "fieldtype": "uint16_t"}, +{ "fieldname": "unHeight", "fieldtype": "uint16_t"}, +{ "fieldname": "rubTextureMapData", "fieldtype": "const uint8_t *"}]} +,{"struct": "vr::RenderModel_t","fields": [ +{ "fieldname": "rVertexData", "fieldtype": "const struct vr::RenderModel_Vertex_t *"}, +{ "fieldname": "unVertexCount", "fieldtype": "uint32_t"}, +{ "fieldname": "rIndexData", "fieldtype": "const uint16_t *"}, +{ "fieldname": "unTriangleCount", "fieldtype": "uint32_t"}, +{ "fieldname": "diffuseTextureId", "fieldtype": "TextureID_t"}]} +,{"struct": "vr::RenderModel_ControllerMode_State_t","fields": [ +{ "fieldname": "bScrollWheelVisible", "fieldtype": "_Bool"}]} +,{"struct": "vr::NotificationBitmap_t","fields": [ +{ "fieldname": "m_pImageData", "fieldtype": "void *"}, +{ "fieldname": "m_nWidth", "fieldtype": "int32_t"}, +{ "fieldname": "m_nHeight", "fieldtype": "int32_t"}, +{ "fieldname": "m_nBytesPerPixel", "fieldtype": "int32_t"}]} +,{"struct": "vr::COpenVRContext","fields": [ +{ "fieldname": "m_pVRSystem", "fieldtype": "class vr::IVRSystem *"}, +{ "fieldname": "m_pVRChaperone", "fieldtype": "class vr::IVRChaperone *"}, +{ "fieldname": "m_pVRChaperoneSetup", "fieldtype": "class vr::IVRChaperoneSetup *"}, +{ "fieldname": "m_pVRCompositor", "fieldtype": "class vr::IVRCompositor *"}, +{ "fieldname": "m_pVROverlay", "fieldtype": "class vr::IVROverlay *"}, +{ "fieldname": "m_pVRRenderModels", "fieldtype": "class vr::IVRRenderModels *"}, +{ "fieldname": "m_pVRExtendedDisplay", "fieldtype": "class vr::IVRExtendedDisplay *"}, +{ "fieldname": "m_pVRSettings", "fieldtype": "class vr::IVRSettings *"}, +{ "fieldname": "m_pVRApplications", "fieldtype": "class vr::IVRApplications *"}, +{ "fieldname": "m_pVRTrackedCamera", "fieldtype": "class vr::IVRTrackedCamera *"}, +{ "fieldname": "m_pVRScreenshots", "fieldtype": "class vr::IVRScreenshots *"}]} +], +"methods":[{ + "classname": "vr::IVRSystem", + "methodname": "GetRecommendedRenderTargetSize", + "returntype": "void", + "params": [ +{ "paramname": "pnWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnHeight" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetProjectionMatrix", + "returntype": "struct vr::HmdMatrix44_t", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "fNearZ" ,"paramtype": "float"}, +{ "paramname": "fFarZ" ,"paramtype": "float"}, +{ "paramname": "eProjType" ,"paramtype": "vr::EGraphicsAPIConvention"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetProjectionRaw", + "returntype": "void", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "pfLeft" ,"paramtype": "float *"}, +{ "paramname": "pfRight" ,"paramtype": "float *"}, +{ "paramname": "pfTop" ,"paramtype": "float *"}, +{ "paramname": "pfBottom" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "ComputeDistortion", + "returntype": "struct vr::DistortionCoordinates_t", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "fU" ,"paramtype": "float"}, +{ "paramname": "fV" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetEyeToHeadTransform", + "returntype": "struct vr::HmdMatrix34_t", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetTimeSinceLastVsync", + "returntype": "bool", + "params": [ +{ "paramname": "pfSecondsSinceLastVsync" ,"paramtype": "float *"}, +{ "paramname": "pulFrameCounter" ,"paramtype": "uint64_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetD3D9AdapterIndex", + "returntype": "int32_t" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetDXGIOutputInfo", + "returntype": "void", + "params": [ +{ "paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "IsDisplayOnDesktop", + "returntype": "bool" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "SetDisplayVisibility", + "returntype": "bool", + "params": [ +{ "paramname": "bIsVisibleOnDesktop" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetDeviceToAbsoluteTrackingPose", + "returntype": "void", + "params": [ +{ "paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, +{ "paramname": "fPredictedSecondsToPhotonsFromNow" ,"paramtype": "float"}, +{ "paramname": "pTrackedDevicePoseArray" ,"array_count": "unTrackedDevicePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "unTrackedDevicePoseArrayCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "ResetSeatedZeroPose", + "returntype": "void" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetSeatedZeroPoseToStandingAbsoluteTrackingPose", + "returntype": "struct vr::HmdMatrix34_t" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetRawZeroPoseToStandingAbsoluteTrackingPose", + "returntype": "struct vr::HmdMatrix34_t" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetSortedTrackedDeviceIndicesOfClass", + "returntype": "uint32_t", + "params": [ +{ "paramname": "eTrackedDeviceClass" ,"paramtype": "vr::ETrackedDeviceClass"}, +{ "paramname": "punTrackedDeviceIndexArray" ,"array_count": "unTrackedDeviceIndexArrayCount" ,"paramtype": "vr::TrackedDeviceIndex_t *"}, +{ "paramname": "unTrackedDeviceIndexArrayCount" ,"paramtype": "uint32_t"}, +{ "paramname": "unRelativeToTrackedDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetTrackedDeviceActivityLevel", + "returntype": "vr::EDeviceActivityLevel", + "params": [ +{ "paramname": "unDeviceId" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "ApplyTransform", + "returntype": "void", + "params": [ +{ "paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "pTrackedDevicePose" ,"paramtype": "const struct vr::TrackedDevicePose_t *"}, +{ "paramname": "pTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetTrackedDeviceIndexForControllerRole", + "returntype": "vr::TrackedDeviceIndex_t", + "params": [ +{ "paramname": "unDeviceType" ,"paramtype": "vr::ETrackedControllerRole"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetControllerRoleForTrackedDeviceIndex", + "returntype": "vr::ETrackedControllerRole", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetTrackedDeviceClass", + "returntype": "vr::ETrackedDeviceClass", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "IsTrackedDeviceConnected", + "returntype": "bool", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetBoolTrackedDeviceProperty", + "returntype": "bool", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"}, +{ "paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetFloatTrackedDeviceProperty", + "returntype": "float", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"}, +{ "paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetInt32TrackedDeviceProperty", + "returntype": "int32_t", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"}, +{ "paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetUint64TrackedDeviceProperty", + "returntype": "uint64_t", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"}, +{ "paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetMatrix34TrackedDeviceProperty", + "returntype": "struct vr::HmdMatrix34_t", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"}, +{ "paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetStringTrackedDeviceProperty", + "returntype": "uint32_t", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "prop" ,"paramtype": "vr::ETrackedDeviceProperty"}, +{ "paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unBufferSize" ,"paramtype": "uint32_t"}, +{ "paramname": "pError" ,"paramtype": "vr::ETrackedPropertyError *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetPropErrorNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "error" ,"paramtype": "vr::ETrackedPropertyError"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "PollNextEvent", + "returntype": "bool", + "params": [ +{ "paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"}, +{ "paramname": "uncbVREvent" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "PollNextEventWithPose", + "returntype": "bool", + "params": [ +{ "paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, +{ "paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"}, +{ "paramname": "uncbVREvent" ,"paramtype": "uint32_t"}, +{ "paramname": "pTrackedDevicePose" ,"paramtype": "vr::TrackedDevicePose_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetEventTypeNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "eType" ,"paramtype": "vr::EVREventType"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetHiddenAreaMesh", + "returntype": "struct vr::HiddenAreaMesh_t", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetControllerState", + "returntype": "bool", + "params": [ +{ "paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetControllerStateWithPose", + "returntype": "bool", + "params": [ +{ "paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, +{ "paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"}, +{ "paramname": "pTrackedDevicePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "TriggerHapticPulse", + "returntype": "void", + "params": [ +{ "paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "unAxisId" ,"paramtype": "uint32_t"}, +{ "paramname": "usDurationMicroSec" ,"paramtype": "unsigned short"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetButtonIdNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "eButtonId" ,"paramtype": "vr::EVRButtonId"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "GetControllerAxisTypeNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "eAxisType" ,"paramtype": "vr::EVRControllerAxisType"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "CaptureInputFocus", + "returntype": "bool" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "ReleaseInputFocus", + "returntype": "void" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "IsInputFocusCapturedByAnotherProcess", + "returntype": "bool" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "DriverDebugRequest", + "returntype": "uint32_t", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pchRequest" ,"paramtype": "const char *"}, +{ "paramname": "pchResponseBuffer" ,"paramtype": "char *"}, +{ "paramname": "unResponseBufferSize" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "PerformFirmwareUpdate", + "returntype": "vr::EVRFirmwareError", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVRSystem", + "methodname": "AcknowledgeQuit_Exiting", + "returntype": "void" +} +,{ + "classname": "vr::IVRSystem", + "methodname": "AcknowledgeQuit_UserPrompt", + "returntype": "void" +} +,{ + "classname": "vr::IVRExtendedDisplay", + "methodname": "GetWindowBounds", + "returntype": "void", + "params": [ +{ "paramname": "pnX" ,"paramtype": "int32_t *"}, +{ "paramname": "pnY" ,"paramtype": "int32_t *"}, +{ "paramname": "pnWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnHeight" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRExtendedDisplay", + "methodname": "GetEyeOutputViewport", + "returntype": "void", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "pnX" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnY" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnHeight" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRExtendedDisplay", + "methodname": "GetDXGIOutputInfo", + "returntype": "void", + "params": [ +{ "paramname": "pnAdapterIndex" ,"paramtype": "int32_t *"}, +{ "paramname": "pnAdapterOutputIndex" ,"paramtype": "int32_t *"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "GetCameraErrorNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "eCameraError" ,"paramtype": "vr::EVRTrackedCameraError"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "HasCamera", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pHasCamera" ,"paramtype": "bool *"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "GetCameraFrameSize", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"}, +{ "paramname": "pnWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnHeight" ,"paramtype": "uint32_t *"}, +{ "paramname": "pnFrameBufferSize" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "GetCameraIntrinisics", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"}, +{ "paramname": "pFocalLength" ,"paramtype": "vr::HmdVector2_t *"}, +{ "paramname": "pCenter" ,"paramtype": "vr::HmdVector2_t *"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "GetCameraProjection", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"}, +{ "paramname": "flZNear" ,"paramtype": "float"}, +{ "paramname": "flZFar" ,"paramtype": "float"}, +{ "paramname": "pProjection" ,"paramtype": "vr::HmdMatrix44_t *"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "AcquireVideoStreamingService", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "nDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pHandle" ,"paramtype": "vr::TrackedCameraHandle_t *"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "ReleaseVideoStreamingService", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"} + ] +} +,{ + "classname": "vr::IVRTrackedCamera", + "methodname": "GetVideoStreamFrameBuffer", + "returntype": "vr::EVRTrackedCameraError", + "params": [ +{ "paramname": "hTrackedCamera" ,"paramtype": "vr::TrackedCameraHandle_t"}, +{ "paramname": "eFrameType" ,"paramtype": "vr::EVRTrackedCameraFrameType"}, +{ "paramname": "pFrameBuffer" ,"paramtype": "void *"}, +{ "paramname": "nFrameBufferSize" ,"paramtype": "uint32_t"}, +{ "paramname": "pFrameHeader" ,"paramtype": "vr::CameraVideoStreamFrameHeader_t *"}, +{ "paramname": "nFrameHeaderSize" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "AddApplicationManifest", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"}, +{ "paramname": "bTemporary" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "RemoveApplicationManifest", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchApplicationManifestFullPath" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "IsApplicationInstalled", + "returntype": "bool", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationCount", + "returntype": "uint32_t" +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationKeyByIndex", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "unApplicationIndex" ,"paramtype": "uint32_t"}, +{ "paramname": "pchAppKeyBuffer" ,"paramtype": "char *"}, +{ "paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationKeyByProcessId", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "unProcessId" ,"paramtype": "uint32_t"}, +{ "paramname": "pchAppKeyBuffer" ,"paramtype": "char *"}, +{ "paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "LaunchApplication", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "LaunchTemplateApplication", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchTemplateAppKey" ,"paramtype": "const char *"}, +{ "paramname": "pchNewAppKey" ,"paramtype": "const char *"}, +{ "paramname": "pKeys" ,"array_count": "unKeys" ,"paramtype": "const struct vr::AppOverrideKeys_t *"}, +{ "paramname": "unKeys" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "LaunchDashboardOverlay", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "CancelApplicationLaunch", + "returntype": "bool", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "IdentifyApplication", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "unProcessId" ,"paramtype": "uint32_t"}, +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationProcessId", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationsErrorNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "error" ,"paramtype": "vr::EVRApplicationError"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationPropertyString", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"}, +{ "paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"}, +{ "paramname": "pchPropertyValueBuffer" ,"paramtype": "char *"}, +{ "paramname": "unPropertyValueBufferLen" ,"paramtype": "uint32_t"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationPropertyBool", + "returntype": "bool", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"}, +{ "paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationPropertyUint64", + "returntype": "uint64_t", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"}, +{ "paramname": "eProperty" ,"paramtype": "vr::EVRApplicationProperty"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRApplicationError *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "SetApplicationAutoLaunch", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"}, +{ "paramname": "bAutoLaunch" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationAutoLaunch", + "returntype": "bool", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetStartingApplication", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchAppKeyBuffer" ,"paramtype": "char *"}, +{ "paramname": "unAppKeyBufferLen" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetTransitionState", + "returntype": "vr::EVRApplicationTransitionState" +} +,{ + "classname": "vr::IVRApplications", + "methodname": "PerformApplicationPrelaunchCheck", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchAppKey" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "GetApplicationsTransitionStateNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "state" ,"paramtype": "vr::EVRApplicationTransitionState"} + ] +} +,{ + "classname": "vr::IVRApplications", + "methodname": "IsQuitUserPromptRequested", + "returntype": "bool" +} +,{ + "classname": "vr::IVRApplications", + "methodname": "LaunchInternalProcess", + "returntype": "vr::EVRApplicationError", + "params": [ +{ "paramname": "pchBinaryPath" ,"paramtype": "const char *"}, +{ "paramname": "pchArguments" ,"paramtype": "const char *"}, +{ "paramname": "pchWorkingDirectory" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "GetCalibrationState", + "returntype": "vr::ChaperoneCalibrationState" +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "GetPlayAreaSize", + "returntype": "bool", + "params": [ +{ "paramname": "pSizeX" ,"paramtype": "float *"}, +{ "paramname": "pSizeZ" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "GetPlayAreaRect", + "returntype": "bool", + "params": [ +{ "paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"} + ] +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "ReloadInfo", + "returntype": "void" +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "SetSceneColor", + "returntype": "void", + "params": [ +{ "paramname": "color" ,"paramtype": "struct vr::HmdColor_t"} + ] +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "GetBoundsColor", + "returntype": "void", + "params": [ +{ "paramname": "pOutputColorArray" ,"paramtype": "struct vr::HmdColor_t *"}, +{ "paramname": "nNumOutputColors" ,"paramtype": "int"}, +{ "paramname": "flCollisionBoundsFadeDistance" ,"paramtype": "float"}, +{ "paramname": "pOutputCameraColor" ,"paramtype": "struct vr::HmdColor_t *"} + ] +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "AreBoundsVisible", + "returntype": "bool" +} +,{ + "classname": "vr::IVRChaperone", + "methodname": "ForceBoundsVisible", + "returntype": "void", + "params": [ +{ "paramname": "bForce" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "CommitWorkingCopy", + "returntype": "bool", + "params": [ +{ "paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "RevertWorkingCopy", + "returntype": "void" +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetWorkingPlayAreaSize", + "returntype": "bool", + "params": [ +{ "paramname": "pSizeX" ,"paramtype": "float *"}, +{ "paramname": "pSizeZ" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetWorkingPlayAreaRect", + "returntype": "bool", + "params": [ +{ "paramname": "rect" ,"paramtype": "struct vr::HmdQuad_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetWorkingCollisionBoundsInfo", + "returntype": "bool", + "params": [ +{ "paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"}, +{ "paramname": "punQuadsCount" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetLiveCollisionBoundsInfo", + "returntype": "bool", + "params": [ +{ "paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"}, +{ "paramname": "punQuadsCount" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetWorkingSeatedZeroPoseToRawTrackingPose", + "returntype": "bool", + "params": [ +{ "paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetWorkingStandingZeroPoseToRawTrackingPose", + "returntype": "bool", + "params": [ +{ "paramname": "pmatStandingZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "SetWorkingPlayAreaSize", + "returntype": "void", + "params": [ +{ "paramname": "sizeX" ,"paramtype": "float"}, +{ "paramname": "sizeZ" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "SetWorkingCollisionBoundsInfo", + "returntype": "void", + "params": [ +{ "paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"}, +{ "paramname": "unQuadsCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "SetWorkingSeatedZeroPoseToRawTrackingPose", + "returntype": "void", + "params": [ +{ "paramname": "pMatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "SetWorkingStandingZeroPoseToRawTrackingPose", + "returntype": "void", + "params": [ +{ "paramname": "pMatStandingZeroPoseToRawTrackingPose" ,"paramtype": "const struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "ReloadFromDisk", + "returntype": "void", + "params": [ +{ "paramname": "configFile" ,"paramtype": "vr::EChaperoneConfigFile"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetLiveSeatedZeroPoseToRawTrackingPose", + "returntype": "bool", + "params": [ +{ "paramname": "pmatSeatedZeroPoseToRawTrackingPose" ,"paramtype": "struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "SetWorkingCollisionBoundsTagsInfo", + "returntype": "void", + "params": [ +{ "paramname": "pTagsBuffer" ,"array_count": "unTagCount" ,"paramtype": "uint8_t *"}, +{ "paramname": "unTagCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetLiveCollisionBoundsTagsInfo", + "returntype": "bool", + "params": [ +{ "paramname": "pTagsBuffer" ,"out_array_count": "punTagCount" ,"paramtype": "uint8_t *"}, +{ "paramname": "punTagCount" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "SetWorkingPhysicalBoundsInfo", + "returntype": "bool", + "params": [ +{ "paramname": "pQuadsBuffer" ,"array_count": "unQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"}, +{ "paramname": "unQuadsCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "GetLivePhysicalBoundsInfo", + "returntype": "bool", + "params": [ +{ "paramname": "pQuadsBuffer" ,"out_array_count": "punQuadsCount" ,"paramtype": "struct vr::HmdQuad_t *"}, +{ "paramname": "punQuadsCount" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "ExportLiveToBuffer", + "returntype": "bool", + "params": [ +{ "paramname": "pBuffer" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "pnBufferLength" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVRChaperoneSetup", + "methodname": "ImportFromBufferToWorking", + "returntype": "bool", + "params": [ +{ "paramname": "pBuffer" ,"paramtype": "const char *"}, +{ "paramname": "nImportFlags" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "SetTrackingSpace", + "returntype": "void", + "params": [ +{ "paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetTrackingSpace", + "returntype": "vr::ETrackingUniverseOrigin" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "WaitGetPoses", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"}, +{ "paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetLastPoses", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "pRenderPoseArray" ,"array_count": "unRenderPoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "unRenderPoseArrayCount" ,"paramtype": "uint32_t"}, +{ "paramname": "pGamePoseArray" ,"array_count": "unGamePoseArrayCount" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "unGamePoseArrayCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetLastPoseForTrackedDeviceIndex", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pOutputPose" ,"paramtype": "struct vr::TrackedDevicePose_t *"}, +{ "paramname": "pOutputGamePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "Submit", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"}, +{ "paramname": "pBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"}, +{ "paramname": "nSubmitFlags" ,"paramtype": "vr::EVRSubmitFlags"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ClearLastSubmittedFrame", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "PostPresentHandoff", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetFrameTiming", + "returntype": "bool", + "params": [ +{ "paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"}, +{ "paramname": "unFramesAgo" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetFrameTimeRemaining", + "returntype": "float" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetCumulativeStats", + "returntype": "void", + "params": [ +{ "paramname": "pStats" ,"paramtype": "struct vr::Compositor_CumulativeStats *"}, +{ "paramname": "nStatsSizeInBytes" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "FadeToColor", + "returntype": "void", + "params": [ +{ "paramname": "fSeconds" ,"paramtype": "float"}, +{ "paramname": "fRed" ,"paramtype": "float"}, +{ "paramname": "fGreen" ,"paramtype": "float"}, +{ "paramname": "fBlue" ,"paramtype": "float"}, +{ "paramname": "fAlpha" ,"paramtype": "float"}, +{ "paramname": "bBackground" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "FadeGrid", + "returntype": "void", + "params": [ +{ "paramname": "fSeconds" ,"paramtype": "float"}, +{ "paramname": "bFadeIn" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "SetSkyboxOverride", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "pTextures" ,"array_count": "unTextureCount" ,"paramtype": "const struct vr::Texture_t *"}, +{ "paramname": "unTextureCount" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ClearSkyboxOverride", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "CompositorBringToFront", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "CompositorGoToBack", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "CompositorQuit", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "IsFullscreen", + "returntype": "bool" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetCurrentSceneFocusProcess", + "returntype": "uint32_t" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetLastFrameRenderer", + "returntype": "uint32_t" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "CanRenderScene", + "returntype": "bool" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ShowMirrorWindow", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "HideMirrorWindow", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "IsMirrorWindowVisible", + "returntype": "bool" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "CompositorDumpImages", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ShouldAppRenderWithLowResources", + "returntype": "bool" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ForceInterleavedReprojectionOn", + "returntype": "void", + "params": [ +{ "paramname": "bOverride" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ForceReconnectProcess", + "returntype": "void" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "SuspendRendering", + "returntype": "void", + "params": [ +{ "paramname": "bSuspend" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "RequestScreenshot", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "type" ,"paramtype": "vr::EVRScreenshotType"}, +{ "paramname": "pchDestinationFileName" ,"paramtype": "const char *"}, +{ "paramname": "pchVRDestinationFileName" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetCurrentScreenshotType", + "returntype": "vr::EVRScreenshotType" +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetMirrorTextureD3D11", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "pD3D11DeviceOrResource" ,"paramtype": "void *"}, +{ "paramname": "ppD3D11ShaderResourceView" ,"paramtype": "void **"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetMirrorTextureGL", + "returntype": "vr::EVRCompositorError", + "params": [ +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "pglTextureId" ,"paramtype": "vr::glUInt_t *"}, +{ "paramname": "pglSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t *"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "ReleaseSharedGLTexture", + "returntype": "bool", + "params": [ +{ "paramname": "glTextureId" ,"paramtype": "vr::glUInt_t"}, +{ "paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "LockGLSharedTextureForAccess", + "returntype": "void", + "params": [ +{ "paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"} + ] +} +,{ + "classname": "vr::IVRCompositor", + "methodname": "UnlockGLSharedTextureForAccess", + "returntype": "void", + "params": [ +{ "paramname": "glSharedTextureHandle" ,"paramtype": "vr::glSharedTextureHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "FindOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "pchOverlayKey" ,"paramtype": "const char *"}, +{ "paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "CreateOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "pchOverlayKey" ,"paramtype": "const char *"}, +{ "paramname": "pchOverlayFriendlyName" ,"paramtype": "const char *"}, +{ "paramname": "pOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "DestroyOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetHighQualityOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetHighQualityOverlay", + "returntype": "vr::VROverlayHandle_t" +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayKey", + "returntype": "uint32_t", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unBufferSize" ,"paramtype": "uint32_t"}, +{ "paramname": "pError" ,"paramtype": "vr::EVROverlayError *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayName", + "returntype": "uint32_t", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pchValue" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unBufferSize" ,"paramtype": "uint32_t"}, +{ "paramname": "pError" ,"paramtype": "vr::EVROverlayError *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayImageData", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pvBuffer" ,"paramtype": "void *"}, +{ "paramname": "unBufferSize" ,"paramtype": "uint32_t"}, +{ "paramname": "punWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "punHeight" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayErrorNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "error" ,"paramtype": "vr::EVROverlayError"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayRenderingPid", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "unPID" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayRenderingPid", + "returntype": "uint32_t", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayFlag", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"}, +{ "paramname": "bEnabled" ,"paramtype": "bool"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayFlag", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eOverlayFlag" ,"paramtype": "vr::VROverlayFlags"}, +{ "paramname": "pbEnabled" ,"paramtype": "bool *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayColor", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "fRed" ,"paramtype": "float"}, +{ "paramname": "fGreen" ,"paramtype": "float"}, +{ "paramname": "fBlue" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayColor", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pfRed" ,"paramtype": "float *"}, +{ "paramname": "pfGreen" ,"paramtype": "float *"}, +{ "paramname": "pfBlue" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayAlpha", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "fAlpha" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayAlpha", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pfAlpha" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayWidthInMeters", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "fWidthInMeters" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayWidthInMeters", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pfWidthInMeters" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayAutoCurveDistanceRangeInMeters", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "fMinDistanceInMeters" ,"paramtype": "float"}, +{ "paramname": "fMaxDistanceInMeters" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayAutoCurveDistanceRangeInMeters", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pfMinDistanceInMeters" ,"paramtype": "float *"}, +{ "paramname": "pfMaxDistanceInMeters" ,"paramtype": "float *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayTextureColorSpace", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eTextureColorSpace" ,"paramtype": "vr::EColorSpace"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTextureColorSpace", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "peTextureColorSpace" ,"paramtype": "vr::EColorSpace *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayTextureBounds", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pOverlayTextureBounds" ,"paramtype": "const struct vr::VRTextureBounds_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTextureBounds", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pOverlayTextureBounds" ,"paramtype": "struct vr::VRTextureBounds_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTransformType", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "peTransformType" ,"paramtype": "vr::VROverlayTransformType *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayTransformAbsolute", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, +{ "paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTransformAbsolute", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "peTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin *"}, +{ "paramname": "pmatTrackingOriginToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayTransformTrackedDeviceRelative", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "unTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTransformTrackedDeviceRelative", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "punTrackedDevice" ,"paramtype": "vr::TrackedDeviceIndex_t *"}, +{ "paramname": "pmatTrackedDeviceToOverlayTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayTransformTrackedDeviceComponent", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "unDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, +{ "paramname": "pchComponentName" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTransformTrackedDeviceComponent", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "punDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t *"}, +{ "paramname": "pchComponentName" ,"paramtype": "char *"}, +{ "paramname": "unComponentNameSize" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ShowOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "HideOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "IsOverlayVisible", + "returntype": "bool", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetTransformForOverlayCoordinates", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, +{ "paramname": "coordinatesInOverlay" ,"paramtype": "struct vr::HmdVector2_t"}, +{ "paramname": "pmatTransform" ,"paramtype": "struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "PollNextOverlayEvent", + "returntype": "bool", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pEvent" ,"paramtype": "struct vr::VREvent_t *"}, +{ "paramname": "uncbVREvent" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayInputMethod", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "peInputMethod" ,"paramtype": "vr::VROverlayInputMethod *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayInputMethod", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eInputMethod" ,"paramtype": "vr::VROverlayInputMethod"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayMouseScale", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pvecMouseScale" ,"paramtype": "struct vr::HmdVector2_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayMouseScale", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pvecMouseScale" ,"paramtype": "const struct vr::HmdVector2_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ComputeOverlayIntersection", + "returntype": "bool", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pParams" ,"paramtype": "const struct vr::VROverlayIntersectionParams_t *"}, +{ "paramname": "pResults" ,"paramtype": "struct vr::VROverlayIntersectionResults_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "HandleControllerOverlayInteractionAsMouse", + "returntype": "bool", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "IsHoverTargetOverlay", + "returntype": "bool", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetGamepadFocusOverlay", + "returntype": "vr::VROverlayHandle_t" +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetGamepadFocusOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulNewFocusOverlay" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayNeighbor", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"}, +{ "paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "ulTo" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "MoveGamepadFocusToNeighbor", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "eDirection" ,"paramtype": "vr::EOverlayDirection"}, +{ "paramname": "ulFrom" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayTexture", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pTexture" ,"paramtype": "const struct vr::Texture_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ClearOverlayTexture", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayRaw", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pvBuffer" ,"paramtype": "void *"}, +{ "paramname": "unWidth" ,"paramtype": "uint32_t"}, +{ "paramname": "unHeight" ,"paramtype": "uint32_t"}, +{ "paramname": "unDepth" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayFromFile", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pchFilePath" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTexture", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pNativeTextureHandle" ,"paramtype": "void **"}, +{ "paramname": "pNativeTextureRef" ,"paramtype": "void *"}, +{ "paramname": "pWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "pHeight" ,"paramtype": "uint32_t *"}, +{ "paramname": "pNativeFormat" ,"paramtype": "uint32_t *"}, +{ "paramname": "pAPI" ,"paramtype": "vr::EGraphicsAPIConvention *"}, +{ "paramname": "pColorSpace" ,"paramtype": "vr::EColorSpace *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ReleaseNativeOverlayHandle", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pNativeTextureHandle" ,"paramtype": "void *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetOverlayTextureSize", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pWidth" ,"paramtype": "uint32_t *"}, +{ "paramname": "pHeight" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "CreateDashboardOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "pchOverlayKey" ,"paramtype": "const char *"}, +{ "paramname": "pchOverlayFriendlyName" ,"paramtype": "const char *"}, +{ "paramname": "pMainHandle" ,"paramtype": "vr::VROverlayHandle_t *"}, +{ "paramname": "pThumbnailHandle" ,"paramtype": "vr::VROverlayHandle_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "IsDashboardVisible", + "returntype": "bool" +} +,{ + "classname": "vr::IVROverlay", + "methodname": "IsActiveDashboardOverlay", + "returntype": "bool", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetDashboardOverlaySceneProcess", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "unProcessId" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetDashboardOverlaySceneProcess", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "punProcessId" ,"paramtype": "uint32_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ShowDashboard", + "returntype": "void", + "params": [ +{ "paramname": "pchOverlayToShow" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetPrimaryDashboardDevice", + "returntype": "vr::TrackedDeviceIndex_t" +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ShowKeyboard", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"}, +{ "paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"}, +{ "paramname": "pchDescription" ,"paramtype": "const char *"}, +{ "paramname": "unCharMax" ,"paramtype": "uint32_t"}, +{ "paramname": "pchExistingText" ,"paramtype": "const char *"}, +{ "paramname": "bUseMinimalMode" ,"paramtype": "bool"}, +{ "paramname": "uUserValue" ,"paramtype": "uint64_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "ShowKeyboardForOverlay", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "eInputMode" ,"paramtype": "vr::EGamepadTextInputMode"}, +{ "paramname": "eLineInputMode" ,"paramtype": "vr::EGamepadTextInputLineMode"}, +{ "paramname": "pchDescription" ,"paramtype": "const char *"}, +{ "paramname": "unCharMax" ,"paramtype": "uint32_t"}, +{ "paramname": "pchExistingText" ,"paramtype": "const char *"}, +{ "paramname": "bUseMinimalMode" ,"paramtype": "bool"}, +{ "paramname": "uUserValue" ,"paramtype": "uint64_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "GetKeyboardText", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchText" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "cchText" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "HideKeyboard", + "returntype": "void" +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetKeyboardTransformAbsolute", + "returntype": "void", + "params": [ +{ "paramname": "eTrackingOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, +{ "paramname": "pmatTrackingOriginToKeyboardTransform" ,"paramtype": "const struct vr::HmdMatrix34_t *"} + ] +} +,{ + "classname": "vr::IVROverlay", + "methodname": "SetKeyboardPositionForOverlay", + "returntype": "void", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "avoidRect" ,"paramtype": "struct vr::HmdRect2_t"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "LoadRenderModel_Async", + "returntype": "vr::EVRRenderModelError", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "ppRenderModel" ,"paramtype": "struct vr::RenderModel_t **"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "FreeRenderModel", + "returntype": "void", + "params": [ +{ "paramname": "pRenderModel" ,"paramtype": "struct vr::RenderModel_t *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "LoadTexture_Async", + "returntype": "vr::EVRRenderModelError", + "params": [ +{ "paramname": "textureId" ,"paramtype": "vr::TextureID_t"}, +{ "paramname": "ppTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t **"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "FreeTexture", + "returntype": "void", + "params": [ +{ "paramname": "pTexture" ,"paramtype": "struct vr::RenderModel_TextureMap_t *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "LoadTextureD3D11_Async", + "returntype": "vr::EVRRenderModelError", + "params": [ +{ "paramname": "textureId" ,"paramtype": "vr::TextureID_t"}, +{ "paramname": "pD3D11Device" ,"paramtype": "void *"}, +{ "paramname": "ppD3D11Texture2D" ,"paramtype": "void **"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "LoadIntoTextureD3D11_Async", + "returntype": "vr::EVRRenderModelError", + "params": [ +{ "paramname": "textureId" ,"paramtype": "vr::TextureID_t"}, +{ "paramname": "pDstTexture" ,"paramtype": "void *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "FreeTextureD3D11", + "returntype": "void", + "params": [ +{ "paramname": "pD3D11Texture2D" ,"paramtype": "void *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetRenderModelName", + "returntype": "uint32_t", + "params": [ +{ "paramname": "unRenderModelIndex" ,"paramtype": "uint32_t"}, +{ "paramname": "pchRenderModelName" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unRenderModelNameLen" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetRenderModelCount", + "returntype": "uint32_t" +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetComponentCount", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetComponentName", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "unComponentIndex" ,"paramtype": "uint32_t"}, +{ "paramname": "pchComponentName" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unComponentNameLen" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetComponentButtonMask", + "returntype": "uint64_t", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "pchComponentName" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetComponentRenderModelName", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "pchComponentName" ,"paramtype": "const char *"}, +{ "paramname": "pchComponentRenderModelName" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unComponentRenderModelNameLen" ,"paramtype": "uint32_t"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetComponentState", + "returntype": "bool", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "pchComponentName" ,"paramtype": "const char *"}, +{ "paramname": "pControllerState" ,"paramtype": "const vr::VRControllerState_t *"}, +{ "paramname": "pState" ,"paramtype": "const struct vr::RenderModel_ControllerMode_State_t *"}, +{ "paramname": "pComponentState" ,"paramtype": "struct vr::RenderModel_ComponentState_t *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "RenderModelHasComponent", + "returntype": "bool", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "pchComponentName" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetRenderModelThumbnailURL", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "pchThumbnailURL" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unThumbnailURLLen" ,"paramtype": "uint32_t"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetRenderModelOriginalPath", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pchRenderModelName" ,"paramtype": "const char *"}, +{ "paramname": "pchOriginalPath" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "unOriginalPathLen" ,"paramtype": "uint32_t"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRRenderModelError *"} + ] +} +,{ + "classname": "vr::IVRRenderModels", + "methodname": "GetRenderModelErrorNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "error" ,"paramtype": "vr::EVRRenderModelError"} + ] +} +,{ + "classname": "vr::IVRNotifications", + "methodname": "CreateNotification", + "returntype": "vr::EVRNotificationError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "ulUserValue" ,"paramtype": "uint64_t"}, +{ "paramname": "type" ,"paramtype": "vr::EVRNotificationType"}, +{ "paramname": "pchText" ,"paramtype": "const char *"}, +{ "paramname": "style" ,"paramtype": "vr::EVRNotificationStyle"}, +{ "paramname": "pImage" ,"paramtype": "const struct vr::NotificationBitmap_t *"}, +{ "paramname": "pNotificationId" ,"paramtype": "vr::VRNotificationId *"} + ] +} +,{ + "classname": "vr::IVRNotifications", + "methodname": "RemoveNotification", + "returntype": "vr::EVRNotificationError", + "params": [ +{ "paramname": "notificationId" ,"paramtype": "vr::VRNotificationId"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "GetSettingsErrorNameFromEnum", + "returntype": "const char *", + "params": [ +{ "paramname": "eError" ,"paramtype": "vr::EVRSettingsError"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "Sync", + "returntype": "bool", + "params": [ +{ "paramname": "bForce" ,"paramtype": "bool"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "GetBool", + "returntype": "bool", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "bDefaultValue" ,"paramtype": "bool"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "SetBool", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "bValue" ,"paramtype": "bool"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "GetInt32", + "returntype": "int32_t", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "nDefaultValue" ,"paramtype": "int32_t"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "SetInt32", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "nValue" ,"paramtype": "int32_t"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "GetFloat", + "returntype": "float", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "flDefaultValue" ,"paramtype": "float"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "SetFloat", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "flValue" ,"paramtype": "float"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "GetString", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "pchValue" ,"paramtype": "char *"}, +{ "paramname": "unValueLen" ,"paramtype": "uint32_t"}, +{ "paramname": "pchDefaultValue" ,"paramtype": "const char *"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "SetString", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "pchValue" ,"paramtype": "const char *"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "RemoveSection", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRSettings", + "methodname": "RemoveKeyInSection", + "returntype": "void", + "params": [ +{ "paramname": "pchSection" ,"paramtype": "const char *"}, +{ "paramname": "pchSettingsKey" ,"paramtype": "const char *"}, +{ "paramname": "peError" ,"paramtype": "vr::EVRSettingsError *"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "RequestScreenshot", + "returntype": "vr::EVRScreenshotError", + "params": [ +{ "paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"}, +{ "paramname": "type" ,"paramtype": "vr::EVRScreenshotType"}, +{ "paramname": "pchPreviewFilename" ,"paramtype": "const char *"}, +{ "paramname": "pchVRFilename" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "HookScreenshot", + "returntype": "vr::EVRScreenshotError", + "params": [ +{ "paramname": "pSupportedTypes" ,"array_count": "numTypes" ,"paramtype": "const vr::EVRScreenshotType *"}, +{ "paramname": "numTypes" ,"paramtype": "int"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "GetScreenshotPropertyType", + "returntype": "vr::EVRScreenshotType", + "params": [ +{ "paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"}, +{ "paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "GetScreenshotPropertyFilename", + "returntype": "uint32_t", + "params": [ +{ "paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"}, +{ "paramname": "filenameType" ,"paramtype": "vr::EVRScreenshotPropertyFilenames"}, +{ "paramname": "pchFilename" ,"out_string": " " ,"paramtype": "char *"}, +{ "paramname": "cchFilename" ,"paramtype": "uint32_t"}, +{ "paramname": "pError" ,"paramtype": "vr::EVRScreenshotError *"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "UpdateScreenshotProgress", + "returntype": "vr::EVRScreenshotError", + "params": [ +{ "paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"}, +{ "paramname": "flProgress" ,"paramtype": "float"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "TakeStereoScreenshot", + "returntype": "vr::EVRScreenshotError", + "params": [ +{ "paramname": "pOutScreenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t *"}, +{ "paramname": "pchPreviewFilename" ,"paramtype": "const char *"}, +{ "paramname": "pchVRFilename" ,"paramtype": "const char *"} + ] +} +,{ + "classname": "vr::IVRScreenshots", + "methodname": "SubmitScreenshot", + "returntype": "vr::EVRScreenshotError", + "params": [ +{ "paramname": "screenshotHandle" ,"paramtype": "vr::ScreenshotHandle_t"}, +{ "paramname": "type" ,"paramtype": "vr::EVRScreenshotType"}, +{ "paramname": "pchSourcePreviewFilename" ,"paramtype": "const char *"}, +{ "paramname": "pchSourceVRFilename" ,"paramtype": "const char *"} + ] +} +] +} \ No newline at end of file diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h new file mode 100644 index 000000000..76eafd4d6 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h @@ -0,0 +1,1626 @@ +//======= Copyright (c) Valve Corporation, All rights reserved. =============== +// +// Purpose: Header for flatted SteamAPI. Use this for binding to other languages. +// This file is auto-generated, do not edit it. +// +//============================================================================= + +#ifndef __OPENVR_API_FLAT_H__ +#define __OPENVR_API_FLAT_H__ +#if defined( _WIN32 ) || defined( __clang__ ) +#pragma once +#endif + +#ifdef __cplusplus +#define EXTERN_C extern "C" +#else +#define EXTERN_C +#endif + +#define OPENVR_FNTABLE_CALLTYPE __stdcall + +// OPENVR API export macro +#if defined( _WIN32 ) && !defined( _X360 ) + #if defined( OPENVR_API_EXPORTS ) + #define S_API EXTERN_C __declspec( dllexport ) + #elif defined( OPENVR_API_NODLL ) + #define S_API EXTERN_C + #else + #define S_API extern "C" __declspec( dllimport ) + #endif // OPENVR_API_EXPORTS +#elif defined( GNUC ) + #if defined( OPENVR_API_EXPORTS ) + #define S_API EXTERN_C __attribute__ ((visibility("default"))) + #else + #define S_API EXTERN_C + #endif // OPENVR_API_EXPORTS +#else // !WIN32 + #if defined( OPENVR_API_EXPORTS ) + #define S_API EXTERN_C + #else + #define S_API EXTERN_C + #endif // OPENVR_API_EXPORTS +#endif + +#include + +#if defined( __WIN32 ) +typedef char bool; +#endif + + +// OpenVR Constants + +static const unsigned int k_unTrackingStringSize = 32; +static const unsigned int k_unMaxDriverDebugResponseSize = 32768; +static const unsigned int k_unTrackedDeviceIndex_Hmd = 0; +static const unsigned int k_unMaxTrackedDeviceCount = 16; +static const unsigned int k_unTrackedDeviceIndexOther = 4294967294; +static const unsigned int k_unTrackedDeviceIndexInvalid = 4294967295; +static const unsigned int k_unMaxPropertyStringSize = 32768; +static const unsigned int k_unControllerStateAxisCount = 5; +static const unsigned long k_ulOverlayHandleInvalid = 0; +static const unsigned int k_unScreenshotHandleInvalid = 0; +static const char * IVRSystem_Version = "IVRSystem_012"; +static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001"; +static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003"; +static const unsigned int k_unMaxApplicationKeyLength = 128; +static const char * IVRApplications_Version = "IVRApplications_005"; +static const char * IVRChaperone_Version = "IVRChaperone_003"; +static const char * IVRChaperoneSetup_Version = "IVRChaperoneSetup_005"; +static const char * IVRCompositor_Version = "IVRCompositor_015"; +static const unsigned int k_unVROverlayMaxKeyLength = 128; +static const unsigned int k_unVROverlayMaxNameLength = 128; +static const unsigned int k_unMaxOverlayCount = 32; +static const char * IVROverlay_Version = "IVROverlay_012"; +static const char * k_pch_Controller_Component_GDC2015 = "gdc2015"; +static const char * k_pch_Controller_Component_Base = "base"; +static const char * k_pch_Controller_Component_Tip = "tip"; +static const char * k_pch_Controller_Component_HandGrip = "handgrip"; +static const char * k_pch_Controller_Component_Status = "status"; +static const char * IVRRenderModels_Version = "IVRRenderModels_005"; +static const unsigned int k_unNotificationTextMaxSize = 256; +static const char * IVRNotifications_Version = "IVRNotifications_002"; +static const unsigned int k_unMaxSettingsKeyLength = 128; +static const char * IVRSettings_Version = "IVRSettings_001"; +static const char * k_pch_SteamVR_Section = "steamvr"; +static const char * k_pch_SteamVR_RequireHmd_String = "requireHmd"; +static const char * k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver"; +static const char * k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd"; +static const char * k_pch_SteamVR_DisplayDebug_Bool = "displayDebug"; +static const char * k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe"; +static const char * k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion"; +static const char * k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX"; +static const char * k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY"; +static const char * k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemButtonToAllApps"; +static const char * k_pch_SteamVR_LogLevel_Int32 = "loglevel"; +static const char * k_pch_SteamVR_IPD_Float = "ipd"; +static const char * k_pch_SteamVR_Background_String = "background"; +static const char * k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; +static const char * k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; +static const char * k_pch_SteamVR_Environment_String = "environment"; +static const char * k_pch_SteamVR_GridColor_String = "gridColor"; +static const char * k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; +static const char * k_pch_SteamVR_ShowStage_Bool = "showStage"; +static const char * k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers"; +static const char * k_pch_SteamVR_PowerOffOnExit_Bool = "powerOffOnExit"; +static const char * k_pch_SteamVR_StandbyAppRunningTimeout_Float = "standbyAppRunningTimeout"; +static const char * k_pch_SteamVR_StandbyNoAppTimeout_Float = "standbyNoAppTimeout"; +static const char * k_pch_SteamVR_DirectMode_Bool = "directMode"; +static const char * k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid"; +static const char * k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid"; +static const char * k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers"; +static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees"; +static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; +static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; +static const char * k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; +static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; +static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; +static const char * k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; +static const char * k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; +static const char * k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView"; +static const char * k_pch_Lighthouse_Section = "driver_lighthouse"; +static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu"; +static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation"; +static const char * k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug"; +static const char * k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation"; +static const char * k_pch_Lighthouse_LighthouseName_String = "lighthousename"; +static const char * k_pch_Lighthouse_MaxIncidenceAngleDegrees_Float = "maxincidenceangledegrees"; +static const char * k_pch_Lighthouse_UseLighthouseDirect_Bool = "uselighthousedirect"; +static const char * k_pch_Lighthouse_DBHistory_Bool = "dbhistory"; +static const char * k_pch_Null_Section = "driver_null"; +static const char * k_pch_Null_EnableNullDriver_Bool = "enable"; +static const char * k_pch_Null_SerialNumber_String = "serialNumber"; +static const char * k_pch_Null_ModelNumber_String = "modelNumber"; +static const char * k_pch_Null_WindowX_Int32 = "windowX"; +static const char * k_pch_Null_WindowY_Int32 = "windowY"; +static const char * k_pch_Null_WindowWidth_Int32 = "windowWidth"; +static const char * k_pch_Null_WindowHeight_Int32 = "windowHeight"; +static const char * k_pch_Null_RenderWidth_Int32 = "renderWidth"; +static const char * k_pch_Null_RenderHeight_Int32 = "renderHeight"; +static const char * k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons"; +static const char * k_pch_Null_DisplayFrequency_Float = "displayFrequency"; +static const char * k_pch_UserInterface_Section = "userinterface"; +static const char * k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; +static const char * k_pch_UserInterface_EnableScreenshots_Bool = "EnableScreenshots"; +static const char * k_pch_Notifications_Section = "notifications"; +static const char * k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb"; +static const char * k_pch_Keyboard_Section = "keyboard"; +static const char * k_pch_Keyboard_TutorialCompletions = "TutorialCompletions"; +static const char * k_pch_Keyboard_ScaleX = "ScaleX"; +static const char * k_pch_Keyboard_ScaleY = "ScaleY"; +static const char * k_pch_Keyboard_OffsetLeftX = "OffsetLeftX"; +static const char * k_pch_Keyboard_OffsetRightX = "OffsetRightX"; +static const char * k_pch_Keyboard_OffsetY = "OffsetY"; +static const char * k_pch_Keyboard_Smoothing = "Smoothing"; +static const char * k_pch_Perf_Section = "perfcheck"; +static const char * k_pch_Perf_HeuristicActive_Bool = "heuristicActive"; +static const char * k_pch_Perf_NotifyInHMD_Bool = "warnInHMD"; +static const char * k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce"; +static const char * k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore"; +static const char * k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit"; +static const char * k_pch_Perf_TestData_Float = "perfTestData"; +static const char * k_pch_CollisionBounds_Section = "collisionBounds"; +static const char * k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle"; +static const char * k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn"; +static const char * k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn"; +static const char * k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn"; +static const char * k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance"; +static const char * k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR"; +static const char * k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG"; +static const char * k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB"; +static const char * k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA"; +static const char * k_pch_Camera_Section = "camera"; +static const char * k_pch_Camera_EnableCamera_Bool = "enableCamera"; +static const char * k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard"; +static const char * k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds"; +static const char * k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView"; +static const char * k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR"; +static const char * k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG"; +static const char * k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB"; +static const char * k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA"; +static const char * k_pch_audio_Section = "audio"; +static const char * k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice"; +static const char * k_pch_audio_OnRecordDevice_String = "onRecordDevice"; +static const char * k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice"; +static const char * k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice"; +static const char * k_pch_audio_OffRecordDevice_String = "offRecordDevice"; +static const char * k_pch_audio_VIVEHDMIGain = "viveHDMIGain"; +static const char * k_pch_modelskin_Section = "modelskins"; +static const char * IVRScreenshots_Version = "IVRScreenshots_001"; + +// OpenVR Enums + +typedef enum EVREye +{ + EVREye_Eye_Left = 0, + EVREye_Eye_Right = 1, +} EVREye; + +typedef enum EGraphicsAPIConvention +{ + EGraphicsAPIConvention_API_DirectX = 0, + EGraphicsAPIConvention_API_OpenGL = 1, +} EGraphicsAPIConvention; + +typedef enum EColorSpace +{ + EColorSpace_ColorSpace_Auto = 0, + EColorSpace_ColorSpace_Gamma = 1, + EColorSpace_ColorSpace_Linear = 2, +} EColorSpace; + +typedef enum ETrackingResult +{ + ETrackingResult_TrackingResult_Uninitialized = 1, + ETrackingResult_TrackingResult_Calibrating_InProgress = 100, + ETrackingResult_TrackingResult_Calibrating_OutOfRange = 101, + ETrackingResult_TrackingResult_Running_OK = 200, + ETrackingResult_TrackingResult_Running_OutOfRange = 201, +} ETrackingResult; + +typedef enum ETrackedDeviceClass +{ + ETrackedDeviceClass_TrackedDeviceClass_Invalid = 0, + ETrackedDeviceClass_TrackedDeviceClass_HMD = 1, + ETrackedDeviceClass_TrackedDeviceClass_Controller = 2, + ETrackedDeviceClass_TrackedDeviceClass_TrackingReference = 4, + ETrackedDeviceClass_TrackedDeviceClass_Other = 1000, +} ETrackedDeviceClass; + +typedef enum ETrackedControllerRole +{ + ETrackedControllerRole_TrackedControllerRole_Invalid = 0, + ETrackedControllerRole_TrackedControllerRole_LeftHand = 1, + ETrackedControllerRole_TrackedControllerRole_RightHand = 2, +} ETrackedControllerRole; + +typedef enum ETrackingUniverseOrigin +{ + ETrackingUniverseOrigin_TrackingUniverseSeated = 0, + ETrackingUniverseOrigin_TrackingUniverseStanding = 1, + ETrackingUniverseOrigin_TrackingUniverseRawAndUncalibrated = 2, +} ETrackingUniverseOrigin; + +typedef enum ETrackedDeviceProperty +{ + ETrackedDeviceProperty_Prop_TrackingSystemName_String = 1000, + ETrackedDeviceProperty_Prop_ModelNumber_String = 1001, + ETrackedDeviceProperty_Prop_SerialNumber_String = 1002, + ETrackedDeviceProperty_Prop_RenderModelName_String = 1003, + ETrackedDeviceProperty_Prop_WillDriftInYaw_Bool = 1004, + ETrackedDeviceProperty_Prop_ManufacturerName_String = 1005, + ETrackedDeviceProperty_Prop_TrackingFirmwareVersion_String = 1006, + ETrackedDeviceProperty_Prop_HardwareRevision_String = 1007, + ETrackedDeviceProperty_Prop_AllWirelessDongleDescriptions_String = 1008, + ETrackedDeviceProperty_Prop_ConnectedWirelessDongle_String = 1009, + ETrackedDeviceProperty_Prop_DeviceIsWireless_Bool = 1010, + ETrackedDeviceProperty_Prop_DeviceIsCharging_Bool = 1011, + ETrackedDeviceProperty_Prop_DeviceBatteryPercentage_Float = 1012, + ETrackedDeviceProperty_Prop_StatusDisplayTransform_Matrix34 = 1013, + ETrackedDeviceProperty_Prop_Firmware_UpdateAvailable_Bool = 1014, + ETrackedDeviceProperty_Prop_Firmware_ManualUpdate_Bool = 1015, + ETrackedDeviceProperty_Prop_Firmware_ManualUpdateURL_String = 1016, + ETrackedDeviceProperty_Prop_HardwareRevision_Uint64 = 1017, + ETrackedDeviceProperty_Prop_FirmwareVersion_Uint64 = 1018, + ETrackedDeviceProperty_Prop_FPGAVersion_Uint64 = 1019, + ETrackedDeviceProperty_Prop_VRCVersion_Uint64 = 1020, + ETrackedDeviceProperty_Prop_RadioVersion_Uint64 = 1021, + ETrackedDeviceProperty_Prop_DongleVersion_Uint64 = 1022, + ETrackedDeviceProperty_Prop_BlockServerShutdown_Bool = 1023, + ETrackedDeviceProperty_Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024, + ETrackedDeviceProperty_Prop_ContainsProximitySensor_Bool = 1025, + ETrackedDeviceProperty_Prop_DeviceProvidesBatteryStatus_Bool = 1026, + ETrackedDeviceProperty_Prop_DeviceCanPowerOff_Bool = 1027, + ETrackedDeviceProperty_Prop_Firmware_ProgrammingTarget_String = 1028, + ETrackedDeviceProperty_Prop_DeviceClass_Int32 = 1029, + ETrackedDeviceProperty_Prop_HasCamera_Bool = 1030, + ETrackedDeviceProperty_Prop_DriverVersion_String = 1031, + ETrackedDeviceProperty_Prop_Firmware_ForceUpdateRequired_Bool = 1032, + ETrackedDeviceProperty_Prop_ReportsTimeSinceVSync_Bool = 2000, + ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float = 2001, + ETrackedDeviceProperty_Prop_DisplayFrequency_Float = 2002, + ETrackedDeviceProperty_Prop_UserIpdMeters_Float = 2003, + ETrackedDeviceProperty_Prop_CurrentUniverseId_Uint64 = 2004, + ETrackedDeviceProperty_Prop_PreviousUniverseId_Uint64 = 2005, + ETrackedDeviceProperty_Prop_DisplayFirmwareVersion_Uint64 = 2006, + ETrackedDeviceProperty_Prop_IsOnDesktop_Bool = 2007, + ETrackedDeviceProperty_Prop_DisplayMCType_Int32 = 2008, + ETrackedDeviceProperty_Prop_DisplayMCOffset_Float = 2009, + ETrackedDeviceProperty_Prop_DisplayMCScale_Float = 2010, + ETrackedDeviceProperty_Prop_EdidVendorID_Int32 = 2011, + ETrackedDeviceProperty_Prop_DisplayMCImageLeft_String = 2012, + ETrackedDeviceProperty_Prop_DisplayMCImageRight_String = 2013, + ETrackedDeviceProperty_Prop_DisplayGCBlackClamp_Float = 2014, + ETrackedDeviceProperty_Prop_EdidProductID_Int32 = 2015, + ETrackedDeviceProperty_Prop_CameraToHeadTransform_Matrix34 = 2016, + ETrackedDeviceProperty_Prop_DisplayGCType_Int32 = 2017, + ETrackedDeviceProperty_Prop_DisplayGCOffset_Float = 2018, + ETrackedDeviceProperty_Prop_DisplayGCScale_Float = 2019, + ETrackedDeviceProperty_Prop_DisplayGCPrescale_Float = 2020, + ETrackedDeviceProperty_Prop_DisplayGCImage_String = 2021, + ETrackedDeviceProperty_Prop_LensCenterLeftU_Float = 2022, + ETrackedDeviceProperty_Prop_LensCenterLeftV_Float = 2023, + ETrackedDeviceProperty_Prop_LensCenterRightU_Float = 2024, + ETrackedDeviceProperty_Prop_LensCenterRightV_Float = 2025, + ETrackedDeviceProperty_Prop_UserHeadToEyeDepthMeters_Float = 2026, + ETrackedDeviceProperty_Prop_CameraFirmwareVersion_Uint64 = 2027, + ETrackedDeviceProperty_Prop_CameraFirmwareDescription_String = 2028, + ETrackedDeviceProperty_Prop_DisplayFPGAVersion_Uint64 = 2029, + ETrackedDeviceProperty_Prop_DisplayBootloaderVersion_Uint64 = 2030, + ETrackedDeviceProperty_Prop_DisplayHardwareVersion_Uint64 = 2031, + ETrackedDeviceProperty_Prop_AudioFirmwareVersion_Uint64 = 2032, + ETrackedDeviceProperty_Prop_CameraCompatibilityMode_Int32 = 2033, + ETrackedDeviceProperty_Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, + ETrackedDeviceProperty_Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, + ETrackedDeviceProperty_Prop_DisplaySuppressed_Bool = 2036, + ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000, + ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001, + ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002, + ETrackedDeviceProperty_Prop_Axis1Type_Int32 = 3003, + ETrackedDeviceProperty_Prop_Axis2Type_Int32 = 3004, + ETrackedDeviceProperty_Prop_Axis3Type_Int32 = 3005, + ETrackedDeviceProperty_Prop_Axis4Type_Int32 = 3006, + ETrackedDeviceProperty_Prop_FieldOfViewLeftDegrees_Float = 4000, + ETrackedDeviceProperty_Prop_FieldOfViewRightDegrees_Float = 4001, + ETrackedDeviceProperty_Prop_FieldOfViewTopDegrees_Float = 4002, + ETrackedDeviceProperty_Prop_FieldOfViewBottomDegrees_Float = 4003, + ETrackedDeviceProperty_Prop_TrackingRangeMinimumMeters_Float = 4004, + ETrackedDeviceProperty_Prop_TrackingRangeMaximumMeters_Float = 4005, + ETrackedDeviceProperty_Prop_ModeLabel_String = 4006, + ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_Start = 10000, + ETrackedDeviceProperty_Prop_VendorSpecific_Reserved_End = 10999, +} ETrackedDeviceProperty; + +typedef enum ETrackedPropertyError +{ + ETrackedPropertyError_TrackedProp_Success = 0, + ETrackedPropertyError_TrackedProp_WrongDataType = 1, + ETrackedPropertyError_TrackedProp_WrongDeviceClass = 2, + ETrackedPropertyError_TrackedProp_BufferTooSmall = 3, + ETrackedPropertyError_TrackedProp_UnknownProperty = 4, + ETrackedPropertyError_TrackedProp_InvalidDevice = 5, + ETrackedPropertyError_TrackedProp_CouldNotContactServer = 6, + ETrackedPropertyError_TrackedProp_ValueNotProvidedByDevice = 7, + ETrackedPropertyError_TrackedProp_StringExceedsMaximumLength = 8, + ETrackedPropertyError_TrackedProp_NotYetAvailable = 9, +} ETrackedPropertyError; + +typedef enum EVRSubmitFlags +{ + EVRSubmitFlags_Submit_Default = 0, + EVRSubmitFlags_Submit_LensDistortionAlreadyApplied = 1, + EVRSubmitFlags_Submit_GlRenderBuffer = 2, +} EVRSubmitFlags; + +typedef enum EVRState +{ + EVRState_VRState_Undefined = -1, + EVRState_VRState_Off = 0, + EVRState_VRState_Searching = 1, + EVRState_VRState_Searching_Alert = 2, + EVRState_VRState_Ready = 3, + EVRState_VRState_Ready_Alert = 4, + EVRState_VRState_NotReady = 5, + EVRState_VRState_Standby = 6, +} EVRState; + +typedef enum EVREventType +{ + EVREventType_VREvent_None = 0, + EVREventType_VREvent_TrackedDeviceActivated = 100, + EVREventType_VREvent_TrackedDeviceDeactivated = 101, + EVREventType_VREvent_TrackedDeviceUpdated = 102, + EVREventType_VREvent_TrackedDeviceUserInteractionStarted = 103, + EVREventType_VREvent_TrackedDeviceUserInteractionEnded = 104, + EVREventType_VREvent_IpdChanged = 105, + EVREventType_VREvent_EnterStandbyMode = 106, + EVREventType_VREvent_LeaveStandbyMode = 107, + EVREventType_VREvent_TrackedDeviceRoleChanged = 108, + EVREventType_VREvent_ButtonPress = 200, + EVREventType_VREvent_ButtonUnpress = 201, + EVREventType_VREvent_ButtonTouch = 202, + EVREventType_VREvent_ButtonUntouch = 203, + EVREventType_VREvent_MouseMove = 300, + EVREventType_VREvent_MouseButtonDown = 301, + EVREventType_VREvent_MouseButtonUp = 302, + EVREventType_VREvent_FocusEnter = 303, + EVREventType_VREvent_FocusLeave = 304, + EVREventType_VREvent_Scroll = 305, + EVREventType_VREvent_TouchPadMove = 306, + EVREventType_VREvent_InputFocusCaptured = 400, + EVREventType_VREvent_InputFocusReleased = 401, + EVREventType_VREvent_SceneFocusLost = 402, + EVREventType_VREvent_SceneFocusGained = 403, + EVREventType_VREvent_SceneApplicationChanged = 404, + EVREventType_VREvent_SceneFocusChanged = 405, + EVREventType_VREvent_InputFocusChanged = 406, + EVREventType_VREvent_SceneApplicationSecondaryRenderingStarted = 407, + EVREventType_VREvent_HideRenderModels = 410, + EVREventType_VREvent_ShowRenderModels = 411, + EVREventType_VREvent_OverlayShown = 500, + EVREventType_VREvent_OverlayHidden = 501, + EVREventType_VREvent_DashboardActivated = 502, + EVREventType_VREvent_DashboardDeactivated = 503, + EVREventType_VREvent_DashboardThumbSelected = 504, + EVREventType_VREvent_DashboardRequested = 505, + EVREventType_VREvent_ResetDashboard = 506, + EVREventType_VREvent_RenderToast = 507, + EVREventType_VREvent_ImageLoaded = 508, + EVREventType_VREvent_ShowKeyboard = 509, + EVREventType_VREvent_HideKeyboard = 510, + EVREventType_VREvent_OverlayGamepadFocusGained = 511, + EVREventType_VREvent_OverlayGamepadFocusLost = 512, + EVREventType_VREvent_OverlaySharedTextureChanged = 513, + EVREventType_VREvent_DashboardGuideButtonDown = 514, + EVREventType_VREvent_DashboardGuideButtonUp = 515, + EVREventType_VREvent_ScreenshotTriggered = 516, + EVREventType_VREvent_ImageFailed = 517, + EVREventType_VREvent_RequestScreenshot = 520, + EVREventType_VREvent_ScreenshotTaken = 521, + EVREventType_VREvent_ScreenshotFailed = 522, + EVREventType_VREvent_SubmitScreenshotToDashboard = 523, + EVREventType_VREvent_Notification_Shown = 600, + EVREventType_VREvent_Notification_Hidden = 601, + EVREventType_VREvent_Notification_BeginInteraction = 602, + EVREventType_VREvent_Notification_Destroyed = 603, + EVREventType_VREvent_Quit = 700, + EVREventType_VREvent_ProcessQuit = 701, + EVREventType_VREvent_QuitAborted_UserPrompt = 702, + EVREventType_VREvent_QuitAcknowledged = 703, + EVREventType_VREvent_DriverRequestedQuit = 704, + EVREventType_VREvent_ChaperoneDataHasChanged = 800, + EVREventType_VREvent_ChaperoneUniverseHasChanged = 801, + EVREventType_VREvent_ChaperoneTempDataHasChanged = 802, + EVREventType_VREvent_ChaperoneSettingsHaveChanged = 803, + EVREventType_VREvent_SeatedZeroPoseReset = 804, + EVREventType_VREvent_AudioSettingsHaveChanged = 820, + EVREventType_VREvent_BackgroundSettingHasChanged = 850, + EVREventType_VREvent_CameraSettingsHaveChanged = 851, + EVREventType_VREvent_ReprojectionSettingHasChanged = 852, + EVREventType_VREvent_ModelSkinSettingsHaveChanged = 853, + EVREventType_VREvent_EnvironmentSettingsHaveChanged = 854, + EVREventType_VREvent_StatusUpdate = 900, + EVREventType_VREvent_MCImageUpdated = 1000, + EVREventType_VREvent_FirmwareUpdateStarted = 1100, + EVREventType_VREvent_FirmwareUpdateFinished = 1101, + EVREventType_VREvent_KeyboardClosed = 1200, + EVREventType_VREvent_KeyboardCharInput = 1201, + EVREventType_VREvent_KeyboardDone = 1202, + EVREventType_VREvent_ApplicationTransitionStarted = 1300, + EVREventType_VREvent_ApplicationTransitionAborted = 1301, + EVREventType_VREvent_ApplicationTransitionNewAppStarted = 1302, + EVREventType_VREvent_ApplicationListUpdated = 1303, + EVREventType_VREvent_Compositor_MirrorWindowShown = 1400, + EVREventType_VREvent_Compositor_MirrorWindowHidden = 1401, + EVREventType_VREvent_Compositor_ChaperoneBoundsShown = 1410, + EVREventType_VREvent_Compositor_ChaperoneBoundsHidden = 1411, + EVREventType_VREvent_TrackedCamera_StartVideoStream = 1500, + EVREventType_VREvent_TrackedCamera_StopVideoStream = 1501, + EVREventType_VREvent_TrackedCamera_PauseVideoStream = 1502, + EVREventType_VREvent_TrackedCamera_ResumeVideoStream = 1503, + EVREventType_VREvent_PerformanceTest_EnableCapture = 1600, + EVREventType_VREvent_PerformanceTest_DisableCapture = 1601, + EVREventType_VREvent_PerformanceTest_FidelityLevel = 1602, + EVREventType_VREvent_VendorSpecific_Reserved_Start = 10000, + EVREventType_VREvent_VendorSpecific_Reserved_End = 19999, +} EVREventType; + +typedef enum EDeviceActivityLevel +{ + EDeviceActivityLevel_k_EDeviceActivityLevel_Unknown = -1, + EDeviceActivityLevel_k_EDeviceActivityLevel_Idle = 0, + EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction = 1, + EDeviceActivityLevel_k_EDeviceActivityLevel_UserInteraction_Timeout = 2, + EDeviceActivityLevel_k_EDeviceActivityLevel_Standby = 3, +} EDeviceActivityLevel; + +typedef enum EVRButtonId +{ + EVRButtonId_k_EButton_System = 0, + EVRButtonId_k_EButton_ApplicationMenu = 1, + EVRButtonId_k_EButton_Grip = 2, + EVRButtonId_k_EButton_DPad_Left = 3, + EVRButtonId_k_EButton_DPad_Up = 4, + EVRButtonId_k_EButton_DPad_Right = 5, + EVRButtonId_k_EButton_DPad_Down = 6, + EVRButtonId_k_EButton_A = 7, + EVRButtonId_k_EButton_Axis0 = 32, + EVRButtonId_k_EButton_Axis1 = 33, + EVRButtonId_k_EButton_Axis2 = 34, + EVRButtonId_k_EButton_Axis3 = 35, + EVRButtonId_k_EButton_Axis4 = 36, + EVRButtonId_k_EButton_SteamVR_Touchpad = 32, + EVRButtonId_k_EButton_SteamVR_Trigger = 33, + EVRButtonId_k_EButton_Dashboard_Back = 2, + EVRButtonId_k_EButton_Max = 64, +} EVRButtonId; + +typedef enum EVRMouseButton +{ + EVRMouseButton_VRMouseButton_Left = 1, + EVRMouseButton_VRMouseButton_Right = 2, + EVRMouseButton_VRMouseButton_Middle = 4, +} EVRMouseButton; + +typedef enum EVRControllerAxisType +{ + EVRControllerAxisType_k_eControllerAxis_None = 0, + EVRControllerAxisType_k_eControllerAxis_TrackPad = 1, + EVRControllerAxisType_k_eControllerAxis_Joystick = 2, + EVRControllerAxisType_k_eControllerAxis_Trigger = 3, +} EVRControllerAxisType; + +typedef enum EVRControllerEventOutputType +{ + EVRControllerEventOutputType_ControllerEventOutput_OSEvents = 0, + EVRControllerEventOutputType_ControllerEventOutput_VREvents = 1, +} EVRControllerEventOutputType; + +typedef enum ECollisionBoundsStyle +{ + ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_BEGINNER = 0, + ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_INTERMEDIATE = 1, + ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_SQUARES = 2, + ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_ADVANCED = 3, + ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_NONE = 4, + ECollisionBoundsStyle_COLLISION_BOUNDS_STYLE_COUNT = 5, +} ECollisionBoundsStyle; + +typedef enum EVROverlayError +{ + EVROverlayError_VROverlayError_None = 0, + EVROverlayError_VROverlayError_UnknownOverlay = 10, + EVROverlayError_VROverlayError_InvalidHandle = 11, + EVROverlayError_VROverlayError_PermissionDenied = 12, + EVROverlayError_VROverlayError_OverlayLimitExceeded = 13, + EVROverlayError_VROverlayError_WrongVisibilityType = 14, + EVROverlayError_VROverlayError_KeyTooLong = 15, + EVROverlayError_VROverlayError_NameTooLong = 16, + EVROverlayError_VROverlayError_KeyInUse = 17, + EVROverlayError_VROverlayError_WrongTransformType = 18, + EVROverlayError_VROverlayError_InvalidTrackedDevice = 19, + EVROverlayError_VROverlayError_InvalidParameter = 20, + EVROverlayError_VROverlayError_ThumbnailCantBeDestroyed = 21, + EVROverlayError_VROverlayError_ArrayTooSmall = 22, + EVROverlayError_VROverlayError_RequestFailed = 23, + EVROverlayError_VROverlayError_InvalidTexture = 24, + EVROverlayError_VROverlayError_UnableToLoadFile = 25, + EVROverlayError_VROVerlayError_KeyboardAlreadyInUse = 26, + EVROverlayError_VROverlayError_NoNeighbor = 27, +} EVROverlayError; + +typedef enum EVRApplicationType +{ + EVRApplicationType_VRApplication_Other = 0, + EVRApplicationType_VRApplication_Scene = 1, + EVRApplicationType_VRApplication_Overlay = 2, + EVRApplicationType_VRApplication_Background = 3, + EVRApplicationType_VRApplication_Utility = 4, + EVRApplicationType_VRApplication_VRMonitor = 5, +} EVRApplicationType; + +typedef enum EVRFirmwareError +{ + EVRFirmwareError_VRFirmwareError_None = 0, + EVRFirmwareError_VRFirmwareError_Success = 1, + EVRFirmwareError_VRFirmwareError_Fail = 2, +} EVRFirmwareError; + +typedef enum EVRNotificationError +{ + EVRNotificationError_VRNotificationError_OK = 0, + EVRNotificationError_VRNotificationError_InvalidNotificationId = 100, + EVRNotificationError_VRNotificationError_NotificationQueueFull = 101, + EVRNotificationError_VRNotificationError_InvalidOverlayHandle = 102, + EVRNotificationError_VRNotificationError_SystemWithUserValueAlreadyExists = 103, +} EVRNotificationError; + +typedef enum EVRInitError +{ + EVRInitError_VRInitError_None = 0, + EVRInitError_VRInitError_Unknown = 1, + EVRInitError_VRInitError_Init_InstallationNotFound = 100, + EVRInitError_VRInitError_Init_InstallationCorrupt = 101, + EVRInitError_VRInitError_Init_VRClientDLLNotFound = 102, + EVRInitError_VRInitError_Init_FileNotFound = 103, + EVRInitError_VRInitError_Init_FactoryNotFound = 104, + EVRInitError_VRInitError_Init_InterfaceNotFound = 105, + EVRInitError_VRInitError_Init_InvalidInterface = 106, + EVRInitError_VRInitError_Init_UserConfigDirectoryInvalid = 107, + EVRInitError_VRInitError_Init_HmdNotFound = 108, + EVRInitError_VRInitError_Init_NotInitialized = 109, + EVRInitError_VRInitError_Init_PathRegistryNotFound = 110, + EVRInitError_VRInitError_Init_NoConfigPath = 111, + EVRInitError_VRInitError_Init_NoLogPath = 112, + EVRInitError_VRInitError_Init_PathRegistryNotWritable = 113, + EVRInitError_VRInitError_Init_AppInfoInitFailed = 114, + EVRInitError_VRInitError_Init_Retry = 115, + EVRInitError_VRInitError_Init_InitCanceledByUser = 116, + EVRInitError_VRInitError_Init_AnotherAppLaunching = 117, + EVRInitError_VRInitError_Init_SettingsInitFailed = 118, + EVRInitError_VRInitError_Init_ShuttingDown = 119, + EVRInitError_VRInitError_Init_TooManyObjects = 120, + EVRInitError_VRInitError_Init_NoServerForBackgroundApp = 121, + EVRInitError_VRInitError_Init_NotSupportedWithCompositor = 122, + EVRInitError_VRInitError_Init_NotAvailableToUtilityApps = 123, + EVRInitError_VRInitError_Init_Internal = 124, + EVRInitError_VRInitError_Driver_Failed = 200, + EVRInitError_VRInitError_Driver_Unknown = 201, + EVRInitError_VRInitError_Driver_HmdUnknown = 202, + EVRInitError_VRInitError_Driver_NotLoaded = 203, + EVRInitError_VRInitError_Driver_RuntimeOutOfDate = 204, + EVRInitError_VRInitError_Driver_HmdInUse = 205, + EVRInitError_VRInitError_Driver_NotCalibrated = 206, + EVRInitError_VRInitError_Driver_CalibrationInvalid = 207, + EVRInitError_VRInitError_Driver_HmdDisplayNotFound = 208, + EVRInitError_VRInitError_IPC_ServerInitFailed = 300, + EVRInitError_VRInitError_IPC_ConnectFailed = 301, + EVRInitError_VRInitError_IPC_SharedStateInitFailed = 302, + EVRInitError_VRInitError_IPC_CompositorInitFailed = 303, + EVRInitError_VRInitError_IPC_MutexInitFailed = 304, + EVRInitError_VRInitError_IPC_Failed = 305, + EVRInitError_VRInitError_Compositor_Failed = 400, + EVRInitError_VRInitError_Compositor_D3D11HardwareRequired = 401, + EVRInitError_VRInitError_Compositor_FirmwareRequiresUpdate = 402, + EVRInitError_VRInitError_Compositor_OverlayInitFailed = 403, + EVRInitError_VRInitError_Compositor_ScreenshotsInitFailed = 404, + EVRInitError_VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000, + EVRInitError_VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102, + EVRInitError_VRInitError_VendorSpecific_HmdFound_NoStoredConfig = 1103, + EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooBig = 1104, + EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigTooSmall = 1105, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToInitZLib = 1106, + EVRInitError_VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataAddressRange = 1111, + EVRInitError_VRInitError_VendorSpecific_HmdFound_UserDataError = 1112, + EVRInitError_VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113, + EVRInitError_VRInitError_Steam_SteamInstallationNotFound = 2000, +} EVRInitError; + +typedef enum EVRScreenshotType +{ + EVRScreenshotType_VRScreenshotType_None = 0, + EVRScreenshotType_VRScreenshotType_Mono = 1, + EVRScreenshotType_VRScreenshotType_Stereo = 2, + EVRScreenshotType_VRScreenshotType_Cubemap = 3, + EVRScreenshotType_VRScreenshotType_MonoPanorama = 4, + EVRScreenshotType_VRScreenshotType_StereoPanorama = 5, +} EVRScreenshotType; + +typedef enum EVRScreenshotPropertyFilenames +{ + EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_Preview = 0, + EVRScreenshotPropertyFilenames_VRScreenshotPropertyFilenames_VR = 1, +} EVRScreenshotPropertyFilenames; + +typedef enum EVRTrackedCameraError +{ + EVRTrackedCameraError_VRTrackedCameraError_None = 0, + EVRTrackedCameraError_VRTrackedCameraError_OperationFailed = 100, + EVRTrackedCameraError_VRTrackedCameraError_InvalidHandle = 101, + EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameHeaderVersion = 102, + EVRTrackedCameraError_VRTrackedCameraError_OutOfHandles = 103, + EVRTrackedCameraError_VRTrackedCameraError_IPCFailure = 104, + EVRTrackedCameraError_VRTrackedCameraError_NotSupportedForThisDevice = 105, + EVRTrackedCameraError_VRTrackedCameraError_SharedMemoryFailure = 106, + EVRTrackedCameraError_VRTrackedCameraError_FrameBufferingFailure = 107, + EVRTrackedCameraError_VRTrackedCameraError_StreamSetupFailure = 108, + EVRTrackedCameraError_VRTrackedCameraError_InvalidGLTextureId = 109, + EVRTrackedCameraError_VRTrackedCameraError_InvalidSharedTextureHandle = 110, + EVRTrackedCameraError_VRTrackedCameraError_FailedToGetGLTextureId = 111, + EVRTrackedCameraError_VRTrackedCameraError_SharedTextureFailure = 112, + EVRTrackedCameraError_VRTrackedCameraError_NoFrameAvailable = 113, + EVRTrackedCameraError_VRTrackedCameraError_InvalidArgument = 114, + EVRTrackedCameraError_VRTrackedCameraError_InvalidFrameBufferSize = 115, +} EVRTrackedCameraError; + +typedef enum EVRTrackedCameraFrameType +{ + EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Distorted = 0, + EVRTrackedCameraFrameType_VRTrackedCameraFrameType_Undistorted = 1, + EVRTrackedCameraFrameType_VRTrackedCameraFrameType_MaximumUndistorted = 2, + EVRTrackedCameraFrameType_MAX_CAMERA_FRAME_TYPES = 3, +} EVRTrackedCameraFrameType; + +typedef enum EVRApplicationError +{ + EVRApplicationError_VRApplicationError_None = 0, + EVRApplicationError_VRApplicationError_AppKeyAlreadyExists = 100, + EVRApplicationError_VRApplicationError_NoManifest = 101, + EVRApplicationError_VRApplicationError_NoApplication = 102, + EVRApplicationError_VRApplicationError_InvalidIndex = 103, + EVRApplicationError_VRApplicationError_UnknownApplication = 104, + EVRApplicationError_VRApplicationError_IPCFailed = 105, + EVRApplicationError_VRApplicationError_ApplicationAlreadyRunning = 106, + EVRApplicationError_VRApplicationError_InvalidManifest = 107, + EVRApplicationError_VRApplicationError_InvalidApplication = 108, + EVRApplicationError_VRApplicationError_LaunchFailed = 109, + EVRApplicationError_VRApplicationError_ApplicationAlreadyStarting = 110, + EVRApplicationError_VRApplicationError_LaunchInProgress = 111, + EVRApplicationError_VRApplicationError_OldApplicationQuitting = 112, + EVRApplicationError_VRApplicationError_TransitionAborted = 113, + EVRApplicationError_VRApplicationError_IsTemplate = 114, + EVRApplicationError_VRApplicationError_BufferTooSmall = 200, + EVRApplicationError_VRApplicationError_PropertyNotSet = 201, + EVRApplicationError_VRApplicationError_UnknownProperty = 202, + EVRApplicationError_VRApplicationError_InvalidParameter = 203, +} EVRApplicationError; + +typedef enum EVRApplicationProperty +{ + EVRApplicationProperty_VRApplicationProperty_Name_String = 0, + EVRApplicationProperty_VRApplicationProperty_LaunchType_String = 11, + EVRApplicationProperty_VRApplicationProperty_WorkingDirectory_String = 12, + EVRApplicationProperty_VRApplicationProperty_BinaryPath_String = 13, + EVRApplicationProperty_VRApplicationProperty_Arguments_String = 14, + EVRApplicationProperty_VRApplicationProperty_URL_String = 15, + EVRApplicationProperty_VRApplicationProperty_Description_String = 50, + EVRApplicationProperty_VRApplicationProperty_NewsURL_String = 51, + EVRApplicationProperty_VRApplicationProperty_ImagePath_String = 52, + EVRApplicationProperty_VRApplicationProperty_Source_String = 53, + EVRApplicationProperty_VRApplicationProperty_IsDashboardOverlay_Bool = 60, + EVRApplicationProperty_VRApplicationProperty_IsTemplate_Bool = 61, + EVRApplicationProperty_VRApplicationProperty_IsInstanced_Bool = 62, + EVRApplicationProperty_VRApplicationProperty_LastLaunchTime_Uint64 = 70, +} EVRApplicationProperty; + +typedef enum EVRApplicationTransitionState +{ + EVRApplicationTransitionState_VRApplicationTransition_None = 0, + EVRApplicationTransitionState_VRApplicationTransition_OldAppQuitSent = 10, + EVRApplicationTransitionState_VRApplicationTransition_WaitingForExternalLaunch = 11, + EVRApplicationTransitionState_VRApplicationTransition_NewAppLaunched = 20, +} EVRApplicationTransitionState; + +typedef enum ChaperoneCalibrationState +{ + ChaperoneCalibrationState_OK = 1, + ChaperoneCalibrationState_Warning = 100, + ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved = 101, + ChaperoneCalibrationState_Warning_BaseStationRemoved = 102, + ChaperoneCalibrationState_Warning_SeatedBoundsInvalid = 103, + ChaperoneCalibrationState_Error = 200, + ChaperoneCalibrationState_Error_BaseStationUninitalized = 201, + ChaperoneCalibrationState_Error_BaseStationConflict = 202, + ChaperoneCalibrationState_Error_PlayAreaInvalid = 203, + ChaperoneCalibrationState_Error_CollisionBoundsInvalid = 204, +} ChaperoneCalibrationState; + +typedef enum EChaperoneConfigFile +{ + EChaperoneConfigFile_Live = 1, + EChaperoneConfigFile_Temp = 2, +} EChaperoneConfigFile; + +typedef enum EChaperoneImportFlags +{ + EChaperoneImportFlags_EChaperoneImport_BoundsOnly = 1, +} EChaperoneImportFlags; + +typedef enum EVRCompositorError +{ + EVRCompositorError_VRCompositorError_None = 0, + EVRCompositorError_VRCompositorError_RequestFailed = 1, + EVRCompositorError_VRCompositorError_IncompatibleVersion = 100, + EVRCompositorError_VRCompositorError_DoNotHaveFocus = 101, + EVRCompositorError_VRCompositorError_InvalidTexture = 102, + EVRCompositorError_VRCompositorError_IsNotSceneApplication = 103, + EVRCompositorError_VRCompositorError_TextureIsOnWrongDevice = 104, + EVRCompositorError_VRCompositorError_TextureUsesUnsupportedFormat = 105, + EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106, + EVRCompositorError_VRCompositorError_IndexOutOfRange = 107, +} EVRCompositorError; + +typedef enum VROverlayInputMethod +{ + VROverlayInputMethod_None = 0, + VROverlayInputMethod_Mouse = 1, +} VROverlayInputMethod; + +typedef enum VROverlayTransformType +{ + VROverlayTransformType_VROverlayTransform_Absolute = 0, + VROverlayTransformType_VROverlayTransform_TrackedDeviceRelative = 1, + VROverlayTransformType_VROverlayTransform_SystemOverlay = 2, + VROverlayTransformType_VROverlayTransform_TrackedComponent = 3, +} VROverlayTransformType; + +typedef enum VROverlayFlags +{ + VROverlayFlags_None = 0, + VROverlayFlags_Curved = 1, + VROverlayFlags_RGSS4X = 2, + VROverlayFlags_NoDashboardTab = 3, + VROverlayFlags_AcceptsGamepadEvents = 4, + VROverlayFlags_ShowGamepadFocus = 5, + VROverlayFlags_SendVRScrollEvents = 6, + VROverlayFlags_SendVRTouchpadEvents = 7, + VROverlayFlags_ShowTouchPadScrollWheel = 8, + VROverlayFlags_TransferOwnershipToInternalProcess = 9, + VROverlayFlags_SideBySide_Parallel = 10, + VROverlayFlags_SideBySide_Crossed = 11, + VROverlayFlags_Panorama = 12, + VROverlayFlags_StereoPanorama = 13, +} VROverlayFlags; + +typedef enum EGamepadTextInputMode +{ + EGamepadTextInputMode_k_EGamepadTextInputModeNormal = 0, + EGamepadTextInputMode_k_EGamepadTextInputModePassword = 1, + EGamepadTextInputMode_k_EGamepadTextInputModeSubmit = 2, +} EGamepadTextInputMode; + +typedef enum EGamepadTextInputLineMode +{ + EGamepadTextInputLineMode_k_EGamepadTextInputLineModeSingleLine = 0, + EGamepadTextInputLineMode_k_EGamepadTextInputLineModeMultipleLines = 1, +} EGamepadTextInputLineMode; + +typedef enum EOverlayDirection +{ + EOverlayDirection_OverlayDirection_Up = 0, + EOverlayDirection_OverlayDirection_Down = 1, + EOverlayDirection_OverlayDirection_Left = 2, + EOverlayDirection_OverlayDirection_Right = 3, + EOverlayDirection_OverlayDirection_Count = 4, +} EOverlayDirection; + +typedef enum EVRRenderModelError +{ + EVRRenderModelError_VRRenderModelError_None = 0, + EVRRenderModelError_VRRenderModelError_Loading = 100, + EVRRenderModelError_VRRenderModelError_NotSupported = 200, + EVRRenderModelError_VRRenderModelError_InvalidArg = 300, + EVRRenderModelError_VRRenderModelError_InvalidModel = 301, + EVRRenderModelError_VRRenderModelError_NoShapes = 302, + EVRRenderModelError_VRRenderModelError_MultipleShapes = 303, + EVRRenderModelError_VRRenderModelError_TooManyVertices = 304, + EVRRenderModelError_VRRenderModelError_MultipleTextures = 305, + EVRRenderModelError_VRRenderModelError_BufferTooSmall = 306, + EVRRenderModelError_VRRenderModelError_NotEnoughNormals = 307, + EVRRenderModelError_VRRenderModelError_NotEnoughTexCoords = 308, + EVRRenderModelError_VRRenderModelError_InvalidTexture = 400, +} EVRRenderModelError; + +typedef enum EVRComponentProperty +{ + EVRComponentProperty_VRComponentProperty_IsStatic = 1, + EVRComponentProperty_VRComponentProperty_IsVisible = 2, + EVRComponentProperty_VRComponentProperty_IsTouched = 4, + EVRComponentProperty_VRComponentProperty_IsPressed = 8, + EVRComponentProperty_VRComponentProperty_IsScrolled = 16, +} EVRComponentProperty; + +typedef enum EVRNotificationType +{ + EVRNotificationType_Transient = 0, + EVRNotificationType_Persistent = 1, + EVRNotificationType_Transient_SystemWithUserValue = 2, +} EVRNotificationType; + +typedef enum EVRNotificationStyle +{ + EVRNotificationStyle_None = 0, + EVRNotificationStyle_Application = 100, + EVRNotificationStyle_Contact_Disabled = 200, + EVRNotificationStyle_Contact_Enabled = 201, + EVRNotificationStyle_Contact_Active = 202, +} EVRNotificationStyle; + +typedef enum EVRSettingsError +{ + EVRSettingsError_VRSettingsError_None = 0, + EVRSettingsError_VRSettingsError_IPCFailed = 1, + EVRSettingsError_VRSettingsError_WriteFailed = 2, + EVRSettingsError_VRSettingsError_ReadFailed = 3, +} EVRSettingsError; + +typedef enum EVRScreenshotError +{ + EVRScreenshotError_VRScreenshotError_None = 0, + EVRScreenshotError_VRScreenshotError_RequestFailed = 1, + EVRScreenshotError_VRScreenshotError_IncompatibleVersion = 100, + EVRScreenshotError_VRScreenshotError_NotFound = 101, + EVRScreenshotError_VRScreenshotError_BufferTooSmall = 102, + EVRScreenshotError_VRScreenshotError_ScreenshotAlreadyInProgress = 108, +} EVRScreenshotError; + + +// OpenVR typedefs + +typedef uint32_t TrackedDeviceIndex_t; +typedef uint32_t VRNotificationId; +typedef uint64_t VROverlayHandle_t; +typedef void * glSharedTextureHandle_t; +typedef int32_t glInt_t; +typedef uint32_t glUInt_t; +typedef uint32_t TrackedDeviceIndex_t; +typedef uint64_t VROverlayHandle_t; +typedef uint64_t TrackedCameraHandle_t; +typedef uint32_t ScreenshotHandle_t; +typedef uint32_t VRComponentProperties; +typedef int32_t TextureID_t; +typedef uint32_t VRNotificationId; +typedef EVRInitError HmdError; +typedef EVREye Hmd_Eye; +typedef EGraphicsAPIConvention GraphicsAPIConvention; +typedef EColorSpace ColorSpace; +typedef ETrackingResult HmdTrackingResult; +typedef ETrackedDeviceClass TrackedDeviceClass; +typedef ETrackingUniverseOrigin TrackingUniverseOrigin; +typedef ETrackedDeviceProperty TrackedDeviceProperty; +typedef ETrackedPropertyError TrackedPropertyError; +typedef EVRSubmitFlags VRSubmitFlags_t; +typedef EVRState VRState_t; +typedef ECollisionBoundsStyle CollisionBoundsStyle_t; +typedef EVROverlayError VROverlayError; +typedef EVRFirmwareError VRFirmwareError; +typedef EVRCompositorError VRCompositorError; +typedef EVRScreenshotError VRScreenshotsError; + +// OpenVR Structs + +typedef struct HmdMatrix34_t +{ + float m[3][4]; //float[3][4] +} HmdMatrix34_t; + +typedef struct HmdMatrix44_t +{ + float m[4][4]; //float[4][4] +} HmdMatrix44_t; + +typedef struct HmdVector3_t +{ + float v[3]; //float[3] +} HmdVector3_t; + +typedef struct HmdVector4_t +{ + float v[4]; //float[4] +} HmdVector4_t; + +typedef struct HmdVector3d_t +{ + double v[3]; //double[3] +} HmdVector3d_t; + +typedef struct HmdVector2_t +{ + float v[2]; //float[2] +} HmdVector2_t; + +typedef struct HmdQuaternion_t +{ + double w; + double x; + double y; + double z; +} HmdQuaternion_t; + +typedef struct HmdColor_t +{ + float r; + float g; + float b; + float a; +} HmdColor_t; + +typedef struct HmdQuad_t +{ + struct HmdVector3_t vCorners[4]; //struct vr::HmdVector3_t[4] +} HmdQuad_t; + +typedef struct HmdRect2_t +{ + struct HmdVector2_t vTopLeft; + struct HmdVector2_t vBottomRight; +} HmdRect2_t; + +typedef struct DistortionCoordinates_t +{ + float rfRed[2]; //float[2] + float rfGreen[2]; //float[2] + float rfBlue[2]; //float[2] +} DistortionCoordinates_t; + +typedef struct Texture_t +{ + void * handle; // void * + enum EGraphicsAPIConvention eType; + enum EColorSpace eColorSpace; +} Texture_t; + +typedef struct TrackedDevicePose_t +{ + struct HmdMatrix34_t mDeviceToAbsoluteTracking; + struct HmdVector3_t vVelocity; + struct HmdVector3_t vAngularVelocity; + enum ETrackingResult eTrackingResult; + bool bPoseIsValid; + bool bDeviceIsConnected; +} TrackedDevicePose_t; + +typedef struct VRTextureBounds_t +{ + float uMin; + float vMin; + float uMax; + float vMax; +} VRTextureBounds_t; + +typedef struct VREvent_Controller_t +{ + uint32_t button; +} VREvent_Controller_t; + +typedef struct VREvent_Mouse_t +{ + float x; + float y; + uint32_t button; +} VREvent_Mouse_t; + +typedef struct VREvent_Scroll_t +{ + float xdelta; + float ydelta; + uint32_t repeatCount; +} VREvent_Scroll_t; + +typedef struct VREvent_TouchPadMove_t +{ + bool bFingerDown; + float flSecondsFingerDown; + float fValueXFirst; + float fValueYFirst; + float fValueXRaw; + float fValueYRaw; +} VREvent_TouchPadMove_t; + +typedef struct VREvent_Notification_t +{ + uint64_t ulUserValue; + uint32_t notificationId; +} VREvent_Notification_t; + +typedef struct VREvent_Process_t +{ + uint32_t pid; + uint32_t oldPid; + bool bForced; +} VREvent_Process_t; + +typedef struct VREvent_Overlay_t +{ + uint64_t overlayHandle; +} VREvent_Overlay_t; + +typedef struct VREvent_Status_t +{ + uint32_t statusState; +} VREvent_Status_t; + +typedef struct VREvent_Keyboard_t +{ + char * cNewInput[8]; //char[8] + uint64_t uUserValue; +} VREvent_Keyboard_t; + +typedef struct VREvent_Ipd_t +{ + float ipdMeters; +} VREvent_Ipd_t; + +typedef struct VREvent_Chaperone_t +{ + uint64_t m_nPreviousUniverse; + uint64_t m_nCurrentUniverse; +} VREvent_Chaperone_t; + +typedef struct VREvent_Reserved_t +{ + uint64_t reserved0; + uint64_t reserved1; +} VREvent_Reserved_t; + +typedef struct VREvent_PerformanceTest_t +{ + uint32_t m_nFidelityLevel; +} VREvent_PerformanceTest_t; + +typedef struct VREvent_SeatedZeroPoseReset_t +{ + bool bResetBySystemMenu; +} VREvent_SeatedZeroPoseReset_t; + +typedef struct VREvent_Screenshot_t +{ + uint32_t handle; + uint32_t type; +} VREvent_Screenshot_t; + +typedef struct HiddenAreaMesh_t +{ + struct HmdVector2_t * pVertexData; // const struct vr::HmdVector2_t * + uint32_t unTriangleCount; +} HiddenAreaMesh_t; + +typedef struct VRControllerAxis_t +{ + float x; + float y; +} VRControllerAxis_t; + +typedef struct VRControllerState_t +{ + uint32_t unPacketNum; + uint64_t ulButtonPressed; + uint64_t ulButtonTouched; + struct VRControllerAxis_t rAxis[5]; //struct vr::VRControllerAxis_t[5] +} VRControllerState_t; + +typedef struct Compositor_OverlaySettings +{ + uint32_t size; + bool curved; + bool antialias; + float scale; + float distance; + float alpha; + float uOffset; + float vOffset; + float uScale; + float vScale; + float gridDivs; + float gridWidth; + float gridScale; + struct HmdMatrix44_t transform; +} Compositor_OverlaySettings; + +typedef struct CameraVideoStreamFrameHeader_t +{ + enum EVRTrackedCameraFrameType eFrameType; + uint32_t nWidth; + uint32_t nHeight; + uint32_t nBytesPerPixel; + uint32_t nFrameSequence; + struct TrackedDevicePose_t standingTrackedDevicePose; +} CameraVideoStreamFrameHeader_t; + +typedef struct AppOverrideKeys_t +{ + char * pchKey; // const char * + char * pchValue; // const char * +} AppOverrideKeys_t; + +typedef struct Compositor_FrameTiming +{ + uint32_t m_nSize; + uint32_t m_nFrameIndex; + uint32_t m_nNumFramePresents; + uint32_t m_nNumDroppedFrames; + double m_flSystemTimeInSeconds; + float m_flSceneRenderGpuMs; + float m_flTotalRenderGpuMs; + float m_flCompositorRenderGpuMs; + float m_flCompositorRenderCpuMs; + float m_flCompositorIdleCpuMs; + float m_flClientFrameIntervalMs; + float m_flPresentCallCpuMs; + float m_flWaitForPresentCpuMs; + float m_flSubmitFrameMs; + float m_flWaitGetPosesCalledMs; + float m_flNewPosesReadyMs; + float m_flNewFrameReadyMs; + float m_flCompositorUpdateStartMs; + float m_flCompositorUpdateEndMs; + float m_flCompositorRenderStartMs; + TrackedDevicePose_t m_HmdPose; + int32_t m_nFidelityLevel; + uint32_t m_nReprojectionFlags; +} Compositor_FrameTiming; + +typedef struct Compositor_CumulativeStats +{ + uint32_t m_nPid; + uint32_t m_nNumFramePresents; + uint32_t m_nNumDroppedFrames; + uint32_t m_nNumReprojectedFrames; + uint32_t m_nNumFramePresentsOnStartup; + uint32_t m_nNumDroppedFramesOnStartup; + uint32_t m_nNumReprojectedFramesOnStartup; + uint32_t m_nNumLoading; + uint32_t m_nNumFramePresentsLoading; + uint32_t m_nNumDroppedFramesLoading; + uint32_t m_nNumReprojectedFramesLoading; + uint32_t m_nNumTimedOut; + uint32_t m_nNumFramePresentsTimedOut; + uint32_t m_nNumDroppedFramesTimedOut; + uint32_t m_nNumReprojectedFramesTimedOut; +} Compositor_CumulativeStats; + +typedef struct VROverlayIntersectionParams_t +{ + struct HmdVector3_t vSource; + struct HmdVector3_t vDirection; + enum ETrackingUniverseOrigin eOrigin; +} VROverlayIntersectionParams_t; + +typedef struct VROverlayIntersectionResults_t +{ + struct HmdVector3_t vPoint; + struct HmdVector3_t vNormal; + struct HmdVector2_t vUVs; + float fDistance; +} VROverlayIntersectionResults_t; + +typedef struct RenderModel_ComponentState_t +{ + struct HmdMatrix34_t mTrackingToComponentRenderModel; + struct HmdMatrix34_t mTrackingToComponentLocal; + VRComponentProperties uProperties; +} RenderModel_ComponentState_t; + +typedef struct RenderModel_Vertex_t +{ + struct HmdVector3_t vPosition; + struct HmdVector3_t vNormal; + float rfTextureCoord[2]; //float[2] +} RenderModel_Vertex_t; + +typedef struct RenderModel_TextureMap_t +{ + uint16_t unWidth; + uint16_t unHeight; + uint8_t * rubTextureMapData; // const uint8_t * +} RenderModel_TextureMap_t; + +typedef struct RenderModel_t +{ + struct RenderModel_Vertex_t * rVertexData; // const struct vr::RenderModel_Vertex_t * + uint32_t unVertexCount; + uint16_t * rIndexData; // const uint16_t * + uint32_t unTriangleCount; + TextureID_t diffuseTextureId; +} RenderModel_t; + +typedef struct RenderModel_ControllerMode_State_t +{ + bool bScrollWheelVisible; +} RenderModel_ControllerMode_State_t; + +typedef struct NotificationBitmap_t +{ + void * m_pImageData; // void * + int32_t m_nWidth; + int32_t m_nHeight; + int32_t m_nBytesPerPixel; +} NotificationBitmap_t; + +typedef struct COpenVRContext +{ + intptr_t m_pVRSystem; // class vr::IVRSystem * + intptr_t m_pVRChaperone; // class vr::IVRChaperone * + intptr_t m_pVRChaperoneSetup; // class vr::IVRChaperoneSetup * + intptr_t m_pVRCompositor; // class vr::IVRCompositor * + intptr_t m_pVROverlay; // class vr::IVROverlay * + intptr_t m_pVRRenderModels; // class vr::IVRRenderModels * + intptr_t m_pVRExtendedDisplay; // class vr::IVRExtendedDisplay * + intptr_t m_pVRSettings; // class vr::IVRSettings * + intptr_t m_pVRApplications; // class vr::IVRApplications * + intptr_t m_pVRTrackedCamera; // class vr::IVRTrackedCamera * + intptr_t m_pVRScreenshots; // class vr::IVRScreenshots * +} COpenVRContext; + + +typedef union +{ + VREvent_Reserved_t reserved; + VREvent_Controller_t controller; + VREvent_Mouse_t mouse; + VREvent_Scroll_t scroll; + VREvent_Process_t process; + VREvent_Notification_t notification; + VREvent_Overlay_t overlay; + VREvent_Status_t status; + VREvent_Keyboard_t keyboard; + VREvent_Ipd_t ipd; + VREvent_Chaperone_t chaperone; + VREvent_PerformanceTest_t performanceTest; + VREvent_TouchPadMove_t touchPadMove; + VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset; +} VREvent_Data_t; + +/** An event posted by the server to all running applications */ +struct VREvent_t +{ + uint32_t eventType; // EVREventType enum + TrackedDeviceIndex_t trackedDeviceIndex; + float eventAgeSeconds; + // event data must be the end of the struct as its size is variable + VREvent_Data_t data; +}; + + +// OpenVR Function Pointer Tables + +struct VR_IVRSystem_FnTable +{ + void (OPENVR_FNTABLE_CALLTYPE *GetRecommendedRenderTargetSize)(uint32_t * pnWidth, uint32_t * pnHeight); + struct HmdMatrix44_t (OPENVR_FNTABLE_CALLTYPE *GetProjectionMatrix)(EVREye eEye, float fNearZ, float fFarZ, EGraphicsAPIConvention eProjType); + void (OPENVR_FNTABLE_CALLTYPE *GetProjectionRaw)(EVREye eEye, float * pfLeft, float * pfRight, float * pfTop, float * pfBottom); + struct DistortionCoordinates_t (OPENVR_FNTABLE_CALLTYPE *ComputeDistortion)(EVREye eEye, float fU, float fV); + struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetEyeToHeadTransform)(EVREye eEye); + bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter); + int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)(); + void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex); + bool (OPENVR_FNTABLE_CALLTYPE *IsDisplayOnDesktop)(); + bool (OPENVR_FNTABLE_CALLTYPE *SetDisplayVisibility)(bool bIsVisibleOnDesktop); + void (OPENVR_FNTABLE_CALLTYPE *GetDeviceToAbsoluteTrackingPose)(ETrackingUniverseOrigin eOrigin, float fPredictedSecondsToPhotonsFromNow, struct TrackedDevicePose_t * pTrackedDevicePoseArray, uint32_t unTrackedDevicePoseArrayCount); + void (OPENVR_FNTABLE_CALLTYPE *ResetSeatedZeroPose)(); + struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetSeatedZeroPoseToStandingAbsoluteTrackingPose)(); + struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetRawZeroPoseToStandingAbsoluteTrackingPose)(); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetSortedTrackedDeviceIndicesOfClass)(ETrackedDeviceClass eTrackedDeviceClass, TrackedDeviceIndex_t * punTrackedDeviceIndexArray, uint32_t unTrackedDeviceIndexArrayCount, TrackedDeviceIndex_t unRelativeToTrackedDeviceIndex); + EDeviceActivityLevel (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceActivityLevel)(TrackedDeviceIndex_t unDeviceId); + void (OPENVR_FNTABLE_CALLTYPE *ApplyTransform)(struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pTrackedDevicePose, struct HmdMatrix34_t * pTransform); + TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceIndexForControllerRole)(ETrackedControllerRole unDeviceType); + ETrackedControllerRole (OPENVR_FNTABLE_CALLTYPE *GetControllerRoleForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex); + ETrackedDeviceClass (OPENVR_FNTABLE_CALLTYPE *GetTrackedDeviceClass)(TrackedDeviceIndex_t unDeviceIndex); + bool (OPENVR_FNTABLE_CALLTYPE *IsTrackedDeviceConnected)(TrackedDeviceIndex_t unDeviceIndex); + bool (OPENVR_FNTABLE_CALLTYPE *GetBoolTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError); + float (OPENVR_FNTABLE_CALLTYPE *GetFloatTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError); + int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError); + uint64_t (OPENVR_FNTABLE_CALLTYPE *GetUint64TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError); + struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetMatrix34TrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError * pError); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetStringTrackedDeviceProperty)(TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char * pchValue, uint32_t unBufferSize, ETrackedPropertyError * pError); + char * (OPENVR_FNTABLE_CALLTYPE *GetPropErrorNameFromEnum)(ETrackedPropertyError error); + bool (OPENVR_FNTABLE_CALLTYPE *PollNextEvent)(struct VREvent_t * pEvent, uint32_t uncbVREvent); + bool (OPENVR_FNTABLE_CALLTYPE *PollNextEventWithPose)(ETrackingUniverseOrigin eOrigin, struct VREvent_t * pEvent, uint32_t uncbVREvent, TrackedDevicePose_t * pTrackedDevicePose); + char * (OPENVR_FNTABLE_CALLTYPE *GetEventTypeNameFromEnum)(EVREventType eType); + struct HiddenAreaMesh_t (OPENVR_FNTABLE_CALLTYPE *GetHiddenAreaMesh)(EVREye eEye); + bool (OPENVR_FNTABLE_CALLTYPE *GetControllerState)(TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState); + bool (OPENVR_FNTABLE_CALLTYPE *GetControllerStateWithPose)(ETrackingUniverseOrigin eOrigin, TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, struct TrackedDevicePose_t * pTrackedDevicePose); + void (OPENVR_FNTABLE_CALLTYPE *TriggerHapticPulse)(TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec); + char * (OPENVR_FNTABLE_CALLTYPE *GetButtonIdNameFromEnum)(EVRButtonId eButtonId); + char * (OPENVR_FNTABLE_CALLTYPE *GetControllerAxisTypeNameFromEnum)(EVRControllerAxisType eAxisType); + bool (OPENVR_FNTABLE_CALLTYPE *CaptureInputFocus)(); + void (OPENVR_FNTABLE_CALLTYPE *ReleaseInputFocus)(); + bool (OPENVR_FNTABLE_CALLTYPE *IsInputFocusCapturedByAnotherProcess)(); + uint32_t (OPENVR_FNTABLE_CALLTYPE *DriverDebugRequest)(TrackedDeviceIndex_t unDeviceIndex, char * pchRequest, char * pchResponseBuffer, uint32_t unResponseBufferSize); + EVRFirmwareError (OPENVR_FNTABLE_CALLTYPE *PerformFirmwareUpdate)(TrackedDeviceIndex_t unDeviceIndex); + void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_Exiting)(); + void (OPENVR_FNTABLE_CALLTYPE *AcknowledgeQuit_UserPrompt)(); +}; + +struct VR_IVRExtendedDisplay_FnTable +{ + void (OPENVR_FNTABLE_CALLTYPE *GetWindowBounds)(int32_t * pnX, int32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight); + void (OPENVR_FNTABLE_CALLTYPE *GetEyeOutputViewport)(EVREye eEye, uint32_t * pnX, uint32_t * pnY, uint32_t * pnWidth, uint32_t * pnHeight); + void (OPENVR_FNTABLE_CALLTYPE *GetDXGIOutputInfo)(int32_t * pnAdapterIndex, int32_t * pnAdapterOutputIndex); +}; + +struct VR_IVRTrackedCamera_FnTable +{ + char * (OPENVR_FNTABLE_CALLTYPE *GetCameraErrorNameFromEnum)(EVRTrackedCameraError eCameraError); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *HasCamera)(TrackedDeviceIndex_t nDeviceIndex, bool * pHasCamera); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraFrameSize)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, uint32_t * pnWidth, uint32_t * pnHeight, uint32_t * pnFrameBufferSize); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraIntrinisics)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, HmdVector2_t * pFocalLength, HmdVector2_t * pCenter); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetCameraProjection)(TrackedDeviceIndex_t nDeviceIndex, EVRTrackedCameraFrameType eFrameType, float flZNear, float flZFar, HmdMatrix44_t * pProjection); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *AcquireVideoStreamingService)(TrackedDeviceIndex_t nDeviceIndex, TrackedCameraHandle_t * pHandle); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *ReleaseVideoStreamingService)(TrackedCameraHandle_t hTrackedCamera); + EVRTrackedCameraError (OPENVR_FNTABLE_CALLTYPE *GetVideoStreamFrameBuffer)(TrackedCameraHandle_t hTrackedCamera, EVRTrackedCameraFrameType eFrameType, void * pFrameBuffer, uint32_t nFrameBufferSize, CameraVideoStreamFrameHeader_t * pFrameHeader, uint32_t nFrameHeaderSize); +}; + +struct VR_IVRApplications_FnTable +{ + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *AddApplicationManifest)(char * pchApplicationManifestFullPath, bool bTemporary); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *RemoveApplicationManifest)(char * pchApplicationManifestFullPath); + bool (OPENVR_FNTABLE_CALLTYPE *IsApplicationInstalled)(char * pchAppKey); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationCount)(); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByIndex)(uint32_t unApplicationIndex, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetApplicationKeyByProcessId)(uint32_t unProcessId, char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchApplication)(char * pchAppKey); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchTemplateApplication)(char * pchTemplateAppKey, char * pchNewAppKey, struct AppOverrideKeys_t * pKeys, uint32_t unKeys); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchDashboardOverlay)(char * pchAppKey); + bool (OPENVR_FNTABLE_CALLTYPE *CancelApplicationLaunch)(char * pchAppKey); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *IdentifyApplication)(uint32_t unProcessId, char * pchAppKey); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationProcessId)(char * pchAppKey); + char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsErrorNameFromEnum)(EVRApplicationError error); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyString)(char * pchAppKey, EVRApplicationProperty eProperty, char * pchPropertyValueBuffer, uint32_t unPropertyValueBufferLen, EVRApplicationError * peError); + bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyBool)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError); + uint64_t (OPENVR_FNTABLE_CALLTYPE *GetApplicationPropertyUint64)(char * pchAppKey, EVRApplicationProperty eProperty, EVRApplicationError * peError); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *SetApplicationAutoLaunch)(char * pchAppKey, bool bAutoLaunch); + bool (OPENVR_FNTABLE_CALLTYPE *GetApplicationAutoLaunch)(char * pchAppKey); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *GetStartingApplication)(char * pchAppKeyBuffer, uint32_t unAppKeyBufferLen); + EVRApplicationTransitionState (OPENVR_FNTABLE_CALLTYPE *GetTransitionState)(); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *PerformApplicationPrelaunchCheck)(char * pchAppKey); + char * (OPENVR_FNTABLE_CALLTYPE *GetApplicationsTransitionStateNameFromEnum)(EVRApplicationTransitionState state); + bool (OPENVR_FNTABLE_CALLTYPE *IsQuitUserPromptRequested)(); + EVRApplicationError (OPENVR_FNTABLE_CALLTYPE *LaunchInternalProcess)(char * pchBinaryPath, char * pchArguments, char * pchWorkingDirectory); +}; + +struct VR_IVRChaperone_FnTable +{ + ChaperoneCalibrationState (OPENVR_FNTABLE_CALLTYPE *GetCalibrationState)(); + bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaSize)(float * pSizeX, float * pSizeZ); + bool (OPENVR_FNTABLE_CALLTYPE *GetPlayAreaRect)(struct HmdQuad_t * rect); + void (OPENVR_FNTABLE_CALLTYPE *ReloadInfo)(); + void (OPENVR_FNTABLE_CALLTYPE *SetSceneColor)(struct HmdColor_t color); + void (OPENVR_FNTABLE_CALLTYPE *GetBoundsColor)(struct HmdColor_t * pOutputColorArray, int nNumOutputColors, float flCollisionBoundsFadeDistance, struct HmdColor_t * pOutputCameraColor); + bool (OPENVR_FNTABLE_CALLTYPE *AreBoundsVisible)(); + void (OPENVR_FNTABLE_CALLTYPE *ForceBoundsVisible)(bool bForce); +}; + +struct VR_IVRChaperoneSetup_FnTable +{ + bool (OPENVR_FNTABLE_CALLTYPE *CommitWorkingCopy)(EChaperoneConfigFile configFile); + void (OPENVR_FNTABLE_CALLTYPE *RevertWorkingCopy)(); + bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaSize)(float * pSizeX, float * pSizeZ); + bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingPlayAreaRect)(struct HmdQuad_t * rect); + bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount); + bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount); + bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose); + bool (OPENVR_FNTABLE_CALLTYPE *GetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatStandingZeroPoseToRawTrackingPose); + void (OPENVR_FNTABLE_CALLTYPE *SetWorkingPlayAreaSize)(float sizeX, float sizeZ); + void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount); + void (OPENVR_FNTABLE_CALLTYPE *SetWorkingSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatSeatedZeroPoseToRawTrackingPose); + void (OPENVR_FNTABLE_CALLTYPE *SetWorkingStandingZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pMatStandingZeroPoseToRawTrackingPose); + void (OPENVR_FNTABLE_CALLTYPE *ReloadFromDisk)(EChaperoneConfigFile configFile); + bool (OPENVR_FNTABLE_CALLTYPE *GetLiveSeatedZeroPoseToRawTrackingPose)(struct HmdMatrix34_t * pmatSeatedZeroPoseToRawTrackingPose); + void (OPENVR_FNTABLE_CALLTYPE *SetWorkingCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t unTagCount); + bool (OPENVR_FNTABLE_CALLTYPE *GetLiveCollisionBoundsTagsInfo)(uint8_t * pTagsBuffer, uint32_t * punTagCount); + bool (OPENVR_FNTABLE_CALLTYPE *SetWorkingPhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t unQuadsCount); + bool (OPENVR_FNTABLE_CALLTYPE *GetLivePhysicalBoundsInfo)(struct HmdQuad_t * pQuadsBuffer, uint32_t * punQuadsCount); + bool (OPENVR_FNTABLE_CALLTYPE *ExportLiveToBuffer)(char * pBuffer, uint32_t * pnBufferLength); + bool (OPENVR_FNTABLE_CALLTYPE *ImportFromBufferToWorking)(char * pBuffer, uint32_t nImportFlags); +}; + +struct VR_IVRCompositor_FnTable +{ + void (OPENVR_FNTABLE_CALLTYPE *SetTrackingSpace)(ETrackingUniverseOrigin eOrigin); + ETrackingUniverseOrigin (OPENVR_FNTABLE_CALLTYPE *GetTrackingSpace)(); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *WaitGetPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoses)(struct TrackedDevicePose_t * pRenderPoseArray, uint32_t unRenderPoseArrayCount, struct TrackedDevicePose_t * pGamePoseArray, uint32_t unGamePoseArrayCount); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetLastPoseForTrackedDeviceIndex)(TrackedDeviceIndex_t unDeviceIndex, struct TrackedDevicePose_t * pOutputPose, struct TrackedDevicePose_t * pOutputGamePose); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *Submit)(EVREye eEye, struct Texture_t * pTexture, struct VRTextureBounds_t * pBounds, EVRSubmitFlags nSubmitFlags); + void (OPENVR_FNTABLE_CALLTYPE *ClearLastSubmittedFrame)(); + void (OPENVR_FNTABLE_CALLTYPE *PostPresentHandoff)(); + bool (OPENVR_FNTABLE_CALLTYPE *GetFrameTiming)(struct Compositor_FrameTiming * pTiming, uint32_t unFramesAgo); + float (OPENVR_FNTABLE_CALLTYPE *GetFrameTimeRemaining)(); + void (OPENVR_FNTABLE_CALLTYPE *GetCumulativeStats)(struct Compositor_CumulativeStats * pStats, uint32_t nStatsSizeInBytes); + void (OPENVR_FNTABLE_CALLTYPE *FadeToColor)(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground); + void (OPENVR_FNTABLE_CALLTYPE *FadeGrid)(float fSeconds, bool bFadeIn); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *SetSkyboxOverride)(struct Texture_t * pTextures, uint32_t unTextureCount); + void (OPENVR_FNTABLE_CALLTYPE *ClearSkyboxOverride)(); + void (OPENVR_FNTABLE_CALLTYPE *CompositorBringToFront)(); + void (OPENVR_FNTABLE_CALLTYPE *CompositorGoToBack)(); + void (OPENVR_FNTABLE_CALLTYPE *CompositorQuit)(); + bool (OPENVR_FNTABLE_CALLTYPE *IsFullscreen)(); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentSceneFocusProcess)(); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetLastFrameRenderer)(); + bool (OPENVR_FNTABLE_CALLTYPE *CanRenderScene)(); + void (OPENVR_FNTABLE_CALLTYPE *ShowMirrorWindow)(); + void (OPENVR_FNTABLE_CALLTYPE *HideMirrorWindow)(); + bool (OPENVR_FNTABLE_CALLTYPE *IsMirrorWindowVisible)(); + void (OPENVR_FNTABLE_CALLTYPE *CompositorDumpImages)(); + bool (OPENVR_FNTABLE_CALLTYPE *ShouldAppRenderWithLowResources)(); + void (OPENVR_FNTABLE_CALLTYPE *ForceInterleavedReprojectionOn)(bool bOverride); + void (OPENVR_FNTABLE_CALLTYPE *ForceReconnectProcess)(); + void (OPENVR_FNTABLE_CALLTYPE *SuspendRendering)(bool bSuspend); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *RequestScreenshot)(EVRScreenshotType type, char * pchDestinationFileName, char * pchVRDestinationFileName); + EVRScreenshotType (OPENVR_FNTABLE_CALLTYPE *GetCurrentScreenshotType)(); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureD3D11)(EVREye eEye, void * pD3D11DeviceOrResource, void ** ppD3D11ShaderResourceView); + EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *GetMirrorTextureGL)(EVREye eEye, glUInt_t * pglTextureId, glSharedTextureHandle_t * pglSharedTextureHandle); + bool (OPENVR_FNTABLE_CALLTYPE *ReleaseSharedGLTexture)(glUInt_t glTextureId, glSharedTextureHandle_t glSharedTextureHandle); + void (OPENVR_FNTABLE_CALLTYPE *LockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle); + void (OPENVR_FNTABLE_CALLTYPE *UnlockGLSharedTextureForAccess)(glSharedTextureHandle_t glSharedTextureHandle); +}; + +struct VR_IVROverlay_FnTable +{ + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *FindOverlay)(char * pchOverlayKey, VROverlayHandle_t * pOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateOverlay)(char * pchOverlayKey, char * pchOverlayFriendlyName, VROverlayHandle_t * pOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *DestroyOverlay)(VROverlayHandle_t ulOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetHighQualityOverlay)(VROverlayHandle_t ulOverlayHandle); + VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetHighQualityOverlay)(); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayKey)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayName)(VROverlayHandle_t ulOverlayHandle, char * pchValue, uint32_t unBufferSize, EVROverlayError * pError); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayImageData)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unBufferSize, uint32_t * punWidth, uint32_t * punHeight); + char * (OPENVR_FNTABLE_CALLTYPE *GetOverlayErrorNameFromEnum)(EVROverlayError error); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle, uint32_t unPID); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetOverlayRenderingPid)(VROverlayHandle_t ulOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool bEnabled); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayFlag)(VROverlayHandle_t ulOverlayHandle, VROverlayFlags eOverlayFlag, bool * pbEnabled); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float fRed, float fGreen, float fBlue); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayColor)(VROverlayHandle_t ulOverlayHandle, float * pfRed, float * pfGreen, float * pfBlue); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float fAlpha); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAlpha)(VROverlayHandle_t ulOverlayHandle, float * pfAlpha); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float fWidthInMeters); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayWidthInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfWidthInMeters); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float fMinDistanceInMeters, float fMaxDistanceInMeters); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayAutoCurveDistanceRangeInMeters)(VROverlayHandle_t ulOverlayHandle, float * pfMinDistanceInMeters, float * pfMaxDistanceInMeters); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace eTextureColorSpace); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureColorSpace)(VROverlayHandle_t ulOverlayHandle, EColorSpace * peTextureColorSpace); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureBounds)(VROverlayHandle_t ulOverlayHandle, struct VRTextureBounds_t * pOverlayTextureBounds); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformType)(VROverlayHandle_t ulOverlayHandle, VROverlayTransformType * peTransformType); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformAbsolute)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin * peTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToOverlayTransform); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceRelative)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punTrackedDevice, struct HmdMatrix34_t * pmatTrackedDeviceToOverlayTransform); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unDeviceIndex, char * pchComponentName); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTransformTrackedDeviceComponent)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t * punDeviceIndex, char * pchComponentName, uint32_t unComponentNameSize); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowOverlay)(VROverlayHandle_t ulOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *HideOverlay)(VROverlayHandle_t ulOverlayHandle); + bool (OPENVR_FNTABLE_CALLTYPE *IsOverlayVisible)(VROverlayHandle_t ulOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetTransformForOverlayCoordinates)(VROverlayHandle_t ulOverlayHandle, ETrackingUniverseOrigin eTrackingOrigin, struct HmdVector2_t coordinatesInOverlay, struct HmdMatrix34_t * pmatTransform); + bool (OPENVR_FNTABLE_CALLTYPE *PollNextOverlayEvent)(VROverlayHandle_t ulOverlayHandle, struct VREvent_t * pEvent, uint32_t uncbVREvent); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod * peInputMethod); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayInputMethod)(VROverlayHandle_t ulOverlayHandle, VROverlayInputMethod eInputMethod); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayMouseScale)(VROverlayHandle_t ulOverlayHandle, struct HmdVector2_t * pvecMouseScale); + bool (OPENVR_FNTABLE_CALLTYPE *ComputeOverlayIntersection)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionParams_t * pParams, struct VROverlayIntersectionResults_t * pResults); + bool (OPENVR_FNTABLE_CALLTYPE *HandleControllerOverlayInteractionAsMouse)(VROverlayHandle_t ulOverlayHandle, TrackedDeviceIndex_t unControllerDeviceIndex); + bool (OPENVR_FNTABLE_CALLTYPE *IsHoverTargetOverlay)(VROverlayHandle_t ulOverlayHandle); + VROverlayHandle_t (OPENVR_FNTABLE_CALLTYPE *GetGamepadFocusOverlay)(); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetGamepadFocusOverlay)(VROverlayHandle_t ulNewFocusOverlay); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom, VROverlayHandle_t ulTo); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *MoveGamepadFocusToNeighbor)(EOverlayDirection eDirection, VROverlayHandle_t ulFrom); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, struct Texture_t * pTexture); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ClearOverlayTexture)(VROverlayHandle_t ulOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayRaw)(VROverlayHandle_t ulOverlayHandle, void * pvBuffer, uint32_t unWidth, uint32_t unHeight, uint32_t unDepth); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayFromFile)(VROverlayHandle_t ulOverlayHandle, char * pchFilePath); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTexture)(VROverlayHandle_t ulOverlayHandle, void ** pNativeTextureHandle, void * pNativeTextureRef, uint32_t * pWidth, uint32_t * pHeight, uint32_t * pNativeFormat, EGraphicsAPIConvention * pAPI, EColorSpace * pColorSpace); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ReleaseNativeOverlayHandle)(VROverlayHandle_t ulOverlayHandle, void * pNativeTextureHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetOverlayTextureSize)(VROverlayHandle_t ulOverlayHandle, uint32_t * pWidth, uint32_t * pHeight); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *CreateDashboardOverlay)(char * pchOverlayKey, char * pchOverlayFriendlyName, VROverlayHandle_t * pMainHandle, VROverlayHandle_t * pThumbnailHandle); + bool (OPENVR_FNTABLE_CALLTYPE *IsDashboardVisible)(); + bool (OPENVR_FNTABLE_CALLTYPE *IsActiveDashboardOverlay)(VROverlayHandle_t ulOverlayHandle); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t unProcessId); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *GetDashboardOverlaySceneProcess)(VROverlayHandle_t ulOverlayHandle, uint32_t * punProcessId); + void (OPENVR_FNTABLE_CALLTYPE *ShowDashboard)(char * pchOverlayToShow); + TrackedDeviceIndex_t (OPENVR_FNTABLE_CALLTYPE *GetPrimaryDashboardDevice)(); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboard)(EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *ShowKeyboardForOverlay)(VROverlayHandle_t ulOverlayHandle, EGamepadTextInputMode eInputMode, EGamepadTextInputLineMode eLineInputMode, char * pchDescription, uint32_t unCharMax, char * pchExistingText, bool bUseMinimalMode, uint64_t uUserValue); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetKeyboardText)(char * pchText, uint32_t cchText); + void (OPENVR_FNTABLE_CALLTYPE *HideKeyboard)(); + void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardTransformAbsolute)(ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToKeyboardTransform); + void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardPositionForOverlay)(VROverlayHandle_t ulOverlayHandle, struct HmdRect2_t avoidRect); +}; + +struct VR_IVRRenderModels_FnTable +{ + EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadRenderModel_Async)(char * pchRenderModelName, struct RenderModel_t ** ppRenderModel); + void (OPENVR_FNTABLE_CALLTYPE *FreeRenderModel)(struct RenderModel_t * pRenderModel); + EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTexture_Async)(TextureID_t textureId, struct RenderModel_TextureMap_t ** ppTexture); + void (OPENVR_FNTABLE_CALLTYPE *FreeTexture)(struct RenderModel_TextureMap_t * pTexture); + EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadTextureD3D11_Async)(TextureID_t textureId, void * pD3D11Device, void ** ppD3D11Texture2D); + EVRRenderModelError (OPENVR_FNTABLE_CALLTYPE *LoadIntoTextureD3D11_Async)(TextureID_t textureId, void * pDstTexture); + void (OPENVR_FNTABLE_CALLTYPE *FreeTextureD3D11)(void * pD3D11Texture2D); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelName)(uint32_t unRenderModelIndex, char * pchRenderModelName, uint32_t unRenderModelNameLen); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelCount)(); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentCount)(char * pchRenderModelName); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentName)(char * pchRenderModelName, uint32_t unComponentIndex, char * pchComponentName, uint32_t unComponentNameLen); + uint64_t (OPENVR_FNTABLE_CALLTYPE *GetComponentButtonMask)(char * pchRenderModelName, char * pchComponentName); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetComponentRenderModelName)(char * pchRenderModelName, char * pchComponentName, char * pchComponentRenderModelName, uint32_t unComponentRenderModelNameLen); + bool (OPENVR_FNTABLE_CALLTYPE *GetComponentState)(char * pchRenderModelName, char * pchComponentName, VRControllerState_t * pControllerState, struct RenderModel_ControllerMode_State_t * pState, struct RenderModel_ComponentState_t * pComponentState); + bool (OPENVR_FNTABLE_CALLTYPE *RenderModelHasComponent)(char * pchRenderModelName, char * pchComponentName); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelThumbnailURL)(char * pchRenderModelName, char * pchThumbnailURL, uint32_t unThumbnailURLLen, EVRRenderModelError * peError); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetRenderModelOriginalPath)(char * pchRenderModelName, char * pchOriginalPath, uint32_t unOriginalPathLen, EVRRenderModelError * peError); + char * (OPENVR_FNTABLE_CALLTYPE *GetRenderModelErrorNameFromEnum)(EVRRenderModelError error); +}; + +struct VR_IVRNotifications_FnTable +{ + EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *CreateNotification)(VROverlayHandle_t ulOverlayHandle, uint64_t ulUserValue, EVRNotificationType type, char * pchText, EVRNotificationStyle style, struct NotificationBitmap_t * pImage, VRNotificationId * pNotificationId); + EVRNotificationError (OPENVR_FNTABLE_CALLTYPE *RemoveNotification)(VRNotificationId notificationId); +}; + +struct VR_IVRSettings_FnTable +{ + char * (OPENVR_FNTABLE_CALLTYPE *GetSettingsErrorNameFromEnum)(EVRSettingsError eError); + bool (OPENVR_FNTABLE_CALLTYPE *Sync)(bool bForce, EVRSettingsError * peError); + bool (OPENVR_FNTABLE_CALLTYPE *GetBool)(char * pchSection, char * pchSettingsKey, bool bDefaultValue, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *SetBool)(char * pchSection, char * pchSettingsKey, bool bValue, EVRSettingsError * peError); + int32_t (OPENVR_FNTABLE_CALLTYPE *GetInt32)(char * pchSection, char * pchSettingsKey, int32_t nDefaultValue, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *SetInt32)(char * pchSection, char * pchSettingsKey, int32_t nValue, EVRSettingsError * peError); + float (OPENVR_FNTABLE_CALLTYPE *GetFloat)(char * pchSection, char * pchSettingsKey, float flDefaultValue, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *SetFloat)(char * pchSection, char * pchSettingsKey, float flValue, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *GetString)(char * pchSection, char * pchSettingsKey, char * pchValue, uint32_t unValueLen, char * pchDefaultValue, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *SetString)(char * pchSection, char * pchSettingsKey, char * pchValue, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *RemoveSection)(char * pchSection, EVRSettingsError * peError); + void (OPENVR_FNTABLE_CALLTYPE *RemoveKeyInSection)(char * pchSection, char * pchSettingsKey, EVRSettingsError * peError); +}; + +struct VR_IVRScreenshots_FnTable +{ + EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *RequestScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, EVRScreenshotType type, char * pchPreviewFilename, char * pchVRFilename); + EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *HookScreenshot)(EVRScreenshotType * pSupportedTypes, int numTypes); + EVRScreenshotType (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyType)(ScreenshotHandle_t screenshotHandle, EVRScreenshotError * pError); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetScreenshotPropertyFilename)(ScreenshotHandle_t screenshotHandle, EVRScreenshotPropertyFilenames filenameType, char * pchFilename, uint32_t cchFilename, EVRScreenshotError * pError); + EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *UpdateScreenshotProgress)(ScreenshotHandle_t screenshotHandle, float flProgress); + EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *TakeStereoScreenshot)(ScreenshotHandle_t * pOutScreenshotHandle, char * pchPreviewFilename, char * pchVRFilename); + EVRScreenshotError (OPENVR_FNTABLE_CALLTYPE *SubmitScreenshot)(ScreenshotHandle_t screenshotHandle, EVRScreenshotType type, char * pchSourcePreviewFilename, char * pchSourceVRFilename); +}; + + +#if 0 +// Global entry points +S_API intptr_t VR_InitInternal( EVRInitError *peError, EVRApplicationType eType ); +S_API void VR_ShutdownInternal(); +S_API bool VR_IsHmdPresent(); +S_API intptr_t VR_GetGenericInterface( const char *pchInterfaceVersion, EVRInitError *peError ); +S_API bool VR_IsRuntimeInstalled(); +S_API const char * VR_GetVRInitErrorAsSymbol( EVRInitError error ); +S_API const char * VR_GetVRInitErrorAsEnglishDescription( EVRInitError error ); +#endif + +#endif // __OPENVR_API_FLAT_H__ + + diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h new file mode 100644 index 000000000..3f2a21df4 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h @@ -0,0 +1,1829 @@ +#pragma once + +// openvr_driver.h +//========= Copyright Valve Corporation ============// +// Dynamically generated file. Do not modify this file directly. + +#ifndef _OPENVR_DRIVER_API +#define _OPENVR_DRIVER_API + +#include + + + +// vrtypes.h +#ifndef _INCLUDE_VRTYPES_H +#define _INCLUDE_VRTYPES_H + +namespace vr +{ + +#if defined(__linux__) || defined(__APPLE__) + // The 32-bit version of gcc has the alignment requirement for uint64 and double set to + // 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. + // The 64-bit version of gcc has the alignment requirement for these types set to + // 8 meaning that unless we use #pragma pack(4) our structures will get bigger. + // The 64-bit structure packing has to match the 32-bit structure packing for each platform. + #pragma pack( push, 4 ) +#else + #pragma pack( push, 8 ) +#endif + +typedef void* glSharedTextureHandle_t; +typedef int32_t glInt_t; +typedef uint32_t glUInt_t; + +// right-handed system +// +y is up +// +x is to the right +// -z is going away from you +// Distance unit is meters +struct HmdMatrix34_t +{ + float m[3][4]; +}; + +struct HmdMatrix44_t +{ + float m[4][4]; +}; + +struct HmdVector3_t +{ + float v[3]; +}; + +struct HmdVector4_t +{ + float v[4]; +}; + +struct HmdVector3d_t +{ + double v[3]; +}; + +struct HmdVector2_t +{ + float v[2]; +}; + +struct HmdQuaternion_t +{ + double w, x, y, z; +}; + +struct HmdColor_t +{ + float r, g, b, a; +}; + +struct HmdQuad_t +{ + HmdVector3_t vCorners[ 4 ]; +}; + +struct HmdRect2_t +{ + HmdVector2_t vTopLeft; + HmdVector2_t vBottomRight; +}; + +/** Used to return the post-distortion UVs for each color channel. +* UVs range from 0 to 1 with 0,0 in the upper left corner of the +* source render target. The 0,0 to 1,1 range covers a single eye. */ +struct DistortionCoordinates_t +{ + float rfRed[2]; + float rfGreen[2]; + float rfBlue[2]; +}; + +enum EVREye +{ + Eye_Left = 0, + Eye_Right = 1 +}; + +enum EGraphicsAPIConvention +{ + API_DirectX = 0, // Normalized Z goes from 0 at the viewer to 1 at the far clip plane + API_OpenGL = 1, // Normalized Z goes from 1 at the viewer to -1 at the far clip plane +}; + +enum EColorSpace +{ + ColorSpace_Auto = 0, // Assumes 'gamma' for 8-bit per component formats, otherwise 'linear'. This mirrors the DXGI formats which have _SRGB variants. + ColorSpace_Gamma = 1, // Texture data can be displayed directly on the display without any conversion (a.k.a. display native format). + ColorSpace_Linear = 2, // Same as gamma but has been converted to a linear representation using DXGI's sRGB conversion algorithm. +}; + +struct Texture_t +{ + void* handle; // Native d3d texture pointer or GL texture id. + EGraphicsAPIConvention eType; + EColorSpace eColorSpace; +}; + +enum ETrackingResult +{ + TrackingResult_Uninitialized = 1, + + TrackingResult_Calibrating_InProgress = 100, + TrackingResult_Calibrating_OutOfRange = 101, + + TrackingResult_Running_OK = 200, + TrackingResult_Running_OutOfRange = 201, +}; + +static const uint32_t k_unTrackingStringSize = 32; +static const uint32_t k_unMaxDriverDebugResponseSize = 32768; + +/** Used to pass device IDs to API calls */ +typedef uint32_t TrackedDeviceIndex_t; +static const uint32_t k_unTrackedDeviceIndex_Hmd = 0; +static const uint32_t k_unMaxTrackedDeviceCount = 16; +static const uint32_t k_unTrackedDeviceIndexOther = 0xFFFFFFFE; +static const uint32_t k_unTrackedDeviceIndexInvalid = 0xFFFFFFFF; + +/** Describes what kind of object is being tracked at a given ID */ +enum ETrackedDeviceClass +{ + TrackedDeviceClass_Invalid = 0, // the ID was not valid. + TrackedDeviceClass_HMD = 1, // Head-Mounted Displays + TrackedDeviceClass_Controller = 2, // Tracked controllers + TrackedDeviceClass_TrackingReference = 4, // Camera and base stations that serve as tracking reference points + + TrackedDeviceClass_Other = 1000, +}; + + +/** Describes what specific role associated with a tracked device */ +enum ETrackedControllerRole +{ + TrackedControllerRole_Invalid = 0, // Invalid value for controller type + TrackedControllerRole_LeftHand = 1, // Tracked device associated with the left hand + TrackedControllerRole_RightHand = 2, // Tracked device associated with the right hand +}; + + +/** describes a single pose for a tracked object */ +struct TrackedDevicePose_t +{ + HmdMatrix34_t mDeviceToAbsoluteTracking; + HmdVector3_t vVelocity; // velocity in tracker space in m/s + HmdVector3_t vAngularVelocity; // angular velocity in radians/s (?) + ETrackingResult eTrackingResult; + bool bPoseIsValid; + + // This indicates that there is a device connected for this spot in the pose array. + // It could go from true to false if the user unplugs the device. + bool bDeviceIsConnected; +}; + +/** Identifies which style of tracking origin the application wants to use +* for the poses it is requesting */ +enum ETrackingUniverseOrigin +{ + TrackingUniverseSeated = 0, // Poses are provided relative to the seated zero pose + TrackingUniverseStanding = 1, // Poses are provided relative to the safe bounds configured by the user + TrackingUniverseRawAndUncalibrated = 2, // Poses are provided in the coordinate system defined by the driver. You probably don't want this one. +}; + + +/** Each entry in this enum represents a property that can be retrieved about a +* tracked device. Many fields are only valid for one ETrackedDeviceClass. */ +enum ETrackedDeviceProperty +{ + // general properties that apply to all device classes + Prop_TrackingSystemName_String = 1000, + Prop_ModelNumber_String = 1001, + Prop_SerialNumber_String = 1002, + Prop_RenderModelName_String = 1003, + Prop_WillDriftInYaw_Bool = 1004, + Prop_ManufacturerName_String = 1005, + Prop_TrackingFirmwareVersion_String = 1006, + Prop_HardwareRevision_String = 1007, + Prop_AllWirelessDongleDescriptions_String = 1008, + Prop_ConnectedWirelessDongle_String = 1009, + Prop_DeviceIsWireless_Bool = 1010, + Prop_DeviceIsCharging_Bool = 1011, + Prop_DeviceBatteryPercentage_Float = 1012, // 0 is empty, 1 is full + Prop_StatusDisplayTransform_Matrix34 = 1013, + Prop_Firmware_UpdateAvailable_Bool = 1014, + Prop_Firmware_ManualUpdate_Bool = 1015, + Prop_Firmware_ManualUpdateURL_String = 1016, + Prop_HardwareRevision_Uint64 = 1017, + Prop_FirmwareVersion_Uint64 = 1018, + Prop_FPGAVersion_Uint64 = 1019, + Prop_VRCVersion_Uint64 = 1020, + Prop_RadioVersion_Uint64 = 1021, + Prop_DongleVersion_Uint64 = 1022, + Prop_BlockServerShutdown_Bool = 1023, + Prop_CanUnifyCoordinateSystemWithHmd_Bool = 1024, + Prop_ContainsProximitySensor_Bool = 1025, + Prop_DeviceProvidesBatteryStatus_Bool = 1026, + Prop_DeviceCanPowerOff_Bool = 1027, + Prop_Firmware_ProgrammingTarget_String = 1028, + Prop_DeviceClass_Int32 = 1029, + Prop_HasCamera_Bool = 1030, + Prop_DriverVersion_String = 1031, + Prop_Firmware_ForceUpdateRequired_Bool = 1032, + + // Properties that are unique to TrackedDeviceClass_HMD + Prop_ReportsTimeSinceVSync_Bool = 2000, + Prop_SecondsFromVsyncToPhotons_Float = 2001, + Prop_DisplayFrequency_Float = 2002, + Prop_UserIpdMeters_Float = 2003, + Prop_CurrentUniverseId_Uint64 = 2004, + Prop_PreviousUniverseId_Uint64 = 2005, + Prop_DisplayFirmwareVersion_Uint64 = 2006, + Prop_IsOnDesktop_Bool = 2007, + Prop_DisplayMCType_Int32 = 2008, + Prop_DisplayMCOffset_Float = 2009, + Prop_DisplayMCScale_Float = 2010, + Prop_EdidVendorID_Int32 = 2011, + Prop_DisplayMCImageLeft_String = 2012, + Prop_DisplayMCImageRight_String = 2013, + Prop_DisplayGCBlackClamp_Float = 2014, + Prop_EdidProductID_Int32 = 2015, + Prop_CameraToHeadTransform_Matrix34 = 2016, + Prop_DisplayGCType_Int32 = 2017, + Prop_DisplayGCOffset_Float = 2018, + Prop_DisplayGCScale_Float = 2019, + Prop_DisplayGCPrescale_Float = 2020, + Prop_DisplayGCImage_String = 2021, + Prop_LensCenterLeftU_Float = 2022, + Prop_LensCenterLeftV_Float = 2023, + Prop_LensCenterRightU_Float = 2024, + Prop_LensCenterRightV_Float = 2025, + Prop_UserHeadToEyeDepthMeters_Float = 2026, + Prop_CameraFirmwareVersion_Uint64 = 2027, + Prop_CameraFirmwareDescription_String = 2028, + Prop_DisplayFPGAVersion_Uint64 = 2029, + Prop_DisplayBootloaderVersion_Uint64 = 2030, + Prop_DisplayHardwareVersion_Uint64 = 2031, + Prop_AudioFirmwareVersion_Uint64 = 2032, + Prop_CameraCompatibilityMode_Int32 = 2033, + Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, + Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, + Prop_DisplaySuppressed_Bool = 2036, + + // Properties that are unique to TrackedDeviceClass_Controller + Prop_AttachedDeviceId_String = 3000, + Prop_SupportedButtons_Uint64 = 3001, + Prop_Axis0Type_Int32 = 3002, // Return value is of type EVRControllerAxisType + Prop_Axis1Type_Int32 = 3003, // Return value is of type EVRControllerAxisType + Prop_Axis2Type_Int32 = 3004, // Return value is of type EVRControllerAxisType + Prop_Axis3Type_Int32 = 3005, // Return value is of type EVRControllerAxisType + Prop_Axis4Type_Int32 = 3006, // Return value is of type EVRControllerAxisType + + // Properties that are unique to TrackedDeviceClass_TrackingReference + Prop_FieldOfViewLeftDegrees_Float = 4000, + Prop_FieldOfViewRightDegrees_Float = 4001, + Prop_FieldOfViewTopDegrees_Float = 4002, + Prop_FieldOfViewBottomDegrees_Float = 4003, + Prop_TrackingRangeMinimumMeters_Float = 4004, + Prop_TrackingRangeMaximumMeters_Float = 4005, + Prop_ModeLabel_String = 4006, + + // Vendors are free to expose private debug data in this reserved region + Prop_VendorSpecific_Reserved_Start = 10000, + Prop_VendorSpecific_Reserved_End = 10999, +}; + +/** No string property will ever be longer than this length */ +static const uint32_t k_unMaxPropertyStringSize = 32 * 1024; + +/** Used to return errors that occur when reading properties. */ +enum ETrackedPropertyError +{ + TrackedProp_Success = 0, + TrackedProp_WrongDataType = 1, + TrackedProp_WrongDeviceClass = 2, + TrackedProp_BufferTooSmall = 3, + TrackedProp_UnknownProperty = 4, + TrackedProp_InvalidDevice = 5, + TrackedProp_CouldNotContactServer = 6, + TrackedProp_ValueNotProvidedByDevice = 7, + TrackedProp_StringExceedsMaximumLength = 8, + TrackedProp_NotYetAvailable = 9, // The property value isn't known yet, but is expected soon. Call again later. +}; + +/** Allows the application to control what part of the provided texture will be used in the +* frame buffer. */ +struct VRTextureBounds_t +{ + float uMin, vMin; + float uMax, vMax; +}; + + +/** Allows the application to control how scene textures are used by the compositor when calling Submit. */ +enum EVRSubmitFlags +{ + // Simple render path. App submits rendered left and right eye images with no lens distortion correction applied. + Submit_Default = 0x00, + + // App submits final left and right eye images with lens distortion already applied (lens distortion makes the images appear + // barrel distorted with chromatic aberration correction applied). The app would have used the data returned by + // vr::IVRSystem::ComputeDistortion() to apply the correct distortion to the rendered images before calling Submit(). + Submit_LensDistortionAlreadyApplied = 0x01, + + // If the texture pointer passed in is actually a renderbuffer (e.g. for MSAA in OpenGL) then set this flag. + Submit_GlRenderBuffer = 0x02, +}; + + +/** Status of the overall system or tracked objects */ +enum EVRState +{ + VRState_Undefined = -1, + VRState_Off = 0, + VRState_Searching = 1, + VRState_Searching_Alert = 2, + VRState_Ready = 3, + VRState_Ready_Alert = 4, + VRState_NotReady = 5, + VRState_Standby = 6, +}; + +/** The types of events that could be posted (and what the parameters mean for each event type) */ +enum EVREventType +{ + VREvent_None = 0, + + VREvent_TrackedDeviceActivated = 100, + VREvent_TrackedDeviceDeactivated = 101, + VREvent_TrackedDeviceUpdated = 102, + VREvent_TrackedDeviceUserInteractionStarted = 103, + VREvent_TrackedDeviceUserInteractionEnded = 104, + VREvent_IpdChanged = 105, + VREvent_EnterStandbyMode = 106, + VREvent_LeaveStandbyMode = 107, + VREvent_TrackedDeviceRoleChanged = 108, + + VREvent_ButtonPress = 200, // data is controller + VREvent_ButtonUnpress = 201, // data is controller + VREvent_ButtonTouch = 202, // data is controller + VREvent_ButtonUntouch = 203, // data is controller + + VREvent_MouseMove = 300, // data is mouse + VREvent_MouseButtonDown = 301, // data is mouse + VREvent_MouseButtonUp = 302, // data is mouse + VREvent_FocusEnter = 303, // data is overlay + VREvent_FocusLeave = 304, // data is overlay + VREvent_Scroll = 305, // data is mouse + VREvent_TouchPadMove = 306, // data is mouse + + VREvent_InputFocusCaptured = 400, // data is process DEPRECATED + VREvent_InputFocusReleased = 401, // data is process DEPRECATED + VREvent_SceneFocusLost = 402, // data is process + VREvent_SceneFocusGained = 403, // data is process + VREvent_SceneApplicationChanged = 404, // data is process - The App actually drawing the scene changed (usually to or from the compositor) + VREvent_SceneFocusChanged = 405, // data is process - New app got access to draw the scene + VREvent_InputFocusChanged = 406, // data is process + VREvent_SceneApplicationSecondaryRenderingStarted = 407, // data is process + + VREvent_HideRenderModels = 410, // Sent to the scene application to request hiding render models temporarily + VREvent_ShowRenderModels = 411, // Sent to the scene application to request restoring render model visibility + + VREvent_OverlayShown = 500, + VREvent_OverlayHidden = 501, + VREvent_DashboardActivated = 502, + VREvent_DashboardDeactivated = 503, + VREvent_DashboardThumbSelected = 504, // Sent to the overlay manager - data is overlay + VREvent_DashboardRequested = 505, // Sent to the overlay manager - data is overlay + VREvent_ResetDashboard = 506, // Send to the overlay manager + VREvent_RenderToast = 507, // Send to the dashboard to render a toast - data is the notification ID + VREvent_ImageLoaded = 508, // Sent to overlays when a SetOverlayRaw or SetOverlayFromFile call finishes loading + VREvent_ShowKeyboard = 509, // Sent to keyboard renderer in the dashboard to invoke it + VREvent_HideKeyboard = 510, // Sent to keyboard renderer in the dashboard to hide it + VREvent_OverlayGamepadFocusGained = 511, // Sent to an overlay when IVROverlay::SetFocusOverlay is called on it + VREvent_OverlayGamepadFocusLost = 512, // Send to an overlay when it previously had focus and IVROverlay::SetFocusOverlay is called on something else + VREvent_OverlaySharedTextureChanged = 513, + VREvent_DashboardGuideButtonDown = 514, + VREvent_DashboardGuideButtonUp = 515, + VREvent_ScreenshotTriggered = 516, // Screenshot button combo was pressed, Dashboard should request a screenshot + VREvent_ImageFailed = 517, // Sent to overlays when a SetOverlayRaw or SetOverlayfromFail fails to load + + // Screenshot API + VREvent_RequestScreenshot = 520, // Sent by vrclient application to compositor to take a screenshot + VREvent_ScreenshotTaken = 521, // Sent by compositor to the application that the screenshot has been taken + VREvent_ScreenshotFailed = 522, // Sent by compositor to the application that the screenshot failed to be taken + VREvent_SubmitScreenshotToDashboard = 523, // Sent by compositor to the dashboard that a completed screenshot was submitted + + VREvent_Notification_Shown = 600, + VREvent_Notification_Hidden = 601, + VREvent_Notification_BeginInteraction = 602, + VREvent_Notification_Destroyed = 603, + + VREvent_Quit = 700, // data is process + VREvent_ProcessQuit = 701, // data is process + VREvent_QuitAborted_UserPrompt = 702, // data is process + VREvent_QuitAcknowledged = 703, // data is process + VREvent_DriverRequestedQuit = 704, // The driver has requested that SteamVR shut down + + VREvent_ChaperoneDataHasChanged = 800, + VREvent_ChaperoneUniverseHasChanged = 801, + VREvent_ChaperoneTempDataHasChanged = 802, + VREvent_ChaperoneSettingsHaveChanged = 803, + VREvent_SeatedZeroPoseReset = 804, + + VREvent_AudioSettingsHaveChanged = 820, + + VREvent_BackgroundSettingHasChanged = 850, + VREvent_CameraSettingsHaveChanged = 851, + VREvent_ReprojectionSettingHasChanged = 852, + VREvent_ModelSkinSettingsHaveChanged = 853, + VREvent_EnvironmentSettingsHaveChanged = 854, + + VREvent_StatusUpdate = 900, + + VREvent_MCImageUpdated = 1000, + + VREvent_FirmwareUpdateStarted = 1100, + VREvent_FirmwareUpdateFinished = 1101, + + VREvent_KeyboardClosed = 1200, + VREvent_KeyboardCharInput = 1201, + VREvent_KeyboardDone = 1202, // Sent when DONE button clicked on keyboard + + VREvent_ApplicationTransitionStarted = 1300, + VREvent_ApplicationTransitionAborted = 1301, + VREvent_ApplicationTransitionNewAppStarted = 1302, + VREvent_ApplicationListUpdated = 1303, + + VREvent_Compositor_MirrorWindowShown = 1400, + VREvent_Compositor_MirrorWindowHidden = 1401, + VREvent_Compositor_ChaperoneBoundsShown = 1410, + VREvent_Compositor_ChaperoneBoundsHidden = 1411, + + VREvent_TrackedCamera_StartVideoStream = 1500, + VREvent_TrackedCamera_StopVideoStream = 1501, + VREvent_TrackedCamera_PauseVideoStream = 1502, + VREvent_TrackedCamera_ResumeVideoStream = 1503, + + VREvent_PerformanceTest_EnableCapture = 1600, + VREvent_PerformanceTest_DisableCapture = 1601, + VREvent_PerformanceTest_FidelityLevel = 1602, + + // Vendors are free to expose private events in this reserved region + VREvent_VendorSpecific_Reserved_Start = 10000, + VREvent_VendorSpecific_Reserved_End = 19999, +}; + + +/** Level of Hmd activity */ +enum EDeviceActivityLevel +{ + k_EDeviceActivityLevel_Unknown = -1, + k_EDeviceActivityLevel_Idle = 0, + k_EDeviceActivityLevel_UserInteraction = 1, + k_EDeviceActivityLevel_UserInteraction_Timeout = 2, + k_EDeviceActivityLevel_Standby = 3, +}; + + +/** VR controller button and axis IDs */ +enum EVRButtonId +{ + k_EButton_System = 0, + k_EButton_ApplicationMenu = 1, + k_EButton_Grip = 2, + k_EButton_DPad_Left = 3, + k_EButton_DPad_Up = 4, + k_EButton_DPad_Right = 5, + k_EButton_DPad_Down = 6, + k_EButton_A = 7, + + k_EButton_Axis0 = 32, + k_EButton_Axis1 = 33, + k_EButton_Axis2 = 34, + k_EButton_Axis3 = 35, + k_EButton_Axis4 = 36, + + // aliases for well known controllers + k_EButton_SteamVR_Touchpad = k_EButton_Axis0, + k_EButton_SteamVR_Trigger = k_EButton_Axis1, + + k_EButton_Dashboard_Back = k_EButton_Grip, + + k_EButton_Max = 64 +}; + +inline uint64_t ButtonMaskFromId( EVRButtonId id ) { return 1ull << id; } + +/** used for controller button events */ +struct VREvent_Controller_t +{ + uint32_t button; // EVRButtonId enum +}; + + +/** used for simulated mouse events in overlay space */ +enum EVRMouseButton +{ + VRMouseButton_Left = 0x0001, + VRMouseButton_Right = 0x0002, + VRMouseButton_Middle = 0x0004, +}; + + +/** used for simulated mouse events in overlay space */ +struct VREvent_Mouse_t +{ + float x, y; // co-ords are in GL space, bottom left of the texture is 0,0 + uint32_t button; // EVRMouseButton enum +}; + +/** used for simulated mouse wheel scroll in overlay space */ +struct VREvent_Scroll_t +{ + float xdelta, ydelta; // movement in fraction of the pad traversed since last delta, 1.0 for a full swipe + uint32_t repeatCount; +}; + +/** when in mouse input mode you can receive data from the touchpad, these events are only sent if the users finger + is on the touchpad (or just released from it) +**/ +struct VREvent_TouchPadMove_t +{ + // true if the users finger is detected on the touch pad + bool bFingerDown; + + // How long the finger has been down in seconds + float flSecondsFingerDown; + + // These values indicate the starting finger position (so you can do some basic swipe stuff) + float fValueXFirst; + float fValueYFirst; + + // This is the raw sampled coordinate without deadzoning + float fValueXRaw; + float fValueYRaw; +}; + +/** notification related events. Details will still change at this point */ +struct VREvent_Notification_t +{ + uint64_t ulUserValue; + uint32_t notificationId; +}; + +/** Used for events about processes */ +struct VREvent_Process_t +{ + uint32_t pid; + uint32_t oldPid; + bool bForced; +}; + + +/** Used for a few events about overlays */ +struct VREvent_Overlay_t +{ + uint64_t overlayHandle; +}; + + +/** Used for a few events about overlays */ +struct VREvent_Status_t +{ + uint32_t statusState; // EVRState enum +}; + +/** Used for keyboard events **/ +struct VREvent_Keyboard_t +{ + char cNewInput[8]; // Up to 11 bytes of new input + uint64_t uUserValue; // Possible flags about the new input +}; + +struct VREvent_Ipd_t +{ + float ipdMeters; +}; + +struct VREvent_Chaperone_t +{ + uint64_t m_nPreviousUniverse; + uint64_t m_nCurrentUniverse; +}; + +/** Not actually used for any events */ +struct VREvent_Reserved_t +{ + uint64_t reserved0; + uint64_t reserved1; +}; + +struct VREvent_PerformanceTest_t +{ + uint32_t m_nFidelityLevel; +}; + +struct VREvent_SeatedZeroPoseReset_t +{ + bool bResetBySystemMenu; +}; + +struct VREvent_Screenshot_t +{ + uint32_t handle; + uint32_t type; +}; + +/** If you change this you must manually update openvr_interop.cs.py */ +typedef union +{ + VREvent_Reserved_t reserved; + VREvent_Controller_t controller; + VREvent_Mouse_t mouse; + VREvent_Scroll_t scroll; + VREvent_Process_t process; + VREvent_Notification_t notification; + VREvent_Overlay_t overlay; + VREvent_Status_t status; + VREvent_Keyboard_t keyboard; + VREvent_Ipd_t ipd; + VREvent_Chaperone_t chaperone; + VREvent_PerformanceTest_t performanceTest; + VREvent_TouchPadMove_t touchPadMove; + VREvent_SeatedZeroPoseReset_t seatedZeroPoseReset; + VREvent_Screenshot_t screenshot; +} VREvent_Data_t; + +/** An event posted by the server to all running applications */ +struct VREvent_t +{ + uint32_t eventType; // EVREventType enum + TrackedDeviceIndex_t trackedDeviceIndex; + float eventAgeSeconds; + // event data must be the end of the struct as its size is variable + VREvent_Data_t data; +}; + + +/** The mesh to draw into the stencil (or depth) buffer to perform +* early stencil (or depth) kills of pixels that will never appear on the HMD. +* This mesh draws on all the pixels that will be hidden after distortion. +* +* If the HMD does not provide a visible area mesh pVertexData will be +* NULL and unTriangleCount will be 0. */ +struct HiddenAreaMesh_t +{ + const HmdVector2_t *pVertexData; + uint32_t unTriangleCount; +}; + + +/** Identifies what kind of axis is on the controller at index n. Read this type +* with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n ); +*/ +enum EVRControllerAxisType +{ + k_eControllerAxis_None = 0, + k_eControllerAxis_TrackPad = 1, + k_eControllerAxis_Joystick = 2, + k_eControllerAxis_Trigger = 3, // Analog trigger data is in the X axis +}; + + +/** contains information about one axis on the controller */ +struct VRControllerAxis_t +{ + float x; // Ranges from -1.0 to 1.0 for joysticks and track pads. Ranges from 0.0 to 1.0 for triggers were 0 is fully released. + float y; // Ranges from -1.0 to 1.0 for joysticks and track pads. Is always 0.0 for triggers. +}; + + +/** the number of axes in the controller state */ +static const uint32_t k_unControllerStateAxisCount = 5; + + +/** Holds all the state of a controller at one moment in time. */ +struct VRControllerState001_t +{ + // If packet num matches that on your prior call, then the controller state hasn't been changed since + // your last call and there is no need to process it + uint32_t unPacketNum; + + // bit flags for each of the buttons. Use ButtonMaskFromId to turn an ID into a mask + uint64_t ulButtonPressed; + uint64_t ulButtonTouched; + + // Axis data for the controller's analog inputs + VRControllerAxis_t rAxis[ k_unControllerStateAxisCount ]; +}; + + +typedef VRControllerState001_t VRControllerState_t; + + +/** determines how to provide output to the application of various event processing functions. */ +enum EVRControllerEventOutputType +{ + ControllerEventOutput_OSEvents = 0, + ControllerEventOutput_VREvents = 1, +}; + + + +/** Collision Bounds Style */ +enum ECollisionBoundsStyle +{ + COLLISION_BOUNDS_STYLE_BEGINNER = 0, + COLLISION_BOUNDS_STYLE_INTERMEDIATE, + COLLISION_BOUNDS_STYLE_SQUARES, + COLLISION_BOUNDS_STYLE_ADVANCED, + COLLISION_BOUNDS_STYLE_NONE, + + COLLISION_BOUNDS_STYLE_COUNT +}; + +/** Allows the application to customize how the overlay appears in the compositor */ +struct Compositor_OverlaySettings +{ + uint32_t size; // sizeof(Compositor_OverlaySettings) + bool curved, antialias; + float scale, distance, alpha; + float uOffset, vOffset, uScale, vScale; + float gridDivs, gridWidth, gridScale; + HmdMatrix44_t transform; +}; + +/** used to refer to a single VR overlay */ +typedef uint64_t VROverlayHandle_t; + +static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0; + +/** Errors that can occur around VR overlays */ +enum EVROverlayError +{ + VROverlayError_None = 0, + + VROverlayError_UnknownOverlay = 10, + VROverlayError_InvalidHandle = 11, + VROverlayError_PermissionDenied = 12, + VROverlayError_OverlayLimitExceeded = 13, // No more overlays could be created because the maximum number already exist + VROverlayError_WrongVisibilityType = 14, + VROverlayError_KeyTooLong = 15, + VROverlayError_NameTooLong = 16, + VROverlayError_KeyInUse = 17, + VROverlayError_WrongTransformType = 18, + VROverlayError_InvalidTrackedDevice = 19, + VROverlayError_InvalidParameter = 20, + VROverlayError_ThumbnailCantBeDestroyed = 21, + VROverlayError_ArrayTooSmall = 22, + VROverlayError_RequestFailed = 23, + VROverlayError_InvalidTexture = 24, + VROverlayError_UnableToLoadFile = 25, + VROVerlayError_KeyboardAlreadyInUse = 26, + VROverlayError_NoNeighbor = 27, +}; + +/** enum values to pass in to VR_Init to identify whether the application will +* draw a 3D scene. */ +enum EVRApplicationType +{ + VRApplication_Other = 0, // Some other kind of application that isn't covered by the other entries + VRApplication_Scene = 1, // Application will submit 3D frames + VRApplication_Overlay = 2, // Application only interacts with overlays + VRApplication_Background = 3, // Application should not start SteamVR if it's not already running, and should not + // keep it running if everything else quits. + VRApplication_Utility = 4, // Init should not try to load any drivers. The application needs access to utility + // interfaces (like IVRSettings and IVRApplications) but not hardware. + VRApplication_VRMonitor = 5, // Reserved for vrmonitor +}; + + +/** error codes for firmware */ +enum EVRFirmwareError +{ + VRFirmwareError_None = 0, + VRFirmwareError_Success = 1, + VRFirmwareError_Fail = 2, +}; + + +/** error codes for notifications */ +enum EVRNotificationError +{ + VRNotificationError_OK = 0, + VRNotificationError_InvalidNotificationId = 100, + VRNotificationError_NotificationQueueFull = 101, + VRNotificationError_InvalidOverlayHandle = 102, + VRNotificationError_SystemWithUserValueAlreadyExists = 103, +}; + + +/** error codes returned by Vr_Init */ + +// Please add adequate error description to https://developer.valvesoftware.com/w/index.php?title=Category:SteamVRHelp +enum EVRInitError +{ + VRInitError_None = 0, + VRInitError_Unknown = 1, + + VRInitError_Init_InstallationNotFound = 100, + VRInitError_Init_InstallationCorrupt = 101, + VRInitError_Init_VRClientDLLNotFound = 102, + VRInitError_Init_FileNotFound = 103, + VRInitError_Init_FactoryNotFound = 104, + VRInitError_Init_InterfaceNotFound = 105, + VRInitError_Init_InvalidInterface = 106, + VRInitError_Init_UserConfigDirectoryInvalid = 107, + VRInitError_Init_HmdNotFound = 108, + VRInitError_Init_NotInitialized = 109, + VRInitError_Init_PathRegistryNotFound = 110, + VRInitError_Init_NoConfigPath = 111, + VRInitError_Init_NoLogPath = 112, + VRInitError_Init_PathRegistryNotWritable = 113, + VRInitError_Init_AppInfoInitFailed = 114, + VRInitError_Init_Retry = 115, // Used internally to cause retries to vrserver + VRInitError_Init_InitCanceledByUser = 116, // The calling application should silently exit. The user canceled app startup + VRInitError_Init_AnotherAppLaunching = 117, + VRInitError_Init_SettingsInitFailed = 118, + VRInitError_Init_ShuttingDown = 119, + VRInitError_Init_TooManyObjects = 120, + VRInitError_Init_NoServerForBackgroundApp = 121, + VRInitError_Init_NotSupportedWithCompositor = 122, + VRInitError_Init_NotAvailableToUtilityApps = 123, + VRInitError_Init_Internal = 124, + + VRInitError_Driver_Failed = 200, + VRInitError_Driver_Unknown = 201, + VRInitError_Driver_HmdUnknown = 202, + VRInitError_Driver_NotLoaded = 203, + VRInitError_Driver_RuntimeOutOfDate = 204, + VRInitError_Driver_HmdInUse = 205, + VRInitError_Driver_NotCalibrated = 206, + VRInitError_Driver_CalibrationInvalid = 207, + VRInitError_Driver_HmdDisplayNotFound = 208, + + VRInitError_IPC_ServerInitFailed = 300, + VRInitError_IPC_ConnectFailed = 301, + VRInitError_IPC_SharedStateInitFailed = 302, + VRInitError_IPC_CompositorInitFailed = 303, + VRInitError_IPC_MutexInitFailed = 304, + VRInitError_IPC_Failed = 305, + + VRInitError_Compositor_Failed = 400, + VRInitError_Compositor_D3D11HardwareRequired = 401, + VRInitError_Compositor_FirmwareRequiresUpdate = 402, + VRInitError_Compositor_OverlayInitFailed = 403, + VRInitError_Compositor_ScreenshotsInitFailed = 404, + + VRInitError_VendorSpecific_UnableToConnectToOculusRuntime = 1000, + + VRInitError_VendorSpecific_HmdFound_CantOpenDevice = 1101, + VRInitError_VendorSpecific_HmdFound_UnableToRequestConfigStart = 1102, + VRInitError_VendorSpecific_HmdFound_NoStoredConfig = 1103, + VRInitError_VendorSpecific_HmdFound_ConfigTooBig = 1104, + VRInitError_VendorSpecific_HmdFound_ConfigTooSmall = 1105, + VRInitError_VendorSpecific_HmdFound_UnableToInitZLib = 1106, + VRInitError_VendorSpecific_HmdFound_CantReadFirmwareVersion = 1107, + VRInitError_VendorSpecific_HmdFound_UnableToSendUserDataStart = 1108, + VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataStart = 1109, + VRInitError_VendorSpecific_HmdFound_UnableToGetUserDataNext = 1110, + VRInitError_VendorSpecific_HmdFound_UserDataAddressRange = 1111, + VRInitError_VendorSpecific_HmdFound_UserDataError = 1112, + VRInitError_VendorSpecific_HmdFound_ConfigFailedSanityCheck = 1113, + + VRInitError_Steam_SteamInstallationNotFound = 2000, +}; + +enum EVRScreenshotType +{ + VRScreenshotType_None = 0, + VRScreenshotType_Mono = 1, // left eye only + VRScreenshotType_Stereo = 2, + VRScreenshotType_Cubemap = 3, + VRScreenshotType_MonoPanorama = 4, + VRScreenshotType_StereoPanorama = 5 +}; + +enum EVRScreenshotPropertyFilenames +{ + VRScreenshotPropertyFilenames_Preview = 0, + VRScreenshotPropertyFilenames_VR = 1, +}; + +enum EVRTrackedCameraError +{ + VRTrackedCameraError_None = 0, + VRTrackedCameraError_OperationFailed = 100, + VRTrackedCameraError_InvalidHandle = 101, + VRTrackedCameraError_InvalidFrameHeaderVersion = 102, + VRTrackedCameraError_OutOfHandles = 103, + VRTrackedCameraError_IPCFailure = 104, + VRTrackedCameraError_NotSupportedForThisDevice = 105, + VRTrackedCameraError_SharedMemoryFailure = 106, + VRTrackedCameraError_FrameBufferingFailure = 107, + VRTrackedCameraError_StreamSetupFailure = 108, + VRTrackedCameraError_InvalidGLTextureId = 109, + VRTrackedCameraError_InvalidSharedTextureHandle = 110, + VRTrackedCameraError_FailedToGetGLTextureId = 111, + VRTrackedCameraError_SharedTextureFailure = 112, + VRTrackedCameraError_NoFrameAvailable = 113, + VRTrackedCameraError_InvalidArgument = 114, + VRTrackedCameraError_InvalidFrameBufferSize = 115, +}; + +enum EVRTrackedCameraFrameType +{ + VRTrackedCameraFrameType_Distorted = 0, // This is the camera video frame size in pixels, still distorted. + VRTrackedCameraFrameType_Undistorted, // In pixels, an undistorted inscribed rectangle region without invalid regions. This size is subject to changes shortly. + VRTrackedCameraFrameType_MaximumUndistorted, // In pixels, maximum undistorted with invalid regions. Non zero alpha component identifies valid regions. + MAX_CAMERA_FRAME_TYPES +}; + +typedef uint64_t TrackedCameraHandle_t; +#define INVALID_TRACKED_CAMERA_HANDLE ((vr::TrackedCameraHandle_t)0) + +struct CameraVideoStreamFrameHeader_t +{ + EVRTrackedCameraFrameType eFrameType; + + uint32_t nWidth; + uint32_t nHeight; + uint32_t nBytesPerPixel; + + uint32_t nFrameSequence; + + TrackedDevicePose_t standingTrackedDevicePose; +}; + +// Screenshot types +typedef uint32_t ScreenshotHandle_t; + +static const uint32_t k_unScreenshotHandleInvalid = 0; + +#pragma pack( pop ) + +// figure out how to import from the VR API dll +#if defined(_WIN32) + +#ifdef VR_API_EXPORT +#define VR_INTERFACE extern "C" __declspec( dllexport ) +#else +#define VR_INTERFACE extern "C" __declspec( dllimport ) +#endif + +#elif defined(GNUC) || defined(COMPILER_GCC) || defined(__APPLE__) + +#ifdef VR_API_EXPORT +#define VR_INTERFACE extern "C" __attribute__((visibility("default"))) +#else +#define VR_INTERFACE extern "C" +#endif + +#else +#error "Unsupported Platform." +#endif + + +#if defined( _WIN32 ) +#define VR_CALLTYPE __cdecl +#else +#define VR_CALLTYPE +#endif + +} // namespace vr + +#endif // _INCLUDE_VRTYPES_H + + +// vrtrackedcameratypes.h +#ifndef _VRTRACKEDCAMERATYPES_H +#define _VRTRACKEDCAMERATYPES_H + +namespace vr +{ + +#if defined(__linux__) || defined(__APPLE__) + // The 32-bit version of gcc has the alignment requirement for uint64 and double set to + // 4 meaning that even with #pragma pack(8) these types will only be four-byte aligned. + // The 64-bit version of gcc has the alignment requirement for these types set to + // 8 meaning that unless we use #pragma pack(4) our structures will get bigger. + // The 64-bit structure packing has to match the 32-bit structure packing for each platform. + #pragma pack( push, 4 ) +#else + #pragma pack( push, 8 ) +#endif + +enum ECameraVideoStreamFormat +{ + CVS_FORMAT_UNKNOWN = 0, + CVS_FORMAT_RAW10 = 1, // 10 bits per pixel + CVS_FORMAT_NV12 = 2, // 12 bits per pixel + CVS_FORMAT_RGB24 = 3, // 24 bits per pixel + CVS_MAX_FORMATS +}; + +enum ECameraCompatibilityMode +{ + CAMERA_COMPAT_MODE_BULK_DEFAULT = 0, + CAMERA_COMPAT_MODE_BULK_64K_DMA, + CAMERA_COMPAT_MODE_BULK_16K_DMA, + CAMERA_COMPAT_MODE_BULK_8K_DMA, + CAMERA_COMPAT_MODE_ISO_52FPS, + CAMERA_COMPAT_MODE_ISO_50FPS, + CAMERA_COMPAT_MODE_ISO_48FPS, + CAMERA_COMPAT_MODE_ISO_46FPS, + CAMERA_COMPAT_MODE_ISO_44FPS, + CAMERA_COMPAT_MODE_ISO_42FPS, + CAMERA_COMPAT_MODE_ISO_40FPS, + CAMERA_COMPAT_MODE_ISO_35FPS, + CAMERA_COMPAT_MODE_ISO_30FPS, + MAX_CAMERA_COMPAT_MODES +}; + +#ifdef _MSC_VER +#define VR_CAMERA_DECL_ALIGN( x ) __declspec( align( x ) ) +#else +#define VR_CAMERA_DECL_ALIGN( x ) // +#endif + +#define MAX_CAMERA_FRAME_SHARED_HANDLES 4 + +VR_CAMERA_DECL_ALIGN( 8 ) struct CameraVideoStreamFrame_t +{ + ECameraVideoStreamFormat m_nStreamFormat; + + uint32_t m_nWidth; + uint32_t m_nHeight; + + uint32_t m_nImageDataSize; // Based on stream format, width, height + + uint32_t m_nFrameSequence; // Starts from 0 when stream starts. + + uint32_t m_nBufferIndex; // Identifies which buffer the image data is hosted + uint32_t m_nBufferCount; // Total number of configured buffers + + uint32_t m_nExposureTime; + + uint32_t m_nISPFrameTimeStamp; // Driver provided time stamp per driver centric time base + uint32_t m_nISPReferenceTimeStamp; + uint32_t m_nSyncCounter; + + uint32_t m_nCamSyncEvents; + uint32_t m_nISPSyncEvents; + + double m_flReferenceCamSyncTime; + + double m_flFrameElapsedTime; // Starts from 0 when stream starts. In seconds. + double m_flFrameDeliveryRate; + + double m_flFrameCaptureTime_DriverAbsolute; // In USB time, via AuxEvent + double m_flFrameCaptureTime_ServerRelative; // In System time within the server + uint64_t m_nFrameCaptureTicks_ServerAbsolute; // In system ticks within the server + double m_flFrameCaptureTime_ClientRelative; // At the client, relative to when the frame was exposed/captured. + + double m_flSyncMarkerError; + + TrackedDevicePose_t m_StandingTrackedDevicePose; // Supplied by HMD layer when used as a tracked camera + + uint64_t m_pImageData; +}; + +#pragma pack( pop ) + +} + +#endif // _VRTRACKEDCAMERATYPES_H +// ivrsettings.h +namespace vr +{ + enum EVRSettingsError + { + VRSettingsError_None = 0, + VRSettingsError_IPCFailed = 1, + VRSettingsError_WriteFailed = 2, + VRSettingsError_ReadFailed = 3, + }; + + // The maximum length of a settings key + static const uint32_t k_unMaxSettingsKeyLength = 128; + + class IVRSettings + { + public: + virtual const char *GetSettingsErrorNameFromEnum( EVRSettingsError eError ) = 0; + + // Returns true if file sync occurred (force or settings dirty) + virtual bool Sync( bool bForce = false, EVRSettingsError *peError = nullptr ) = 0; + + virtual bool GetBool( const char *pchSection, const char *pchSettingsKey, bool bDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetBool( const char *pchSection, const char *pchSettingsKey, bool bValue, EVRSettingsError *peError = nullptr ) = 0; + virtual int32_t GetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetInt32( const char *pchSection, const char *pchSettingsKey, int32_t nValue, EVRSettingsError *peError = nullptr ) = 0; + virtual float GetFloat( const char *pchSection, const char *pchSettingsKey, float flDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetFloat( const char *pchSection, const char *pchSettingsKey, float flValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void GetString( const char *pchSection, const char *pchSettingsKey, char *pchValue, uint32_t unValueLen, const char *pchDefaultValue, EVRSettingsError *peError = nullptr ) = 0; + virtual void SetString( const char *pchSection, const char *pchSettingsKey, const char *pchValue, EVRSettingsError *peError = nullptr ) = 0; + + virtual void RemoveSection( const char *pchSection, EVRSettingsError *peError = nullptr ) = 0; + virtual void RemoveKeyInSection( const char *pchSection, const char *pchSettingsKey, EVRSettingsError *peError = nullptr ) = 0; + }; + + //----------------------------------------------------------------------------- + static const char * const IVRSettings_Version = "IVRSettings_001"; + + //----------------------------------------------------------------------------- + // steamvr keys + + static const char * const k_pch_SteamVR_Section = "steamvr"; + static const char * const k_pch_SteamVR_RequireHmd_String = "requireHmd"; + static const char * const k_pch_SteamVR_ForcedDriverKey_String = "forcedDriver"; + static const char * const k_pch_SteamVR_ForcedHmdKey_String = "forcedHmd"; + static const char * const k_pch_SteamVR_DisplayDebug_Bool = "displayDebug"; + static const char * const k_pch_SteamVR_DebugProcessPipe_String = "debugProcessPipe"; + static const char * const k_pch_SteamVR_EnableDistortion_Bool = "enableDistortion"; + static const char * const k_pch_SteamVR_DisplayDebugX_Int32 = "displayDebugX"; + static const char * const k_pch_SteamVR_DisplayDebugY_Int32 = "displayDebugY"; + static const char * const k_pch_SteamVR_SendSystemButtonToAllApps_Bool= "sendSystemButtonToAllApps"; + static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel"; + static const char * const k_pch_SteamVR_IPD_Float = "ipd"; + static const char * const k_pch_SteamVR_Background_String = "background"; + static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; + static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; + static const char * const k_pch_SteamVR_Environment_String = "environment"; + static const char * const k_pch_SteamVR_GridColor_String = "gridColor"; + static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; + static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage"; + static const char * const k_pch_SteamVR_ActivateMultipleDrivers_Bool = "activateMultipleDrivers"; + static const char * const k_pch_SteamVR_PowerOffOnExit_Bool = "powerOffOnExit"; + static const char * const k_pch_SteamVR_StandbyAppRunningTimeout_Float = "standbyAppRunningTimeout"; + static const char * const k_pch_SteamVR_StandbyNoAppTimeout_Float = "standbyNoAppTimeout"; + static const char * const k_pch_SteamVR_DirectMode_Bool = "directMode"; + static const char * const k_pch_SteamVR_DirectModeEdidVid_Int32 = "directModeEdidVid"; + static const char * const k_pch_SteamVR_DirectModeEdidPid_Int32 = "directModeEdidPid"; + static const char * const k_pch_SteamVR_UsingSpeakers_Bool = "usingSpeakers"; + static const char * const k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speakersForwardYawOffsetDegrees"; + static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; + static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; + static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; + static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; + static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; + static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; + static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; + static const char * const k_pch_SteamVR_ShowMirrorView_Bool = "showMirrorView"; + + //----------------------------------------------------------------------------- + // lighthouse keys + + static const char * const k_pch_Lighthouse_Section = "driver_lighthouse"; + static const char * const k_pch_Lighthouse_DisableIMU_Bool = "disableimu"; + static const char * const k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation"; + static const char * const k_pch_Lighthouse_DisambiguationDebug_Int32 = "disambiguationdebug"; + + static const char * const k_pch_Lighthouse_PrimaryBasestation_Int32 = "primarybasestation"; + static const char * const k_pch_Lighthouse_LighthouseName_String = "lighthousename"; + static const char * const k_pch_Lighthouse_MaxIncidenceAngleDegrees_Float = "maxincidenceangledegrees"; + static const char * const k_pch_Lighthouse_UseLighthouseDirect_Bool = "uselighthousedirect"; + static const char * const k_pch_Lighthouse_DBHistory_Bool = "dbhistory"; + + //----------------------------------------------------------------------------- + // null keys + + static const char * const k_pch_Null_Section = "driver_null"; + static const char * const k_pch_Null_EnableNullDriver_Bool = "enable"; + static const char * const k_pch_Null_SerialNumber_String = "serialNumber"; + static const char * const k_pch_Null_ModelNumber_String = "modelNumber"; + static const char * const k_pch_Null_WindowX_Int32 = "windowX"; + static const char * const k_pch_Null_WindowY_Int32 = "windowY"; + static const char * const k_pch_Null_WindowWidth_Int32 = "windowWidth"; + static const char * const k_pch_Null_WindowHeight_Int32 = "windowHeight"; + static const char * const k_pch_Null_RenderWidth_Int32 = "renderWidth"; + static const char * const k_pch_Null_RenderHeight_Int32 = "renderHeight"; + static const char * const k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons"; + static const char * const k_pch_Null_DisplayFrequency_Float = "displayFrequency"; + + //----------------------------------------------------------------------------- + // user interface keys + static const char * const k_pch_UserInterface_Section = "userinterface"; + static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; + static const char * const k_pch_UserInterface_EnableScreenshots_Bool = "EnableScreenshots"; + + //----------------------------------------------------------------------------- + // notification keys + static const char * const k_pch_Notifications_Section = "notifications"; + static const char * const k_pch_Notifications_DoNotDisturb_Bool = "DoNotDisturb"; + + //----------------------------------------------------------------------------- + // keyboard keys + static const char * const k_pch_Keyboard_Section = "keyboard"; + static const char * const k_pch_Keyboard_TutorialCompletions = "TutorialCompletions"; + static const char * const k_pch_Keyboard_ScaleX = "ScaleX"; + static const char * const k_pch_Keyboard_ScaleY = "ScaleY"; + static const char * const k_pch_Keyboard_OffsetLeftX = "OffsetLeftX"; + static const char * const k_pch_Keyboard_OffsetRightX = "OffsetRightX"; + static const char * const k_pch_Keyboard_OffsetY = "OffsetY"; + static const char * const k_pch_Keyboard_Smoothing = "Smoothing"; + + //----------------------------------------------------------------------------- + // perf keys + static const char * const k_pch_Perf_Section = "perfcheck"; + static const char * const k_pch_Perf_HeuristicActive_Bool = "heuristicActive"; + static const char * const k_pch_Perf_NotifyInHMD_Bool = "warnInHMD"; + static const char * const k_pch_Perf_NotifyOnlyOnce_Bool = "warnOnlyOnce"; + static const char * const k_pch_Perf_AllowTimingStore_Bool = "allowTimingStore"; + static const char * const k_pch_Perf_SaveTimingsOnExit_Bool = "saveTimingsOnExit"; + static const char * const k_pch_Perf_TestData_Float = "perfTestData"; + + //----------------------------------------------------------------------------- + // collision bounds keys + static const char * const k_pch_CollisionBounds_Section = "collisionBounds"; + static const char * const k_pch_CollisionBounds_Style_Int32 = "CollisionBoundsStyle"; + static const char * const k_pch_CollisionBounds_GroundPerimeterOn_Bool = "CollisionBoundsGroundPerimeterOn"; + static const char * const k_pch_CollisionBounds_CenterMarkerOn_Bool = "CollisionBoundsCenterMarkerOn"; + static const char * const k_pch_CollisionBounds_PlaySpaceOn_Bool = "CollisionBoundsPlaySpaceOn"; + static const char * const k_pch_CollisionBounds_FadeDistance_Float = "CollisionBoundsFadeDistance"; + static const char * const k_pch_CollisionBounds_ColorGammaR_Int32 = "CollisionBoundsColorGammaR"; + static const char * const k_pch_CollisionBounds_ColorGammaG_Int32 = "CollisionBoundsColorGammaG"; + static const char * const k_pch_CollisionBounds_ColorGammaB_Int32 = "CollisionBoundsColorGammaB"; + static const char * const k_pch_CollisionBounds_ColorGammaA_Int32 = "CollisionBoundsColorGammaA"; + + //----------------------------------------------------------------------------- + // camera keys + static const char * const k_pch_Camera_Section = "camera"; + static const char * const k_pch_Camera_EnableCamera_Bool = "enableCamera"; + static const char * const k_pch_Camera_EnableCameraInDashboard_Bool = "enableCameraInDashboard"; + static const char * const k_pch_Camera_EnableCameraForCollisionBounds_Bool = "enableCameraForCollisionBounds"; + static const char * const k_pch_Camera_EnableCameraForRoomView_Bool = "enableCameraForRoomView"; + static const char * const k_pch_Camera_BoundsColorGammaR_Int32 = "cameraBoundsColorGammaR"; + static const char * const k_pch_Camera_BoundsColorGammaG_Int32 = "cameraBoundsColorGammaG"; + static const char * const k_pch_Camera_BoundsColorGammaB_Int32 = "cameraBoundsColorGammaB"; + static const char * const k_pch_Camera_BoundsColorGammaA_Int32 = "cameraBoundsColorGammaA"; + + //----------------------------------------------------------------------------- + // audio keys + static const char * const k_pch_audio_Section = "audio"; + static const char * const k_pch_audio_OnPlaybackDevice_String = "onPlaybackDevice"; + static const char * const k_pch_audio_OnRecordDevice_String = "onRecordDevice"; + static const char * const k_pch_audio_OnPlaybackMirrorDevice_String = "onPlaybackMirrorDevice"; + static const char * const k_pch_audio_OffPlaybackDevice_String = "offPlaybackDevice"; + static const char * const k_pch_audio_OffRecordDevice_String = "offRecordDevice"; + static const char * const k_pch_audio_VIVEHDMIGain = "viveHDMIGain"; + + //----------------------------------------------------------------------------- + // model skin keys + static const char * const k_pch_modelskin_Section = "modelskins"; + +} // namespace vr + +// iservertrackeddevicedriver.h +namespace vr +{ + + +struct DriverPoseQuaternion_t +{ + double w, x, y, z; +}; + +struct DriverPose_t +{ + /* Time offset of this pose, in seconds from the actual time of the pose, + * relative to the time of the PoseUpdated() call made by the driver. + */ + double poseTimeOffset; + + /* Generally, the pose maintained by a driver + * is in an inertial coordinate system different + * from the world system of x+ right, y+ up, z+ back. + * Also, the driver is not usually tracking the "head" position, + * but instead an internal IMU or another reference point in the HMD. + * The following two transforms transform positions and orientations + * to app world space from driver world space, + * and to HMD head space from driver local body space. + * + * We maintain the driver pose state in its internal coordinate system, + * so we can do the pose prediction math without having to + * use angular acceleration. A driver's angular acceleration is generally not measured, + * and is instead calculated from successive samples of angular velocity. + * This leads to a noisy angular acceleration values, which are also + * lagged due to the filtering required to reduce noise to an acceptable level. + */ + vr::HmdQuaternion_t qWorldFromDriverRotation; + double vecWorldFromDriverTranslation[ 3 ]; + + vr::HmdQuaternion_t qDriverFromHeadRotation; + double vecDriverFromHeadTranslation[ 3 ]; + + /* State of driver pose, in meters and radians. */ + /* Position of the driver tracking reference in driver world space + * +[0] (x) is right + * +[1] (y) is up + * -[2] (z) is forward + */ + double vecPosition[ 3 ]; + + /* Velocity of the pose in meters/second */ + double vecVelocity[ 3 ]; + + /* Acceleration of the pose in meters/second */ + double vecAcceleration[ 3 ]; + + /* Orientation of the tracker, represented as a quaternion */ + vr::HmdQuaternion_t qRotation; + + /* Angular velocity of the pose in axis-angle + * representation. The direction is the angle of + * rotation and the magnitude is the angle around + * that axis in radians/second. */ + double vecAngularVelocity[ 3 ]; + + /* Angular acceleration of the pose in axis-angle + * representation. The direction is the angle of + * rotation and the magnitude is the angle around + * that axis in radians/second^2. */ + double vecAngularAcceleration[ 3 ]; + + ETrackingResult result; + + bool poseIsValid; + bool willDriftInYaw; + bool shouldApplyHeadModel; + bool deviceIsConnected; +}; + + +// ---------------------------------------------------------------------------------------------- +// Purpose: Represents a single tracked device in a driver +// ---------------------------------------------------------------------------------------------- +class ITrackedDeviceServerDriver +{ +public: + + // ------------------------------------ + // Management Methods + // ------------------------------------ + /** This is called before an HMD is returned to the application. It will always be + * called before any display or tracking methods. Memory and processor use by the + * ITrackedDeviceServerDriver object should be kept to a minimum until it is activated. + * The pose listener is guaranteed to be valid until Deactivate is called, but + * should not be used after that point. */ + virtual EVRInitError Activate( uint32_t unObjectId ) = 0; + + /** This is called when The VR system is switching from this Hmd being the active display + * to another Hmd being the active display. The driver should clean whatever memory + * and thread use it can when it is deactivated */ + virtual void Deactivate() = 0; + + /** Handles a request from the system to power off this device */ + virtual void PowerOff() = 0; + + /** Requests a component interface of the driver for device-specific functionality. The driver should return NULL + * if the requested interface or version is not supported. */ + virtual void *GetComponent( const char *pchComponentNameAndVersion ) = 0; + + /** A VR Client has made this debug request of the driver. The set of valid requests is entirely + * up to the driver and the client to figure out, as is the format of the response. Responses that + * exceed the length of the supplied buffer should be truncated and null terminated */ + virtual void DebugRequest( const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0; + + // ------------------------------------ + // Tracking Methods + // ------------------------------------ + virtual DriverPose_t GetPose() = 0; + + // ------------------------------------ + // Property Methods + // ------------------------------------ + + /** Returns a bool property. If the property is not available this function will return false. */ + virtual bool GetBoolTrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0; + + /** Returns a float property. If the property is not available this function will return 0. */ + virtual float GetFloatTrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0; + + /** Returns an int property. If the property is not available this function will return 0. */ + virtual int32_t GetInt32TrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0; + + /** Returns a uint64 property. If the property is not available this function will return 0. */ + virtual uint64_t GetUint64TrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0; + + /** Returns a matrix property. If the device index is not valid or the property is not a matrix type, this function will return identity. */ + virtual HmdMatrix34_t GetMatrix34TrackedDeviceProperty( ETrackedDeviceProperty prop, ETrackedPropertyError *pError ) = 0; + + /** Returns a string property. If the property is not available this function will return 0 and pError will be + * set to an error. Otherwise it returns the length of the number of bytes necessary to hold this string including + * the trailing null. If the buffer is too small the error will be TrackedProp_BufferTooSmall. Strings will + * generally fit in buffers of k_unTrackingStringSize characters. Drivers may not return strings longer than + * k_unMaxPropertyStringSize. */ + virtual uint32_t GetStringTrackedDeviceProperty( ETrackedDeviceProperty prop, char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError ) = 0; + +}; + + + +static const char *ITrackedDeviceServerDriver_Version = "ITrackedDeviceServerDriver_004"; + +} +// ivrdisplaycomponent.h +namespace vr +{ + + + // ---------------------------------------------------------------------------------------------- + // Purpose: The display component on a single tracked device + // ---------------------------------------------------------------------------------------------- + class IVRDisplayComponent + { + public: + + // ------------------------------------ + // Display Methods + // ------------------------------------ + + /** Size and position that the window needs to be on the VR display. */ + virtual void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; + + /** Returns true if the display is extending the desktop. */ + virtual bool IsDisplayOnDesktop( ) = 0; + + /** Returns true if the display is real and not a fictional display. */ + virtual bool IsDisplayRealDisplay( ) = 0; + + /** Suggested size for the intermediate render target that the distortion pulls from. */ + virtual void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight ) = 0; + + /** Gets the viewport in the frame buffer to draw the output of the distortion into */ + virtual void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight ) = 0; + + /** The components necessary to build your own projection matrix in case your + * application is doing something fancy like infinite Z */ + virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0; + + /** Returns the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in + * the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport. */ + virtual DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV ) = 0; + + }; + + static const char *IVRDisplayComponent_Version = "IVRDisplayComponent_002"; + +} + +// ivrdriverdirectmodecomponent.h +namespace vr +{ + + + // ---------------------------------------------------------------------------------------------- + // Purpose: This component is used for drivers that implement direct mode entirely on their own + // without allowing the VR Compositor to own the window/device. Chances are you don't + // need to implement this component in your driver. + // ---------------------------------------------------------------------------------------------- + class IVRDriverDirectModeComponent + { + public: + + // ----------------------------------- + // Direct mode methods + // ----------------------------------- + + /** Specific to Oculus compositor support, textures supplied must be created using this method. */ + virtual void CreateSwapTextureSet( uint32_t unPid, uint32_t unFormat, uint32_t unWidth, uint32_t unHeight, void *(*pSharedTextureHandles)[3] ) {} + + /** Used to textures created using CreateSwapTextureSet. Only one of the set's handles needs to be used to destroy the entire set. */ + virtual void DestroySwapTextureSet( void *pSharedTextureHandle ) {} + + /** Used to purge all texture sets for a given process. */ + virtual void DestroyAllSwapTextureSets( uint32_t unPid ) {} + + /** After Present returns, calls this to get the next index to use for rendering. */ + virtual void GetNextSwapTextureSetIndex( void *pSharedTextureHandles[ 2 ], uint32_t( *pIndices )[ 2 ] ) {} + + /** Call once per layer to draw for this frame. One shared texture handle per eye. Textures must be created + * using CreateSwapTextureSet and should be alternated per frame. Call Present once all layers have been submitted. */ + virtual void SubmitLayer( void *pSharedTextureHandles[ 2 ], const vr::VRTextureBounds_t( &bounds )[ 2 ], const vr::HmdMatrix34_t *pPose ) {} + + /** Submits queued layers for display. */ + virtual void Present( void *hSyncTexture ) {} + + }; + + static const char *IVRDriverDirectModeComponent_Version = "IVRDriverDirectModeComponent_001"; + +} + +// ivrcontrollercomponent.h +namespace vr +{ + + + // ---------------------------------------------------------------------------------------------- + // Purpose: Controller access on a single tracked device. + // ---------------------------------------------------------------------------------------------- + class IVRControllerComponent + { + public: + + // ------------------------------------ + // Controller Methods + // ------------------------------------ + + /** Gets the current state of a controller. */ + virtual VRControllerState_t GetControllerState( ) = 0; + + /** Returns a uint64 property. If the property is not available this function will return 0. */ + virtual bool TriggerHapticPulse( uint32_t unAxisId, uint16_t usPulseDurationMicroseconds ) = 0; + + }; + + + + static const char *IVRControllerComponent_Version = "IVRControllerComponent_001"; + +} +// ivrcameracomponent.h +namespace vr +{ + + //----------------------------------------------------------------------------- + //----------------------------------------------------------------------------- + class ICameraVideoSinkCallback + { + public: + virtual void OnCameraVideoSinkCallback() = 0; + }; + + // ---------------------------------------------------------------------------------------------- + // Purpose: The camera on a single tracked device + // ---------------------------------------------------------------------------------------------- + class IVRCameraComponent + { + public: + // ------------------------------------ + // Camera Methods + // ------------------------------------ + virtual bool HasCamera() = 0; + virtual bool GetCameraFirmwareDescription( char *pBuffer, uint32_t nBufferLen ) = 0; + virtual bool GetCameraFrameDimensions( vr::ECameraVideoStreamFormat nVideoStreamFormat, uint32_t *pWidth, uint32_t *pHeight ) = 0; + virtual bool GetCameraFrameBufferingRequirements( int *pDefaultFrameQueueSize, uint32_t *pFrameBufferDataSize ) = 0; + virtual bool SetCameraFrameBuffering( int nFrameBufferCount, void **ppFrameBuffers, uint32_t nFrameBufferDataSize ) = 0; + virtual bool SetCameraVideoStreamFormat( vr::ECameraVideoStreamFormat nVideoStreamFormat ) = 0; + virtual vr::ECameraVideoStreamFormat GetCameraVideoStreamFormat() = 0; + virtual bool StartVideoStream() = 0; + virtual void StopVideoStream() = 0; + virtual bool IsVideoStreamActive() = 0; + virtual float GetVideoStreamElapsedTime() = 0; + virtual const vr::CameraVideoStreamFrame_t *GetVideoStreamFrame() = 0; + virtual void ReleaseVideoStreamFrame( const vr::CameraVideoStreamFrame_t *pFrameImage ) = 0; + virtual bool SetAutoExposure( bool bEnable ) = 0; + virtual bool PauseVideoStream() = 0; + virtual bool ResumeVideoStream() = 0; + virtual bool IsVideoStreamPaused() = 0; + virtual bool GetCameraDistortion( float flInputU, float flInputV, float *pflOutputU, float *pflOutputV ) = 0; + virtual bool GetCameraProjection( float flWidthPixels, float flHeightPixels, float flZNear, float flZFar, vr::HmdMatrix44_t *pProjection ) = 0; + virtual bool GetRecommendedCameraUndistortion( uint32_t *pUndistortionWidthPixels, uint32_t *pUndistortionHeightPixels ) = 0; + virtual bool SetCameraUndistortion( uint32_t nUndistortionWidthPixels, uint32_t nUndistortionHeightPixels ) = 0; + virtual bool GetCameraFirmwareVersion( uint64_t *pFirmwareVersion ) = 0; + virtual bool SetFrameRate( int nISPFrameRate, int nSensorFrameRate ) = 0; + virtual bool SetCameraVideoSinkCallback( vr::ICameraVideoSinkCallback *pCameraVideoSinkCallback ) = 0; + virtual bool GetCameraCompatibilityMode( vr::ECameraCompatibilityMode *pCameraCompatibilityMode ) = 0; + virtual bool SetCameraCompatibilityMode( vr::ECameraCompatibilityMode nCameraCompatibilityMode ) = 0; + virtual bool GetCameraFrameBounds( vr::EVRTrackedCameraFrameType eFrameType, uint32_t *pLeft, uint32_t *pTop, uint32_t *pWidth, uint32_t *pHeight ) = 0; + virtual bool GetCameraIntrinsics( vr::EVRTrackedCameraFrameType eFrameType, HmdVector2_t *pFocalLength, HmdVector2_t *pCenter ) = 0; + }; + + static const char *IVRCameraComponent_Version = "IVRCameraComponent_001"; +} +// itrackeddevicedriverprovider.h +namespace vr +{ + +class ITrackedDeviceServerDriver; +struct TrackedDeviceDriverInfo_t; +struct DriverPose_t; + +class IDriverLog +{ +public: + /** Writes a log message to the log file prefixed with the driver name */ + virtual void Log( const char *pchLogMessage ) = 0; +}; + +/** This interface is provided by vrserver to allow the driver to notify +* the system when something changes about a device. These changes must +* not change the serial number or class of the device because those values +* are permanently associated with the device's index. */ +class IServerDriverHost +{ +public: + /** Notifies the server that a tracked device has been added. If this function returns true + * the server will call Activate on the device. If it returns false some kind of error + * has occurred and the device will not be activated. */ + virtual bool TrackedDeviceAdded( const char *pchDeviceSerialNumber ) = 0; + + /** Notifies the server that a tracked device's pose has been updated */ + virtual void TrackedDevicePoseUpdated( uint32_t unWhichDevice, const DriverPose_t & newPose ) = 0; + + /** Notifies the server that the property cache for the specified device should be invalidated */ + virtual void TrackedDevicePropertiesChanged( uint32_t unWhichDevice ) = 0; + + /** Notifies the server that vsync has occurred on the the display attached to the device. This is + * only permitted on devices of the HMD class. */ + virtual void VsyncEvent( double vsyncTimeOffsetSeconds ) = 0; + + /** notifies the server that the button was pressed */ + virtual void TrackedDeviceButtonPressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0; + + /** notifies the server that the button was unpressed */ + virtual void TrackedDeviceButtonUnpressed( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0; + + /** notifies the server that the button was pressed */ + virtual void TrackedDeviceButtonTouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0; + + /** notifies the server that the button was unpressed */ + virtual void TrackedDeviceButtonUntouched( uint32_t unWhichDevice, EVRButtonId eButtonId, double eventTimeOffset ) = 0; + + /** notifies the server than a controller axis changed */ + virtual void TrackedDeviceAxisUpdated( uint32_t unWhichDevice, uint32_t unWhichAxis, const VRControllerAxis_t & axisState ) = 0; + + /** Notifies the server that the MC image has been updated for the display attached to the device. This is + * only permitted on devices of the HMD class. */ + virtual void MCImageUpdated() = 0; + + /** always returns a pointer to a valid interface pointer of IVRSettings */ + virtual IVRSettings *GetSettings( const char *pchInterfaceVersion ) = 0; + + /** Notifies the server that the physical IPD adjustment has been moved on the HMD */ + virtual void PhysicalIpdSet( uint32_t unWhichDevice, float fPhysicalIpdMeters ) = 0; + + /** Notifies the server that the proximity sensor on the specified device */ + virtual void ProximitySensorState( uint32_t unWhichDevice, bool bProximitySensorTriggered ) = 0; + + /** Sends a vendor specific event (VREvent_VendorSpecific_Reserved_Start..VREvent_VendorSpecific_Reserved_End */ + virtual void VendorSpecificEvent( uint32_t unWhichDevice, vr::EVREventType eventType, const VREvent_Data_t & eventData, double eventTimeOffset ) = 0; + + /** Returns true if SteamVR is exiting */ + virtual bool IsExiting() = 0; +}; + + +/** This interface must be implemented in each driver. It will be loaded in vrserver.exe */ +class IServerTrackedDeviceProvider +{ +public: + /** initializes the driver. This will be called before any other methods are called. + * If Init returns anything other than VRInitError_None the driver DLL will be unloaded. + * + * pDriverHost will never be NULL, and will always be a pointer to a IServerDriverHost interface + * + * pchUserDriverConfigDir - The absolute path of the directory where the driver should store user + * config files. + * pchDriverInstallDir - The absolute path of the root directory for the driver. + */ + virtual EVRInitError Init( IDriverLog *pDriverLog, vr::IServerDriverHost *pDriverHost, const char *pchUserDriverConfigDir, const char *pchDriverInstallDir ) = 0; + + /** cleans up the driver right before it is unloaded */ + virtual void Cleanup() = 0; + + /** Returns the version of the ITrackedDeviceServerDriver interface used by this driver */ + virtual const char * const *GetInterfaceVersions() = 0; + + /** returns the number of HMDs that this driver manages that are physically connected. */ + virtual uint32_t GetTrackedDeviceCount() = 0; + + /** returns a single HMD */ + virtual ITrackedDeviceServerDriver *GetTrackedDeviceDriver( uint32_t unWhich ) = 0; + + /** returns a single HMD by ID */ + virtual ITrackedDeviceServerDriver* FindTrackedDeviceDriver( const char *pchId ) = 0; + + /** Allows the driver do to some work in the main loop of the server. */ + virtual void RunFrame() = 0; + + + // ------------ Power State Functions ----------------------- // + + /** Returns true if the driver wants to block Standby mode. */ + virtual bool ShouldBlockStandbyMode() = 0; + + /** Called when the system is entering Standby mode. The driver should switch itself into whatever sort of low-power + * state it has. */ + virtual void EnterStandby() = 0; + + /** Called when the system is leaving Standby mode. The driver should switch itself back to + full operation. */ + virtual void LeaveStandby() = 0; + +}; + + +static const char *IServerTrackedDeviceProvider_Version = "IServerTrackedDeviceProvider_003"; + + +/** This interface is provided by vrclient to allow the driver call back and query various information */ +class IClientDriverHost +{ +public: + /** Returns the device class of a tracked device. If there has not been a device connected in this slot + * since the application started this function will return TrackedDevice_Invalid. For previous detected + * devices the function will return the previously observed device class. + * + * To determine which devices exist on the system, just loop from 0 to k_unMaxTrackedDeviceCount and check + * the device class. Every device with something other than TrackedDevice_Invalid is associated with an + * actual tracked device. */ + virtual ETrackedDeviceClass GetTrackedDeviceClass( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; + + /** Returns true if there is a device connected in this slot. */ + virtual bool IsTrackedDeviceConnected( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; + + /** Returns a bool property. If the device index is not valid or the property is not a bool type this function will return false. */ + virtual bool GetBoolTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a float property. If the device index is not valid or the property is not a float type this function will return 0. */ + virtual float GetFloatTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns an int property. If the device index is not valid or the property is not a int type this function will return 0. */ + virtual int32_t GetInt32TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a uint64 property. If the device index is not valid or the property is not a uint64 type this function will return 0. */ + virtual uint64_t GetUint64TrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, ETrackedPropertyError *pError = 0L ) = 0; + + /** Returns a string property. If the device index is not valid or the property is not a float type this function will + * return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing + * null. Strings will generally fit in buffers of k_unTrackingStringSize characters. */ + virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0; + + /** always returns a pointer to a valid interface pointer of IVRSettings */ + virtual IVRSettings *GetSettings( const char *pchInterfaceVersion ) = 0; +}; + + + +/** This interface must be implemented in each driver. It will be loaded in vrclient.dll */ +class IClientTrackedDeviceProvider +{ +public: + /** initializes the driver. This will be called before any other methods are called, + * except BIsHmdPresent(). BIsHmdPresent is called outside of the Init/Cleanup pair. + * If Init returns anything other than VRInitError_None the driver DLL will be unloaded. + * + * pDriverHost will never be NULL, and will always be a pointer to a IClientDriverHost interface + * + * pchUserDriverConfigDir - The absolute path of the directory where the driver should store user + * config files. + * pchDriverInstallDir - The absolute path of the root directory for the driver. + */ + virtual EVRInitError Init( IDriverLog *pDriverLog, vr::IClientDriverHost *pDriverHost, const char *pchUserDriverConfigDir, const char *pchDriverInstallDir ) = 0; + + /** cleans up the driver right before it is unloaded */ + virtual void Cleanup() = 0; + + /** Called when the client needs to inform an application if an HMD is attached that uses + * this driver. This method should be as lightweight as possible and should have no side effects + * such as hooking process functions or leaving resources loaded. Init will not be called before + * this method and Cleanup will not be called after it. + */ + virtual bool BIsHmdPresent( const char *pchUserConfigDir ) = 0; + + /** called when the client inits an HMD to let the client driver know which one is in use */ + virtual EVRInitError SetDisplayId( const char *pchDisplayId ) = 0; + + /** Returns the stencil mesh information for the current HMD. If this HMD does not have a stencil mesh the vertex data and count will be + * NULL and 0 respectively. This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering + * each eye's view. The pixels covered by this mesh will never be seen by the user after the lens distortion is applied and based on visibility to the panels. + * This will improve perf by letting the GPU early-reject pixels the user will never see before running the pixel shader. + * NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye. + */ + virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye ) = 0; + + /** Get the MC image for the current HMD. + * Returns the size in bytes of the buffer required to hold the specified resource. */ + virtual uint32_t GetMCImage( uint32_t *pImgWidth, uint32_t *pImgHeight, uint32_t *pChannels, void *pDataBuffer, uint32_t unBufferLen ) = 0; +}; + +static const char *IClientTrackedDeviceProvider_Version = "IClientTrackedDeviceProvider_003"; + +} + + + + +namespace vr +{ + static const char * const k_InterfaceVersions[] = + { + IVRSettings_Version, + ITrackedDeviceServerDriver_Version, + IVRDisplayComponent_Version, + IVRDriverDirectModeComponent_Version, + IVRControllerComponent_Version, + IVRCameraComponent_Version, + IServerTrackedDeviceProvider_Version, + IClientTrackedDeviceProvider_Version, + nullptr + }; +} +// End + +#endif // _OPENVR_DRIVER_API + + diff --git a/examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so new file mode 100644 index 0000000000000000000000000000000000000000..27da01cbe12da068abb542b1641702ce6eca95e6 GIT binary patch literal 2315918 zcmce94|r6?)&5#q^>`ZR46;NHP!N!2JVRU4oU)6UV(l6sS# zaO)=tl8z#htVz9;eT{OYJp(jtd8&r?Mtwhkv~Yr!w%NVWY*<; zqL(HoCTM0_f10K-nf2GB9^^3}JO32a_D8zv+5+wPs#AYIx#qS{zZ+8b*MI+MRnqy{ z-ib3>lFMA-~&h-Q9q4@_?!fMG19e2n}MH) z^djj6nV}Aiq%smjITd>`q1VF7Q{79s{1K zXjUQr2og#DjC3wC_aNPjG#=@Hke)($4d76uPUI&8J_GmyQVR0?Tnbo?v>JII;1;AO zknEpZ6oIW~5V)8j=17WhWzDi2O{XSCMxCu0}cy=_w?x-v^QS zc?mc_^8q&_U4b+aX${g(kQN{{AmxIl0Pt&}*0i4?&(8|LsYw4tz6z-X`K79k^)1N% 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Returns an empty path if the +* specified path has a broken number of directories for its number of ..s */ +std::string Path_Compact( const std::string & sRawPath, char slash ) +{ + if( slash == 0 ) + slash = Path_GetSlash(); + + std::string sPath = Path_FixSlashes( sRawPath, slash ); + std::string sSlashString( 1, slash ); + + // strip out all /./ + for( std::string::size_type i = 0; (i + 3) < sPath.length(); ) + { + if( sPath[ i ] == slash && sPath[ i+1 ] == '.' && sPath[ i+2 ] == slash ) + { + sPath.replace( i, 3, sSlashString ); + } + else + { + ++i; + } + } + + + // get rid of trailing /. but leave the path separator + if( sPath.length() > 2 ) + { + std::string::size_type len = sPath.length(); + if( sPath[ len-1 ] == '.' && sPath[ len-2 ] == slash ) + { + // sPath.pop_back(); + sPath[len-1] = 0; // for now, at least + } + } + + // get rid of leading ./ + if( sPath.length() > 2 ) + { + if( sPath[ 0 ] == '.' && sPath[ 1 ] == slash ) + { + sPath.replace( 0, 2, "" ); + } + } + + // each time we encounter .. back up until we've found the previous directory name + // then get rid of both + std::string::size_type i = 0; + while( i < sPath.length() ) + { + if( i > 0 && sPath.length() - i >= 2 + && sPath[i] == '.' + && sPath[i+1] == '.' + && ( i + 2 == sPath.length() || sPath[ i+2 ] == slash ) + && sPath[ i-1 ] == slash ) + { + // check if we've hit the start of the string and have a bogus path + if( i == 1 ) + return ""; + + // find the separator before i-1 + std::string::size_type iDirStart = i-2; + while( iDirStart > 0 && sPath[ iDirStart - 1 ] != slash ) + --iDirStart; + + // remove everything from iDirStart to i+2 + sPath.replace( iDirStart, (i - iDirStart) + 3, "" ); + + // start over + i = 0; + } + else + { + ++i; + } + } + + return sPath; +} + +#define MAX_UNICODE_PATH 32768 +#define MAX_UNICODE_PATH_IN_UTF8 ( MAX_UNICODE_PATH * 4 ) + +/** Returns the path to the current DLL or exe */ +std::string GetThisModulePath() +{ + // gets the path of vrclient.dll itself +#ifdef WIN32 + HMODULE hmodule = NULL; + + ::GetModuleHandleEx(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS | GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT, reinterpret_cast(GetThisModulePath), &hmodule); + + wchar_t *pwchPath = new wchar_t[MAX_UNICODE_PATH]; + char *pchPath = new char[ MAX_UNICODE_PATH_IN_UTF8 ]; + ::GetModuleFileNameW( hmodule, pwchPath, MAX_UNICODE_PATH ); + WideCharToMultiByte( CP_UTF8, 0, pwchPath, -1, pchPath, MAX_UNICODE_PATH_IN_UTF8, NULL, NULL ); + delete[] pwchPath; + + std::string sPath = pchPath; + delete [] pchPath; + return sPath; + +#elif defined( OSX ) || defined( LINUX ) + // get the addr of a function in vrclient.so and then ask the dlopen system about it + Dl_info info; + dladdr( (void *)GetThisModulePath, &info ); + return info.dli_fname; +#endif + +} + + +/** returns true if the specified path exists and is a directory */ +bool Path_IsDirectory( const std::string & sPath ) +{ + std::string sFixedPath = Path_FixSlashes( sPath ); + if( sFixedPath.empty() ) + return false; + char cLast = sFixedPath[ sFixedPath.length() - 1 ]; + if( cLast == '/' || cLast == '\\' ) + sFixedPath.erase( sFixedPath.end() - 1, sFixedPath.end() ); + + // see if the specified path actually exists. + struct stat buf; + if ( stat ( sFixedPath.c_str(), &buf ) == -1) + { + return false; + } + +#if defined(LINUX) + return S_ISDIR( buf.st_mode ); +#else + return ( buf.st_mode & _S_IFDIR ) != 0; +#endif +} + + +//----------------------------------------------------------------------------- +// Purpose: returns true if the the path exists +//----------------------------------------------------------------------------- +bool Path_Exists( const std::string & sPath ) +{ + std::string sFixedPath = Path_FixSlashes( sPath ); + if( sFixedPath.empty() ) + return false; + + struct stat buf; + if ( stat ( sFixedPath.c_str(), &buf ) == -1) + { + return false; + } + + return true; +} + + +//----------------------------------------------------------------------------- +// Purpose: helper to find a directory upstream from a given path +//----------------------------------------------------------------------------- +std::string Path_FindParentDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName ) +{ + std::string strFoundPath = ""; + std::string strCurrentPath = Path_FixSlashes( strStartDirectory ); + if ( strCurrentPath.length() == 0 ) + return ""; + + bool bExists = Path_Exists( strCurrentPath ); + std::string strCurrentDirectoryName = Path_StripDirectory( strCurrentPath ); + if ( bExists && stricmp( strCurrentDirectoryName.c_str(), strDirectoryName.c_str() ) == 0 ) + return strCurrentPath; + + while( bExists && strCurrentPath.length() != 0 ) + { + strCurrentPath = Path_StripFilename( strCurrentPath ); + strCurrentDirectoryName = Path_StripDirectory( strCurrentPath ); + bExists = Path_Exists( strCurrentPath ); + if ( bExists && stricmp( strCurrentDirectoryName.c_str(), strDirectoryName.c_str() ) == 0 ) + return strCurrentPath; + } + + return ""; +} + + +//----------------------------------------------------------------------------- +// Purpose: helper to find a subdirectory upstream from a given path +//----------------------------------------------------------------------------- +std::string Path_FindParentSubDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName ) +{ + std::string strFoundPath = ""; + std::string strCurrentPath = Path_FixSlashes( strStartDirectory ); + if ( strCurrentPath.length() == 0 ) + return ""; + + bool bExists = Path_Exists( strCurrentPath ); + while( bExists && strCurrentPath.length() != 0 ) + { + strCurrentPath = Path_StripFilename( strCurrentPath ); + bExists = Path_Exists( strCurrentPath ); + + if( Path_Exists( Path_Join( strCurrentPath, strDirectoryName ) ) ) + { + strFoundPath = Path_Join( strCurrentPath, strDirectoryName ); + break; + } + } + return strFoundPath; +} + + +//----------------------------------------------------------------------------- +// Purpose: reading and writing files in the vortex directory +//----------------------------------------------------------------------------- +unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize ) +{ + FILE *f; +#if defined( POSIX ) + f = fopen( strFilename.c_str(), "rb" ); +#else + errno_t err = fopen_s(&f, strFilename.c_str(), "rb"); + if ( err != 0 ) + { + f = NULL; + } +#endif + + unsigned char* buf = NULL; + + if ( f != NULL ) + { + fseek(f, 0, SEEK_END); + int size = ftell(f); + fseek(f, 0, SEEK_SET); + + buf = new unsigned char[size]; + if (buf && fread(buf, size, 1, f) == 1) + { + if (pSize) + *pSize = size; + } + else + { + delete[] buf; + buf = 0; + } + + fclose(f); + } + + return buf; +} + + +std::string Path_ReadTextFile( const std::string &strFilename ) +{ + // doing it this way seems backwards, but I don't + // see an easy way to do this with C/C++ style IO + // that isn't worse... + int size; + unsigned char* buf = Path_ReadBinaryFile( strFilename, &size ); + if (!buf) + return ""; + + // convert CRLF -> LF + int outsize = 1; + for (int i=1; i < size; i++) + { + if (buf[i] == '\n' && buf[i-1] == '\r') // CRLF + buf[outsize-1] = '\n'; // ->LF + else + buf[outsize++] = buf[i]; // just copy + } + + std::string ret((char *)buf, (char *)(buf + outsize)); + delete[] buf; + return ret; +} + + +bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pchData ) +{ + FILE *f; +#if defined( POSIX ) + f = fopen( strFilename.c_str(), "w" ); +#else + errno_t err = fopen_s(&f, strFilename.c_str(), "w"); + if ( err != 0 ) + { + f = NULL; + } +#endif + + bool ok = false; + + if ( f != NULL ) + { + ok = fputs( pchData, f) >= 0; + fclose(f); + } + + return ok; +} \ No newline at end of file diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h new file mode 100644 index 000000000..c38ec5612 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h @@ -0,0 +1,98 @@ +//========= Copyright Valve Corporation ============// +#pragma once + +#include + +/** Returns the path (including filename) to the current executable */ +std::string Path_GetExecutablePath(); + +/** Returns the path of the current working directory */ +std::string Path_GetWorkingDirectory(); + +/** Sets the path of the current working directory. Returns true if this was successful. */ +bool Path_SetWorkingDirectory( const std::string & sPath ); + +/** returns the path (including filename) of the current shared lib or DLL */ +std::string Path_GetModulePath(); + +/** Returns the specified path without its filename. +* If slash is unspecified the native path separator of the current platform +* will be used. */ +std::string Path_StripFilename( const std::string & sPath, char slash = 0 ); + +/** returns just the filename from the provided full or relative path. */ +std::string Path_StripDirectory( const std::string & sPath, char slash = 0 ); + +/** returns just the filename with no extension of the provided filename. +* If there is a path the path is left intact. */ +std::string Path_StripExtension( const std::string & sPath ); + +/** Returns true if the path is absolute */ +bool Path_IsAbsolute( const std::string & sPath ); + +/** Makes an absolute path from a relative path and a base path */ +std::string Path_MakeAbsolute( const std::string & sRelativePath, const std::string & sBasePath, char slash = 0 ); + +/** Fixes the directory separators for the current platform. +* If slash is unspecified the native path separator of the current platform +* will be used. */ +std::string Path_FixSlashes( const std::string & sPath, char slash = 0 ); + +/** Returns the path separator for the current platform */ +char Path_GetSlash(); + +/** Jams two paths together with the right kind of slash */ +std::string Path_Join( const std::string & first, const std::string & second, char slash = 0 ); +std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, char slash = 0 ); +std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, const std::string &fourth, char slash = 0 ); +std::string Path_Join( + const std::string & first, + const std::string & second, + const std::string & third, + const std::string & fourth, + const std::string & fifth, + char slash = 0 ); + + +/** Removes redundant /.. elements in the path. Returns an empty path if the +* specified path has a broken number of directories for its number of ..s. +* If slash is unspecified the native path separator of the current platform +* will be used. */ +std::string Path_Compact( const std::string & sRawPath, char slash = 0 ); + +/** returns true if the specified path exists and is a directory */ +bool Path_IsDirectory( const std::string & sPath ); + +/** Returns the path to the current DLL or exe */ +std::string GetThisModulePath(); + +/** returns true if the the path exists */ +bool Path_Exists( const std::string & sPath ); + +/** Helper functions to find parent directories or subdirectories of parent directories */ +std::string Path_FindParentDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName ); +std::string Path_FindParentSubDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName ); + +/** Path operations to read or write text/binary files */ +unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize ); +std::string Path_ReadTextFile( const std::string &strFilename ); +bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pchData ); + +//----------------------------------------------------------------------------- +#if defined(_WIN32) +#define DYNAMIC_LIB_EXT ".dll" +#ifdef _WIN64 +#define PLATSUBDIR "win64" +#else +#define PLATSUBDIR "win32" +#endif +#elif defined(OSX) +#define DYNAMIC_LIB_EXT ".dylib" +#define PLATSUBDIR "osx32" +#elif defined(LINUX) +#define DYNAMIC_LIB_EXT ".so" +#define PLATSUBDIR "linux32" +#else +#warning "Unknown platform for PLATSUBDIR" +#define PLATSUBDIR "unknown_platform" +#endif From 471d3652e4241951cf9b4a774a13430019fbcf45 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 2 Jul 2016 10:07:13 -0700 Subject: [PATCH 063/115] (finally) applied patch to fix 'setLocalScaling' of btMultiSphereShape See https://code.google.com/archive/p/bullet/issues/636 http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=8237 and https://github.com/bulletphysics/bullet3/issues/125 --- src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index a7362ea01..88f6c4dcb 100644 --- a/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -75,7 +75,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala int inner_count = MIN( numSpheres - k, 128 ); for( long i = 0; i < inner_count; i++ ) { - temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); + temp[i] = (*pos)*m_localScaling +vec*m_localScaling*(*rad) - vec * getMargin(); pos++; rad++; } @@ -113,7 +113,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala int inner_count = MIN( numSpheres - k, 128 ); for( long i = 0; i < inner_count; i++ ) { - temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin(); + temp[i] = (*pos)*m_localScaling +vec*m_localScaling*(*rad) - vec * getMargin(); pos++; rad++; } From d0f20eafd161542ebf63c5f8061c5e266e3b8776 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Sat, 2 Jul 2016 18:53:19 -0700 Subject: [PATCH 064/115] Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. Add option to have Z as up-axis for VR examples. Add OpenVR LICENSE + README file Don't crash VR app when no HMD is detected, just exit. For now, don't request debug lines in client, it slows down physics server in VR mode too much. --- build_visual_studio.bat | 2 +- .../SharedMemory/PhysicsClientExample.cpp | 3 +- .../SharedMemory/PhysicsServerExample.cpp | 2 + examples/SharedMemory/premake4.lua | 62 ++++++++++++++++++- .../StandaloneMain/hellovr_opengl_main.cpp | 40 ++++++++---- examples/ThirdPartyLibs/openvr/LICENSE | 27 ++++++++ examples/ThirdPartyLibs/openvr/README | 9 +++ 7 files changed, 129 insertions(+), 16 deletions(-) create mode 100644 examples/ThirdPartyLibs/openvr/LICENSE create mode 100644 examples/ThirdPartyLibs/openvr/README diff --git a/build_visual_studio.bat b/build_visual_studio.bat index de3b886c9..56ee9f610 100644 --- a/build_visual_studio.bat +++ b/build_visual_studio.bat @@ -2,7 +2,7 @@ rem premake4 --with-pe vs2010 rem premake4 --bullet2demos vs2010 cd build3 -premake4 --targetdir="../bin" vs2010 +premake4 --enable_openvr --targetdir="../bin" vs2010 rem premake4 --targetdir="../server2bin" vs2010 rem cd vs2010 rem rename 0_Bullet3Solution.sln 0_server.sln diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index a4199071a..e8e181992 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -835,7 +835,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime) enqueueCommand(CMD_STEP_FORWARD_SIMULATION); if (m_options != eCLIENTEXAMPLE_SERVER) { - enqueueCommand(CMD_REQUEST_DEBUG_LINES); + //enqueueCommand(CMD_REQUEST_DEBUG_LINES); } } } @@ -855,3 +855,4 @@ class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOpt } return example; } + diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 05c689e8a..7cb76e9c6 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -306,3 +306,5 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt return example; } + +B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc) \ No newline at end of file diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index 34aea2de5..be3c7102c 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -15,7 +15,8 @@ links { language "C++" -files { +myfiles = +{ "PhysicsClient.cpp", "PhysicsClientSharedMemory.cpp", "PhysicsClientExample.cpp", @@ -24,7 +25,6 @@ files { "PhysicsServerSharedMemory.h", "PhysicsServer.cpp", "PhysicsServer.h", - "main.cpp", "PhysicsClientC_API.cpp", "SharedMemoryCommands.h", "SharedMemoryPublic.h", @@ -84,3 +84,61 @@ files { "../ThirdPartyLibs/stb_image/stb_image.cpp", } +files { + myfiles, + "main.cpp", +} + + + +project "App_SharedMemoryPhysics_VR" + +defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"} + +if _OPTIONS["ios"] then + kind "WindowedApp" +else + kind "ConsoleApp" +end + +includedirs { + ".","../../src", "../ThirdPartyLibs", + "../ThirdPartyLibs/openvr/headers", + "../ThirdPartyLibs/openvr/samples/shared" + } + +links { + "Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api" +} + +language "C++" + + + initOpenGL() + initGlew() + + +files +{ + myfiles, + "../StandaloneMain/hellovr_opengl_main.cpp", + "../ExampleBrowser/OpenGLGuiHelper.cpp", + "../ExampleBrowser/GL_ShapeDrawer.cpp", + "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp", + "../ThirdPartyLibs/openvr/samples/shared/lodepng.h", + "../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp", + "../ThirdPartyLibs/openvr/samples/shared/Matrices.h", + "../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp", + "../ThirdPartyLibs/openvr/samples/shared/pathtools.h", + "../ThirdPartyLibs/openvr/samples/shared/Vectors.h", +} +if os.is("Windows") then + libdirs {"../ThirdPartyLibs/openvr/lib/win32"} +end + +if os.is("Linux") then initX11() end + +if os.is("MacOSX") then + links{"Cocoa.framework"} +end \ No newline at end of file diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index 746f10835..547f813fd 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -11,6 +11,7 @@ #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +int gSharedMemoryKey = -1; //how can you try typing on a keyboard, without seeing it? //it is pretty funny, to see the desktop in VR! @@ -139,7 +140,7 @@ private: SimpleOpenGL3App* m_app; uint32_t m_nWindowWidth; uint32_t m_nWindowHeight; - + bool m_hasContext; private: // OpenGL bookkeeping int m_iTrackedControllerCount; @@ -234,6 +235,7 @@ private: // OpenGL bookkeeping //----------------------------------------------------------------------------- CMainApplication::CMainApplication( int argc, char *argv[] ) : m_app(NULL) + , m_hasContext(false) , m_nWindowWidth( 1280 ) , m_nWindowHeight( 720 ) , m_unSceneProgramID( 0 ) @@ -556,13 +558,16 @@ void CMainApplication::Shutdown() } m_vecRenderModels.clear(); - if( 1)//m_pContext ) + if( m_hasContext) { - glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE ); - glDebugMessageCallback(nullptr, nullptr); - glDeleteBuffers(1, &m_glSceneVertBuffer); - glDeleteBuffers(1, &m_glIDVertBuffer); - glDeleteBuffers(1, &m_glIDIndexBuffer); + if (m_glSceneVertBuffer) + { + glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE ); + glDebugMessageCallback(nullptr, nullptr); + glDeleteBuffers(1, &m_glSceneVertBuffer); + glDeleteBuffers(1, &m_glIDVertBuffer); + glDeleteBuffers(1, &m_glIDIndexBuffer); + } if ( m_unSceneProgramID ) { @@ -1067,6 +1072,7 @@ void CMainApplication::SetupScene() glDisableVertexAttribArray(0); glDisableVertexAttribArray(1); + m_hasContext = true; } @@ -1462,10 +1468,19 @@ void CMainApplication::RenderStereoTargets() m_app->m_instancingRenderer->init(); + Matrix4 rotYtoZ = rotYtoZ.identity(); + + //some Bullet apps (especially robotics related) require Z as up-axis) + if (m_app->getUpAxis()==2) + { + rotYtoZ.rotateX(-90); + } // Left Eye { - Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose; + + Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ; + m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get()); m_app->m_instancingRenderer->updateCamera(); } @@ -1477,8 +1492,9 @@ void CMainApplication::RenderStereoTargets() m_app->m_window->startRendering(); RenderScene( vr::Eye_Left ); - - m_app->drawGrid(); + DrawGridData gridUp; + gridUp.upAxis = m_app->getUpAxis(); + m_app->drawGrid(gridUp); sExample->stepSimulation(1./60.); sExample->renderScene(); @@ -1507,7 +1523,7 @@ void CMainApplication::RenderStereoTargets() // Right Eye { - Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose; + Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ; m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get()); m_app->m_instancingRenderer->updateCamera(); } @@ -1518,7 +1534,7 @@ void CMainApplication::RenderStereoTargets() m_app->m_window->startRendering(); RenderScene( vr::Eye_Right ); - m_app->drawGrid(); + m_app->drawGrid(gridUp); m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId); m_app->m_renderer->renderScene(); diff --git a/examples/ThirdPartyLibs/openvr/LICENSE b/examples/ThirdPartyLibs/openvr/LICENSE new file mode 100644 index 000000000..ee83337d7 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/LICENSE @@ -0,0 +1,27 @@ +Copyright (c) 2015, Valve Corporation +All rights reserved. + +Redistribution and use in source and binary forms, with or without modification, +are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this +list of conditions and the following disclaimer. + +2. 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. + +3. Neither the name of the copyright holder 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 HOLDER 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. diff --git a/examples/ThirdPartyLibs/openvr/README b/examples/ThirdPartyLibs/openvr/README new file mode 100644 index 000000000..9a8923159 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/README @@ -0,0 +1,9 @@ +OpenVR is an API and runtime that allows access to VR hardware from multiple +vendors without requiring that applications have specific knowledge of the +hardware they are targeting. This repository is an SDK that contains the API +and samples. The runtime is under SteamVR in Tools on Steam. + +Documentation for the API is available in the wiki: https://github.com/ValveSoftware/openvr/wiki/API-Documentation + +More information on OpenVR and SteamVR can be found on http://steamvr.com + From 993bd52fe267fae6d4272c44f69c72ee23e0922d Mon Sep 17 00:00:00 2001 From: Jasmine Hsu Date: Thu, 7 Jul 2016 13:56:32 -0700 Subject: [PATCH 065/115] fix minor issues - arg parse size, spelling, duplicate function definition --- examples/pybullet/pybullet.c | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index e24a2470c..501bcf515 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1038,7 +1038,7 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) } } - if (size==5) // set camera resoluation and view and projection matrix + if (size==7) // set camera resoluation and view and projection matrix { if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal)) { @@ -1459,7 +1459,7 @@ static PyMethodDef SpamMethods[] = { "for objectUniqueId, linkIndex (-1 for base/root link) apply a torque [x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or TORQUE_IN_WORLD_FRAME coordinates"}, {"renderImage", pybullet_renderImage, METH_VARARGS, - "Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"}, + "Render an image (given the pixel resolution width, height, camera view matrix, projection matrix, near, and far values), and return the 8-8-8bit RGB pixel data and floating point depth values"}, {"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS, "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to quaternion [x,y,z,w]"}, @@ -1478,9 +1478,6 @@ static PyMethodDef SpamMethods[] = { //applyBaseForce //applyLinkForce - {"renderImage", pybullet_renderImage, METH_VARARGS, - "Render an image (given the pixel resolution width, height, view matrix, projection matrix, near and far vlues), and return the 8-8-8bit RGB pixel data and floating point depth values"}, - {NULL, NULL, 0, NULL} /* Sentinel */ }; From 60d2b99151650f441f80928d19f01a1e20ae2dc8 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Thu, 7 Jul 2016 19:24:44 -0700 Subject: [PATCH 066/115] Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) Improve rendering performance. OpenVR experience is smooth now. commit needs a bit more testing before pushing in main repo. --- data/sphere2.urdf | 52 +- .../CommonGUIHelperInterface.h | 12 +- .../CommonInterfaces/CommonRenderInterface.h | 2 + examples/ExampleBrowser/OpenGLGuiHelper.cpp | 17 +- examples/ExampleBrowser/OpenGLGuiHelper.h | 7 +- .../ExtendedTutorials/RigidBodyFromObj.cpp | 3 +- .../ImportURDFDemo/BulletUrdfImporter.cpp | 14 +- .../ImportURDFDemo/ImportURDFSetup.cpp | 18 +- .../ImportURDFDemo/MyMultiBodyCreator.cpp | 7 +- .../ImportURDFDemo/MyMultiBodyCreator.h | 5 + .../MultiThreading/b3PosixThreadSupport.cpp | 2 +- .../MultiThreading/b3Win32ThreadSupport.cpp | 4 +- .../OpenGLWindow/GLInstancingRenderer.cpp | 60 +- examples/OpenGLWindow/GLInstancingRenderer.h | 2 + .../OpenGLWindow/SimpleOpenGL2Renderer.cpp | 6 + examples/OpenGLWindow/SimpleOpenGL2Renderer.h | 3 + .../PhysicsClientSharedMemory.cpp | 2 + .../PhysicsServerCommandProcessor.cpp | 22 +- .../SharedMemory/PhysicsServerExample.cpp | 574 +++++++++++++++++- .../PhysicsServerSharedMemory.cpp | 5 + .../SharedMemory/PhysicsServerSharedMemory.h | 1 + examples/SharedMemory/premake4.lua | 214 +++++-- .../StandaloneMain/hellovr_opengl_main.cpp | 44 +- .../main_opengl_single_example.cpp | 21 +- .../main_sw_tinyrenderer_single_example.cpp | 14 +- .../main_tinyrenderer_single_example.cpp | 37 +- examples/pybullet/pybullet.c | 16 +- test/SharedMemory/test.c | 2 +- 28 files changed, 978 insertions(+), 188 deletions(-) diff --git a/data/sphere2.urdf b/data/sphere2.urdf index fb0108b3d..ec939e694 100644 --- a/data/sphere2.urdf +++ b/data/sphere2.urdf @@ -9,7 +9,7 @@ - + @@ -19,55 +19,5 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/examples/CommonInterfaces/CommonGUIHelperInterface.h b/examples/CommonInterfaces/CommonGUIHelperInterface.h index b9a4dfd26..f76414126 100644 --- a/examples/CommonInterfaces/CommonGUIHelperInterface.h +++ b/examples/CommonInterfaces/CommonGUIHelperInterface.h @@ -29,9 +29,10 @@ struct GUIHelperInterface virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0; - virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0; - + virtual int registerTexture(const unsigned char* texels, int width, int height)=0; + virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0; virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0; + virtual void removeAllGraphicsInstances()=0; virtual Common2dCanvasInterface* get2dCanvasInterface()=0; @@ -73,9 +74,10 @@ struct DummyGUIHelper : public GUIHelperInterface virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){} - virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; } - - virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;} + virtual int registerTexture(const unsigned char* texels, int width, int height){return -1;} + virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;} + virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;} + virtual void removeAllGraphicsInstances(){} virtual Common2dCanvasInterface* get2dCanvasInterface() { diff --git a/examples/CommonInterfaces/CommonRenderInterface.h b/examples/CommonInterfaces/CommonRenderInterface.h index e1d6170ef..0242a2bbe 100644 --- a/examples/CommonInterfaces/CommonRenderInterface.h +++ b/examples/CommonInterfaces/CommonRenderInterface.h @@ -53,6 +53,8 @@ struct CommonRenderInterface virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0; virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0; + virtual int getTotalNumInstances() const = 0; + virtual void writeTransforms()=0; virtual void enableBlend(bool blend)=0; virtual void clearZBuffer()=0; diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index 23c225677..0af5c8577 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod } } -int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) +int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height) { - int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices); + int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height); + return textureId; +} + + +int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) +{ + int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId); return shapeId; } @@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling); } +void OpenGLGuiHelper::removeAllGraphicsInstances() +{ + m_data->m_glApp->m_renderer->removeAllInstances(); +} void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape) { @@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli if (gfxVertices.size() && indices.size()) { - int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size()); + int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1); collisionShape->setUserIndex(shapeId); } diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.h b/examples/ExampleBrowser/OpenGLGuiHelper.h index 0184d6ea0..72d784a0c 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.h +++ b/examples/ExampleBrowser/OpenGLGuiHelper.h @@ -20,11 +20,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color); - virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices); - + virtual int registerTexture(const unsigned char* texels, int width, int height); + virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId); virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling); - - + virtual void removeAllGraphicsInstances(); virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape); diff --git a/examples/ExtendedTutorials/RigidBodyFromObj.cpp b/examples/ExtendedTutorials/RigidBodyFromObj.cpp index 64d52793d..9e09f9dd9 100644 --- a/examples/ExtendedTutorials/RigidBodyFromObj.cpp +++ b/examples/ExtendedTutorials/RigidBodyFromObj.cpp @@ -134,7 +134,8 @@ void RigidBodyFromObjExample::initPhysics() int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, &glmesh->m_indices->at(0), - glmesh->m_numIndices); + glmesh->m_numIndices, + B3_GL_TRIANGLES, -1); shape->setUserIndex(shapeId); int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling); body->setUserIndex(renderInstance); diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 9b6eb8ae1..555acf530 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase) { - + if (strlen(fileName)==0) + return false; //int argc=0; char relativeFileName[1024]; @@ -132,7 +133,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase) std::fstream xml_file(relativeFileName, std::fstream::in); - while ( xml_file.good() ) + while ( xml_file.good()) { std::string line; std::getline( xml_file, line); @@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP // graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); //graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); - CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface(); + //CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface(); - if (renderer) + if (1) { int textureIndex = -1; if (textures.size()) { - textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height); + + textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height); } - graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex); + graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex); } } diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp index 92a917fd7..51b09e079 100644 --- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp +++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp @@ -65,7 +65,8 @@ btAlignedObjectArray gFileNameArray; struct ImportUrdfInternalData { ImportUrdfInternalData() - :m_numMotors(0) + :m_numMotors(0), + m_mb(0) { for (int i=0;i

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      + + + + + + + + + + + + + + + + + + + + + + + + + From c28cd03fbda3c1d340e6164d7100813859dba234 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Sun, 17 Jul 2016 23:50:11 -0700 Subject: [PATCH 094/115] OpenVR controller can pick/drag objects. Instructions, Windows only: Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release .. Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll App_SharedMemoryPhysics_VR Run Python. Here are some Python lines to get going: import pybullet as p p.connect(p.SHARED_MEMORY) p.loadURDF("cube.urdf") p.setGravity(0,0,-10) p.setRealTimeSimulation(1) Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky Disabled the 'glFlush' commands in GLInstancingRenderer. Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds. --- build_visual_studio.bat | 2 +- data/kuka_iiwa/meshes/coarse/link_0.stl | Bin 474784 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_1.stl | Bin 180884 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_2.stl | Bin 219884 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_3.stl | Bin 230884 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_4.stl | Bin 210984 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_5.stl | Bin 253284 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_6.stl | Bin 164284 -> 0 bytes data/kuka_iiwa/meshes/coarse/link_7.stl | Bin 569184 -> 0 bytes data/kuka_iiwa/meshes/link_0.stl | Bin 474784 -> 151984 bytes data/kuka_iiwa/meshes/link_1.stl | Bin 500384 -> 138034 bytes data/kuka_iiwa/meshes/link_2.stl | Bin 529884 -> 72534 bytes data/kuka_iiwa/meshes/link_3.stl | Bin 523584 -> 96984 bytes data/kuka_iiwa/meshes/link_4.stl | Bin 525084 -> 77434 bytes data/kuka_iiwa/meshes/link_5.stl | Bin 645184 -> 67984 bytes data/kuka_iiwa/meshes/link_6.stl | Bin 392884 -> 57934 bytes data/kuka_iiwa/meshes/link_7.stl | Bin 1906984 -> 75684 bytes data/kuka_iiwa/model.urdf | 16 +-- .../CommonInterfaces/CommonExampleInterface.h | 2 + .../OpenGLWindow/GLInstancingRenderer.cpp | 16 +-- examples/SharedMemory/PhysicsClientC_API.cpp | 9 ++ examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 37 +++++- .../PhysicsServerCommandProcessor.h | 3 +- .../SharedMemory/PhysicsServerExample.cpp | 106 ++++++++++++++++-- .../PhysicsServerSharedMemory.cpp | 6 +- .../SharedMemory/PhysicsServerSharedMemory.h | 2 + examples/SharedMemory/SharedMemoryCommands.h | 2 + .../StandaloneMain/hellovr_opengl_main.cpp | 93 +++++++++++++-- examples/Utils/b3ResourcePath.cpp | 4 +- examples/pybullet/pybullet.c | 38 +++++++ .../Initialize/b3OpenCLUtils.cpp | 8 +- 32 files changed, 295 insertions(+), 50 deletions(-) delete mode 100644 data/kuka_iiwa/meshes/coarse/link_0.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_1.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_2.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_3.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_4.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_5.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_6.stl delete mode 100644 data/kuka_iiwa/meshes/coarse/link_7.stl diff --git a/build_visual_studio.bat b/build_visual_studio.bat index 56ee9f610..0da0089b1 100644 --- a/build_visual_studio.bat +++ b/build_visual_studio.bat @@ -14,6 +14,6 @@ rem cd vs2010 rem rename 0_Bullet3Solution.sln 0_client.sln rem cd .. rem rename vs2010 vs2010_client -start vs2010/0_Bullet3Solution.sln +rem start vs2010/0_Bullet3Solution.sln pause diff --git a/data/kuka_iiwa/meshes/coarse/link_0.stl b/data/kuka_iiwa/meshes/coarse/link_0.stl deleted file mode 100644 index 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virtual bool keyboardCallback(int key, int state)=0; + virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {} + virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){} }; class ExampleEntries diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index 64503dcc3..e9c5e38fa 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -16,9 +16,9 @@ subject to the following restrictions: ///todo: make this configurable in the gui -bool useShadowMap=true;//false;//true; +bool useShadowMap = true;// true;//false;//true; int shadowMapWidth=4096;//8192; -int shadowMapHeight=4096; +int shadowMapHeight= 4096; float shadowMapWorldSize=25; #define MAX_POINTS_IN_BATCH 1024 @@ -363,7 +363,7 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcI void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex) { glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo); - glFlush(); + //glFlush(); char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE); //b3GraphicsInstance* gfxObj = m_graphicsInstances[k]; @@ -393,7 +393,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl orientations [objectIndex*4+3] = orientation[3]; glUnmapBuffer( GL_ARRAY_BUFFER); - glFlush(); + //glFlush(); } @@ -500,7 +500,7 @@ void GLInstancingRenderer::writeTransforms() glUnmapBuffer( GL_ARRAY_BUFFER); //if this glFinish is removed, the animation is not always working/blocks //@todo: figure out why - glFlush(); + //glFlush(); #endif @@ -1037,7 +1037,7 @@ void GLInstancingRenderer::renderScene() //avoid some Intel driver on a Macbook Pro to lock-up //todo: figure out what is going on on that machine - glFlush(); + //glFlush(); if (useShadowMap) { @@ -1539,7 +1539,7 @@ b3Assert(glGetError() ==GL_NO_ERROR); B3_PROFILE("glFlush2"); glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo); - glFlush(); + //glFlush(); } b3Assert(glGetError() ==GL_NO_ERROR); @@ -1730,7 +1730,7 @@ b3Assert(glGetError() ==GL_NO_ERROR); { B3_PROFILE("glFlush"); - glFlush(); + //glFlush(); } if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE) { diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 5a728b0cb..1ff24b66c 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -115,6 +115,15 @@ int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, doub return 0; } +int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); + command->m_physSimParamArgs.m_allowRealTimeSimulation = enableRealTimeSimulation; + command->m_updateFlags |= SIM_PARAM_UPDATE_REAL_TIME_SIMULATION; + return 0; +} + int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index dcbe9c30c..a3b6dbd5c 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -81,6 +81,7 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz); int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep); +int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 5c82e3381..420fe37b6 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -374,6 +374,8 @@ struct PhysicsServerCommandProcessorInternalData ///end handle management + bool m_allowRealTimeSimulation; + bool m_hasGround; CommandLogger* m_commandLogger; CommandLogPlayback* m_logPlayback; @@ -417,7 +419,8 @@ struct PhysicsServerCommandProcessorInternalData TinyRendererVisualShapeConverter m_visualConverter; PhysicsServerCommandProcessorInternalData() - : + :m_hasGround(false), + m_allowRealTimeSimulation(false), m_commandLogger(0), m_logPlayback(0), m_physicsDeltaTime(1./240.), @@ -496,6 +499,9 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH } } m_data->m_guiHelper = guiHelper; + + + } @@ -504,6 +510,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor() m_data = new PhysicsServerCommandProcessorInternalData(); createEmptyDynamicsWorld(); + } PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor() @@ -983,7 +990,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes ) { - + bool hasStatus = false; { @@ -1768,6 +1775,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime; } + if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION) + { + m_data->m_allowRealTimeSimulation = clientCmd.m_physSimParamArgs.m_allowRealTimeSimulation; + } if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY) { btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0], @@ -1873,7 +1884,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED; hasStatus = true; - + m_data->m_hasGround = false; break; } case CMD_CREATE_RIGID_BODY: @@ -2307,6 +2318,26 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName) m_data->m_logPlayback = pb; } +void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) +{ + if (m_data->m_allowRealTimeSimulation) + { + if (!m_data->m_hasGround) + { + m_data->m_hasGround = true; + + int bodyId = 0; + btAlignedObjectArray bufferServerToClient; + bufferServerToClient.resize(32768); + + + loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size()); + } + + m_data->m_dynamicsWorld->stepSimulation(dtInSec); + } +} + void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId) { InteralBodyData* body = m_data->getHandle(bodyUniqueId); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index bc74a0a27..7cbc87ab4 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -53,7 +53,8 @@ public: void enableCommandLogging(bool enable, const char* fileName); void replayFromLogFile(const char* fileName); - void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes ); + void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes ); + void stepSimulationRealTime(double dtInSec); void applyJointDamping(int bodyUniqueId); }; diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index a4ac05f67..6ae9a654d 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -9,11 +9,12 @@ #include "PhysicsServerSharedMemory.h" #include "SharedMemoryCommon.h" - +#include "Bullet3Common/b3Matrix3x3.h" #include "../Utils/b3Clock.h" #include "../MultiThreading/b3ThreadSupportInterface.h" + void MotionThreadFunc(void* userPtr,void* lsMemory); void* MotionlsMemoryFunc(); #define MAX_MOTION_NUM_THREADS 1 @@ -80,13 +81,23 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads) struct MotionArgs { MotionArgs() - :m_physicsServerPtr(0) + :m_physicsServerPtr(0), + m_isPicking(false), + m_isDragging(false), + m_isReleasing(false) { } b3CriticalSection* m_cs; PhysicsServerSharedMemory* m_physicsServerPtr; b3AlignedObjectArray m_positions; + + btVector3 m_pos; + btQuaternion m_orn; + bool m_isPicking; + bool m_isDragging; + bool m_isReleasing; + }; struct MotionThreadLocalStorage @@ -113,23 +124,58 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) args->m_cs->setSharedParam(0,eMotionIsInitialized); args->m_cs->unlock(); + do { //todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread? -#if 0 + double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.; - if (deltaTimeInSeconds<(1./260.)) + if (deltaTimeInSeconds<(1./5000.)) { skip++; - if (deltaTimeInSeconds<.001) - continue; + } else + { + //process special controller commands, such as + //VR controller button press/release and controller motion + + btVector3 from = args->m_pos; + btMatrix3x3 mat(args->m_orn); + + btVector3 toX = args->m_pos+mat.getColumn(0); + btVector3 toY = args->m_pos+mat.getColumn(1); + btVector3 toZ = args->m_pos+mat.getColumn(2)*50.; + + + if (args->m_isPicking) + { + args->m_isPicking = false; + args->m_isDragging = true; + args->m_physicsServerPtr->pickBody(from,-toZ); + //printf("PICK!\n"); + } + + if (args->m_isDragging) + { + args->m_physicsServerPtr->movePickedBody(from,-toZ); + // printf("."); + } + + if (args->m_isReleasing) + { + args->m_isDragging = false; + args->m_isReleasing = false; + args->m_physicsServerPtr->removePickingConstraint(); + //printf("Release pick\n"); + } + + //don't simulate over a huge timestep if we had some interruption (debugger breakpoint etc) + btClamp(deltaTimeInSeconds,0.,0.1); + args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds); + clock.reset(); } - clock.reset(); -#endif args->m_physicsServerPtr->processClientCommands(); - } while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion); } else { @@ -375,7 +421,7 @@ class PhysicsServerExample : public SharedMemoryCommon btClock m_clock; bool m_replay; int m_options; - + public: PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0); @@ -417,6 +463,9 @@ public: btVector3 getRayTo(int x,int y); + virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]); + virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]); + virtual bool mouseMoveCallback(float x,float y) { if (m_replay) @@ -720,6 +769,28 @@ void PhysicsServerExample::renderScene() //m_args[0].m_cs->lock(); m_physicsServer.renderScene(); + + if (m_args[0].m_isPicking || m_args[0].m_isDragging) + { + btVector3 from = m_args[0].m_pos; + btMatrix3x3 mat(m_args[0].m_orn); + + btVector3 toX = m_args[0].m_pos+mat.getColumn(0); + btVector3 toY = m_args[0].m_pos+mat.getColumn(1); + btVector3 toZ = m_args[0].m_pos+mat.getColumn(2); + + int width = 2; + + + btVector4 color; + color=btVector4(1,0,0,1); + m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width); + color=btVector4(0,1,0,1); + m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width); + color=btVector4(0,0,1,1); + m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width); + + } if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera()) { @@ -856,4 +927,17 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt } -B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc) \ No newline at end of file +void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4]) +{ + m_args[0].m_isPicking = (state!=0); + m_args[0].m_isReleasing = (state==0); + m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]); + m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]); +} + +void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4]) +{ + m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]); + m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]); +} +B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc) diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp index d0b583969..111ac07f5 100644 --- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp @@ -236,8 +236,10 @@ void PhysicsServerSharedMemory::releaseSharedMemory() } - - +void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec) +{ + m_data->m_commandProcessor->stepSimulationRealTime(dtInSec); +} void PhysicsServerSharedMemory::processClientCommands() diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h index 2c08124d0..f96e7ca4b 100644 --- a/examples/SharedMemory/PhysicsServerSharedMemory.h +++ b/examples/SharedMemory/PhysicsServerSharedMemory.h @@ -26,6 +26,8 @@ public: virtual void processClientCommands(); + virtual void stepSimulationRealTime(double dtInSec); + //bool supportsJointMotor(class btMultiBody* body, int linkIndex); //@todo(erwincoumans) Should we have shared memory commands for picking objects? diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index d5b50d2ba..64ae61991 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -215,6 +215,7 @@ enum EnumSimParamUpdateFlags SIM_PARAM_UPDATE_GRAVITY=2, SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4, SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8, + SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16, }; ///Controlling a robot involves sending the desired state to its joint motor controllers. @@ -225,6 +226,7 @@ struct SendPhysicsSimulationParameters double m_gravityAcceleration[3]; int m_numSimulationSubSteps; int m_numSolverIterations; + bool m_allowRealTimeSimulation; }; struct RequestActualStateArgs diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index dcb7aa22f..630c2d3e8 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -4,6 +4,8 @@ #include "../OpenGLWindow/SimpleOpenGL3App.h" #include "../OpenGLWindow/OpenGLInclude.h" #include "Bullet3Common/b3Quaternion.h" +#include "Bullet3Common/b3Transform.h" + #include "../ExampleBrowser/OpenGLGuiHelper.h" #include "../CommonInterfaces/CommonExampleInterface.h" #include "../CommonInterfaces/CommonGUIHelperInterface.h" @@ -28,6 +30,8 @@ int gSharedMemoryKey = -1; #include "pathtools.h" CommonExampleInterface* sExample; +int sIsPressed=-1; +int sPrevPacketNum=0; GUIHelperInterface* sGuiPtr = 0; @@ -82,7 +86,7 @@ public: bool BInit(); bool BInitGL(); bool BInitCompositor(); - + void getControllerTransform(int unDevice, b3Transform& tr); void SetupRenderModels(); void Shutdown(); @@ -619,6 +623,26 @@ void CMainApplication::Shutdown() } + +void CMainApplication::getControllerTransform(int unDevice, b3Transform& tr) +{ + const Matrix4 & matOrg = m_rmat4DevicePose[unDevice]; + tr.setIdentity(); + tr.setOrigin(b3MakeVector3(matOrg[12],matOrg[13],matOrg[14]));//pos[1])); + b3Matrix3x3 bmat; + for (int i=0;i<3;i++) + { + for (int j=0;j<3;j++) + { + bmat[i][j] = matOrg[i+4*j]; + } + } + tr.setBasis(bmat); + b3Transform y2z; + y2z.setIdentity(); + y2z.setRotation(b3Quaternion(0,B3_HALF_PI,0)); + tr = y2z*tr; +} //----------------------------------------------------------------------------- // Purpose: //----------------------------------------------------------------------------- @@ -639,14 +663,61 @@ bool CMainApplication::HandleInput() vr::VRControllerState_t state; if( m_pHMD->GetControllerState( unDevice, &state ) ) { - if (state.ulButtonPressed) + uint64_t trigger = vr::ButtonMaskFromId(vr::k_EButton_SteamVR_Trigger); + + if (sPrevPacketNum != state.unPacketNum) { - b3Printf("state.ulButtonPressed=%d\n",state.ulButtonPressed); - sExample->exitPhysics(); - m_app->m_instancingRenderer->removeAllInstances(); - sExample->initPhysics(); + + static int counter=0; + sPrevPacketNum = state.unPacketNum; + //b3Printf("."); + bool isTrigger = (state.ulButtonPressed&trigger)!=0; + if (isTrigger) + { + //printf("unDevice=%d\n",unDevice); + b3Transform tr; + getControllerTransform(unDevice,tr); + float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]}; + b3Quaternion born = tr.getRotation(); + float orn[4] = {born[0],born[1],born[2],born[3]}; + + + if (sIsPressed!=unDevice) + { + b3Printf("trigger pressed %d, %d\n",counter++, unDevice); + sIsPressed=unDevice; + + sExample->vrControllerButtonCallback(unDevice,1,1,pos, orn); + + // + //virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {} + //virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){} + + //sExample->start + } else + { + sExample->vrControllerMoveCallback(unDevice,pos,orn); + } + //sExample->exitPhysics(); + //m_app->m_instancingRenderer->removeAllInstances(); + ///sExample->initPhysics(); + } else + { + if (unDevice==sIsPressed) + { + b3Transform tr; + getControllerTransform(unDevice,tr); + float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]}; + b3Quaternion born = tr.getRotation(); + float orn[4] = {born[0],born[1],born[2],born[3]}; + + sIsPressed=-1; + printf("device released: %d",unDevice); + sExample->vrControllerButtonCallback(unDevice,1,0,pos, orn); + } + } + } - } m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0; } } @@ -1480,7 +1551,7 @@ void CMainApplication::RenderStereoTargets() rotYtoZ.rotateX(-90); } - RenderScene( vr::Eye_Left ); + // Left Eye { @@ -1527,7 +1598,7 @@ void CMainApplication::RenderStereoTargets() m_app->m_window->startRendering(); - + RenderScene( vr::Eye_Left ); @@ -1560,7 +1631,7 @@ void CMainApplication::RenderStereoTargets() // Right Eye - RenderScene( vr::Eye_Right ); + { Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ; @@ -1573,7 +1644,7 @@ void CMainApplication::RenderStereoTargets() m_app->m_window->startRendering(); - + RenderScene( vr::Eye_Right ); m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId); //m_app->m_renderer->renderScene(); diff --git a/examples/Utils/b3ResourcePath.cpp b/examples/Utils/b3ResourcePath.cpp index 44952d61a..bc50ef5cb 100644 --- a/examples/Utils/b3ResourcePath.cpp +++ b/examples/Utils/b3ResourcePath.cpp @@ -33,8 +33,10 @@ int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes) #else #ifdef _WIN32 //https://msdn.microsoft.com/en-us/library/windows/desktop/ms683197(v=vs.85).aspx + HMODULE hModule = GetModuleHandle(NULL); - numBytes = GetModuleFileName(hModule, path, maxPathLenInBytes); + numBytes = GetModuleFileNameA(hModule, path, maxPathLenInBytes); + #else ///http://stackoverflow.com/questions/933850/how-to-find-the-location-of-the-executable-in-c numBytes = (int)readlink("/proc/self/exe", path, maxPathLenInBytes-1); diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 2a2d9b2d1..be5994c16 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -410,6 +410,41 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) } + +static PyObject * +pybullet_setRealTimeSimulation(PyObject* self, PyObject* args) +{ + if (0 == sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + { + int enableRealTimeSimulation = 0; + int ret; + + b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm); + b3SharedMemoryStatusHandle statusHandle; + + if (!PyArg_ParseTuple(args, "i", &enableRealTimeSimulation)) + { + PyErr_SetString(SpamError, "setRealTimeSimulation expected a single value (integer)."); + return NULL; + } + ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + //ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED); + } + + Py_INCREF(Py_None); + return Py_None; +} + + + + // Set the gravity of the world with (x, y, z) arguments static PyObject * pybullet_setGravity(PyObject* self, PyObject* args) @@ -1453,6 +1488,9 @@ static PyMethodDef SpamMethods[] = { {"setTimeStep", pybullet_setTimeStep, METH_VARARGS, "Set the amount of time to proceed at each call to stepSimulation. (unit is seconds, typically range is 0.01 or 0.001)"}, + { "setRealTimeSimulation", pybullet_setRealTimeSimulation, METH_VARARGS, + "Enable or disable real time simulation (using the real time clock, RTC) in the physics server. Expects one integer argument, 0 or 1" }, + {"loadURDF", pybullet_loadURDF, METH_VARARGS, "Create a multibody by loading a URDF file."}, diff --git a/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp index 264c7b9f0..369f1d750 100644 --- a/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp +++ b/src/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp @@ -636,10 +636,10 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev FILETIME modtimeBinary; - CreateDirectory(sCachedBinaryPath,0); + CreateDirectoryA(sCachedBinaryPath,0); { - HANDLE binaryFileHandle = CreateFile(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0); + HANDLE binaryFileHandle = CreateFileA(binaryFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0); if (binaryFileHandle ==INVALID_HANDLE_VALUE) { DWORD errorCode; @@ -677,7 +677,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev if (binaryFileValid) { - HANDLE srcFileHandle = CreateFile(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0); + HANDLE srcFileHandle = CreateFileA(clFileNameForCaching,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0); if (srcFileHandle==INVALID_HANDLE_VALUE) { @@ -686,7 +686,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev { char relativeFileName[1024]; sprintf(relativeFileName,"%s%s",prefix[i],clFileNameForCaching); - srcFileHandle = CreateFile(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0); + srcFileHandle = CreateFileA(relativeFileName,GENERIC_READ,0,0,OPEN_EXISTING,FILE_ATTRIBUTE_NORMAL,0); } } From c9c837cc6754274db1a532737c584756eee7e054 Mon Sep 17 00:00:00 2001 From: hujiajie Date: Mon, 18 Jul 2016 23:07:26 +0800 Subject: [PATCH 095/115] [WIP] Suppress compiler warnings. Fix Visual Studio warning C4373: previous versions of the compiler did not override when parameters only differed by const/volatile qualifiers. --- Extras/InverseDynamics/DillCreator.cpp | 2 +- Extras/InverseDynamics/DillCreator.hpp | 2 +- Extras/InverseDynamics/btMultiBodyTreeCreator.cpp | 2 +- Extras/InverseDynamics/btMultiBodyTreeCreator.hpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Extras/InverseDynamics/DillCreator.cpp b/Extras/InverseDynamics/DillCreator.cpp index a1ddf00c2..46f68e698 100644 --- a/Extras/InverseDynamics/DillCreator.cpp +++ b/Extras/InverseDynamics/DillCreator.cpp @@ -44,7 +44,7 @@ int DillCreator::getNumBodies(int* num_bodies) const { return 0; } -int DillCreator::getBody(int body_index, int* parent_index, JointType* joint_type, +int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int, void** user_ptr) const { diff --git a/Extras/InverseDynamics/DillCreator.hpp b/Extras/InverseDynamics/DillCreator.hpp index d52e0d06d..fbe0e8e22 100644 --- a/Extras/InverseDynamics/DillCreator.hpp +++ b/Extras/InverseDynamics/DillCreator.hpp @@ -22,7 +22,7 @@ public: ///\copydoc MultiBodyTreeCreator::getNumBodies int getNumBodies(int* num_bodies) const; ///\copydoc MultiBodyTreeCreator::getBody - int getBody(int body_index, int* parent_index, JointType* joint_type, + int getBody(const int body_index, int* parent_index, JointType* joint_type, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, mat33* body_I_body, int* user_int, void** user_ptr) const; diff --git a/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp b/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp index b91a10cce..ef3ebf6b8 100644 --- a/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp +++ b/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp @@ -237,7 +237,7 @@ int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const { return 0; } -int btMultiBodyTreeCreator::getBody(int body_index, int *parent_index, JointType *joint_type, +int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, JointType *joint_type, vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref, vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com, mat33 *body_I_body, int *user_int, diff --git a/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp b/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp index 0e2d614f2..3844cf3d3 100644 --- a/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp +++ b/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp @@ -25,7 +25,7 @@ public: /// \copydoc MultiBodyTreeCreator::getNumBodies int getNumBodies(int *num_bodies) const; ///\copydoc MultiBodyTreeCreator::getBody - int getBody(int body_index, int *parent_index, JointType *joint_type, + int getBody(const int body_index, int *parent_index, JointType *joint_type, vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref, vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com, mat33 *body_I_body, int *user_int, void **user_ptr) const; From 2302709e2da56ad50ed1ce1141a4349fc71fd77c Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Mon, 18 Jul 2016 23:13:46 -0700 Subject: [PATCH 096/115] OpenVR support: track multiple controllers and buttons --- .../SharedMemory/PhysicsServerExample.cpp | 6 +- .../StandaloneMain/hellovr_opengl_main.cpp | 85 +++++++++---------- 2 files changed, 44 insertions(+), 47 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 6ae9a654d..75e475738 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -140,11 +140,11 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) btVector3 from = args->m_pos; btMatrix3x3 mat(args->m_orn); - + btScalar pickDistance = 100.; btVector3 toX = args->m_pos+mat.getColumn(0); btVector3 toY = args->m_pos+mat.getColumn(1); - btVector3 toZ = args->m_pos+mat.getColumn(2)*50.; - + btVector3 toZ = args->m_pos+mat.getColumn(2)*pickDistance; + if (args->m_isPicking) { diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index 630c2d3e8..e85b8af0e 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -30,11 +30,14 @@ int gSharedMemoryKey = -1; #include "pathtools.h" CommonExampleInterface* sExample; -int sIsPressed=-1; + int sPrevPacketNum=0; GUIHelperInterface* sGuiPtr = 0; +static vr::VRControllerState_t sPrevStates[vr::k_unMaxTrackedDeviceCount] = { 0 }; + + #if defined(POSIX) #include "unistd.h" #endif @@ -663,63 +666,57 @@ bool CMainApplication::HandleInput() vr::VRControllerState_t state; if( m_pHMD->GetControllerState( unDevice, &state ) ) { - uint64_t trigger = vr::ButtonMaskFromId(vr::k_EButton_SteamVR_Trigger); - - if (sPrevPacketNum != state.unPacketNum) + //we need to have the 'move' events, so no early out here + //if (sPrevStates[unDevice].unPacketNum != state.unPacketNum) { - - static int counter=0; - sPrevPacketNum = state.unPacketNum; - //b3Printf("."); - bool isTrigger = (state.ulButtonPressed&trigger)!=0; - if (isTrigger) + sPrevStates[unDevice].unPacketNum = state.unPacketNum; + + for (int button = 0; button < vr::k_EButton_Max; button++) { - //printf("unDevice=%d\n",unDevice); - b3Transform tr; - getControllerTransform(unDevice,tr); - float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]}; - b3Quaternion born = tr.getRotation(); - float orn[4] = {born[0],born[1],born[2],born[3]}; - + uint64_t trigger = vr::ButtonMaskFromId((vr::EVRButtonId)button); - if (sIsPressed!=unDevice) + bool isTrigger = (state.ulButtonPressed&trigger) != 0; + if (isTrigger) { - b3Printf("trigger pressed %d, %d\n",counter++, unDevice); - sIsPressed=unDevice; - sExample->vrControllerButtonCallback(unDevice,1,1,pos, orn); - - // - //virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]) {} - //virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){} - - //sExample->start - } else - { - sExample->vrControllerMoveCallback(unDevice,pos,orn); - } - //sExample->exitPhysics(); - //m_app->m_instancingRenderer->removeAllInstances(); - ///sExample->initPhysics(); - } else - { - if (unDevice==sIsPressed) - { b3Transform tr; - getControllerTransform(unDevice,tr); - float pos[3] = {tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2]}; + getControllerTransform(unDevice, tr); + float pos[3] = { tr.getOrigin()[0], tr.getOrigin()[1], tr.getOrigin()[2] }; b3Quaternion born = tr.getRotation(); - float orn[4] = {born[0],born[1],born[2],born[3]}; + float orn[4] = { born[0], born[1], born[2], born[3] }; - sIsPressed=-1; - printf("device released: %d",unDevice); - sExample->vrControllerButtonCallback(unDevice,1,0,pos, orn); + //pressed now, not pressed before -> raise a button down event + if ((sPrevStates[unDevice].ulButtonPressed&trigger)==0) + { +// printf("Device PRESSED: %d, button %d\n", unDevice, button); + sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn); + } + else + { +// printf("Device MOVED: %d\n", unDevice); + sExample->vrControllerMoveCallback(unDevice, pos, orn); + } + } + else + { + //not pressed now, but pressed before -> raise a button up event + if ((sPrevStates[unDevice].ulButtonPressed&trigger) != 0) + { + b3Transform tr; + getControllerTransform(unDevice, tr); + float pos[3] = { tr.getOrigin()[0], tr.getOrigin()[1], tr.getOrigin()[2] }; + b3Quaternion born = tr.getRotation(); + float orn[4] = { born[0], born[1], born[2], born[3] }; +// printf("Device RELEASED: %d, button %d\n", unDevice,button); + sExample->vrControllerButtonCallback(unDevice, button, 0, pos, orn); + } } } } m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0; } + sPrevStates[unDevice] = state; } return bRet; From 0ae252fa35fde063a9480a338ca9c2f1ca6179f5 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 19 Jul 2016 15:53:16 -0700 Subject: [PATCH 097/115] fix issue, use bodyUniqueId/b3JointControlCommandInit2 --- examples/RoboticsLearning/b3RobotSimAPI.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp index 235861913..b29e0e429 100644 --- a/examples/RoboticsLearning/b3RobotSimAPI.cpp +++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp @@ -556,7 +556,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const { case CONTROL_MODE_VELOCITY: { - b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_VELOCITY); + b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_VELOCITY); b3JointInfo jointInfo; b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); int uIndex = jointInfo.m_uIndex; @@ -567,7 +567,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const } case CONTROL_MODE_POSITION_VELOCITY_PD: { - b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_POSITION_VELOCITY_PD); + b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_POSITION_VELOCITY_PD); b3JointInfo jointInfo; b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); int uIndex = jointInfo.m_uIndex; @@ -583,7 +583,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const } case CONTROL_MODE_TORQUE: { - b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_TORQUE); + b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_data->m_physicsClient, bodyUniqueId, CONTROL_MODE_TORQUE); b3JointInfo jointInfo; b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); int uIndex = jointInfo.m_uIndex; From 25a1714754572ce07b458e0cbaa6b84932619140 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Tue, 19 Jul 2016 15:55:52 -0700 Subject: [PATCH 098/115] disable CProfileManager, might reduce some multi-threading conflicts --- .../Collision/CollisionTutorialBullet2.cpp | 5 +++- .../GwenGUISupport/GwenProfileWindow.cpp | 7 ++++-- src/LinearMath/btQuickprof.cpp | 8 +++--- src/LinearMath/btQuickprof.h | 25 +++++++++++-------- 4 files changed, 27 insertions(+), 18 deletions(-) diff --git a/examples/Collision/CollisionTutorialBullet2.cpp b/examples/Collision/CollisionTutorialBullet2.cpp index 1198f9e5d..0479a73e8 100644 --- a/examples/Collision/CollisionTutorialBullet2.cpp +++ b/examples/Collision/CollisionTutorialBullet2.cpp @@ -265,8 +265,9 @@ public: virtual void stepSimulation(float deltaTime) { +#ifndef BT_NO_PROFILE CProfileManager::Reset(); - +#endif @@ -314,7 +315,9 @@ public: m_app->m_renderer->writeTransforms(); +#ifndef BT_NO_PROFILE CProfileManager::Increment_Frame_Counter(); +#endif } virtual void renderScene() { diff --git a/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp b/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp index 597ff834d..4991ee04e 100644 --- a/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp +++ b/examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp @@ -4,7 +4,7 @@ #include "LinearMath/btQuickprof.h" - +#ifndef BT_NO_PROFILE class MyProfileWindow : public Gwen::Controls::WindowControl @@ -42,8 +42,9 @@ protected: } public: - + CProfileIterator* profIter; + class MyMenuItems* m_menuItems; MyProfileWindow ( Gwen::Controls::Base* pParent) : Gwen::Controls::WindowControl( pParent ), @@ -304,3 +305,5 @@ void destroyProfileWindow(MyProfileWindow* window) CProfileManager::Release_Iterator(window->profIter); delete window; } + +#endif //BT_NO_PROFILE \ No newline at end of file diff --git a/src/LinearMath/btQuickprof.cpp b/src/LinearMath/btQuickprof.cpp index d88d965a4..cfbda3628 100644 --- a/src/LinearMath/btQuickprof.cpp +++ b/src/LinearMath/btQuickprof.cpp @@ -15,11 +15,8 @@ #include "btQuickprof.h" -#ifndef BT_NO_PROFILE -static btClock gProfileClock; - #ifdef __CELLOS_LV2__ #include @@ -250,6 +247,10 @@ btScalar btClock::getTimeSeconds() return btScalar(getTimeMicroseconds()) * microseconds_to_seconds; } +#ifndef BT_NO_PROFILE + + +static btClock gProfileClock; inline void Profile_Get_Ticks(unsigned long int * ticks) @@ -265,7 +266,6 @@ inline float Profile_Get_Tick_Rate(void) } - /*************************************************************************************************** ** ** CProfileNode diff --git a/src/LinearMath/btQuickprof.h b/src/LinearMath/btQuickprof.h index 362f62d6d..49545713b 100644 --- a/src/LinearMath/btQuickprof.h +++ b/src/LinearMath/btQuickprof.h @@ -15,18 +15,7 @@ #ifndef BT_QUICK_PROF_H #define BT_QUICK_PROF_H -//To disable built-in profiling, please comment out next line -//#define BT_NO_PROFILE 1 -#ifndef BT_NO_PROFILE -#include //@todo remove this, backwards compatibility #include "btScalar.h" -#include "btAlignedAllocator.h" -#include - - - - - #define USE_BT_CLOCK 1 #ifdef USE_BT_CLOCK @@ -64,6 +53,20 @@ private: #endif //USE_BT_CLOCK +//To disable built-in profiling, please comment out next line +#define BT_NO_PROFILE 1 +#ifndef BT_NO_PROFILE +#include //@todo remove this, backwards compatibility + +#include "btAlignedAllocator.h" +#include + + + + + + + ///A node in the Profile Hierarchy Tree From 9369f9b764534bdd289106a59f77b1f827305ef8 Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Wed, 20 Jul 2016 10:24:34 -0700 Subject: [PATCH 099/115] fix error msg when loading sdfs --- examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index f081325b3..425620c1a 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -175,7 +175,7 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase) m_data->m_pathPrefix[0] = 0; if (!fileFound){ - std::cerr << "URDF file not found" << std::endl; + std::cerr << "SDF file not found" << std::endl; return false; } else { From 51ec707230e5763b3cfb71d215f9eca4718cc87a Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Wed, 20 Jul 2016 11:01:02 -0700 Subject: [PATCH 100/115] fix GetJointInfo to use a param called jointIndex (not linkIndex) for naming consistency --- examples/SharedMemory/PhysicsClientC_API.cpp | 4 ++-- examples/SharedMemory/PhysicsClientC_API.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 1ff24b66c..4197544b2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -702,10 +702,10 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId) } -int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info) +int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info) { PhysicsClient* cl = (PhysicsClient* ) physClient; - return cl->getJointInfo(bodyIndex, linkIndex,*info); + return cl->getJointInfo(bodyIndex, jointIndex, *info); } b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX, diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index a3b6dbd5c..2e2f126e2 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -56,8 +56,8 @@ int b3GetStatusActualState(b3SharedMemoryStatusHandle statusHandle, ///give a unique body index (after loading the body) return the number of joints. int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex); -///given a body and link index, return the joint information. See b3JointInfo in SharedMemoryPublic.h -int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int linkIndex, struct b3JointInfo* info); +///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h +int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info); ///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h From d3a94248d484615dc4dd4d5c29819bf3efb125a0 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 20 Jul 2016 12:48:01 -0700 Subject: [PATCH 101/115] fix one more multi-threading issue --- .../MultiThreading/b3PosixThreadSupport.cpp | 24 +++++++++---------- .../MultiThreading/b3PosixThreadSupport.h | 12 ++++++++-- 2 files changed, 22 insertions(+), 14 deletions(-) diff --git a/examples/MultiThreading/b3PosixThreadSupport.cpp b/examples/MultiThreading/b3PosixThreadSupport.cpp index c19ab1b48..9a00d48aa 100644 --- a/examples/MultiThreading/b3PosixThreadSupport.cpp +++ b/examples/MultiThreading/b3PosixThreadSupport.cpp @@ -44,8 +44,6 @@ b3PosixThreadSupport::~b3PosixThreadSupport() #define NAMED_SEMAPHORES #endif -// this semaphore will signal, if and how many threads are finished with their work -static sem_t* mainSemaphore=0; static sem_t* createSem(const char* baseName) { @@ -100,12 +98,12 @@ static void *threadFunction(void *argument) b3Assert(status->m_status); status->m_userThreadFunc(userPtr,status->m_lsMemory); status->m_status = 2; - checkPThreadFunction(sem_post(mainSemaphore)); + checkPThreadFunction(sem_post(status->m_mainSemaphore)); status->threadUsed++; } else { //exit Thread status->m_status = 3; - checkPThreadFunction(sem_post(mainSemaphore)); + checkPThreadFunction(sem_post(status->m_mainSemaphore)); printf("Thread with taskId %i exiting\n",status->m_taskId); break; } @@ -160,13 +158,14 @@ bool b3PosixThreadSupport::isTaskCompleted(int *puiArgument0, int *puiArgument1, b3Assert(m_activeThreadStatus.size()); // wait for any of the threads to finish - int result = sem_trywait(mainSemaphore); + int result = sem_trywait(m_mainSemaphore); if (result==0) { // get at least one thread which has finished - size_t last = -1; - - for(size_t t=0; t < size_t(m_activeThreadStatus.size()); ++t) { + int last = -1; + int status = -1; + for(int t=0; t < int (m_activeThreadStatus.size()); ++t) { + status = m_activeThreadStatus[t].m_status; if(2 == m_activeThreadStatus[t].m_status) { last = t; break; @@ -200,7 +199,7 @@ void b3PosixThreadSupport::waitForResponse( int *puiArgument0, int *puiArgument b3Assert(m_activeThreadStatus.size()); // wait for any of the threads to finish - checkPThreadFunction(sem_wait(mainSemaphore)); + checkPThreadFunction(sem_wait(m_mainSemaphore)); // get at least one thread which has finished size_t last = -1; @@ -231,7 +230,7 @@ void b3PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructi printf("%s creating %i threads.\n", __FUNCTION__, threadConstructionInfo.m_numThreads); m_activeThreadStatus.resize(threadConstructionInfo.m_numThreads); - mainSemaphore = createSem("main"); + m_mainSemaphore = createSem("main"); //checkPThreadFunction(sem_wait(mainSemaphore)); for (int i=0;i < threadConstructionInfo.m_numThreads;i++) @@ -249,6 +248,7 @@ void b3PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructi spuStatus.m_taskId = i; spuStatus.m_commandId = 0; spuStatus.m_status = 0; + spuStatus.m_mainSemaphore = m_mainSemaphore; spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc(); spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; spuStatus.threadUsed = 0; @@ -271,7 +271,7 @@ void b3PosixThreadSupport::stopThreads() spuStatus.m_userPtr = 0; checkPThreadFunction(sem_post(spuStatus.startSemaphore)); - checkPThreadFunction(sem_wait(mainSemaphore)); + checkPThreadFunction(sem_wait(m_mainSemaphore)); printf("destroy semaphore\n"); destroySem(spuStatus.startSemaphore); @@ -280,7 +280,7 @@ void b3PosixThreadSupport::stopThreads() } printf("destroy main semaphore\n"); - destroySem(mainSemaphore); + destroySem(m_mainSemaphore); printf("main semaphore destroyed\n"); m_activeThreadStatus.clear(); } diff --git a/examples/MultiThreading/b3PosixThreadSupport.h b/examples/MultiThreading/b3PosixThreadSupport.h index ae23dd610..3f54d4ab5 100644 --- a/examples/MultiThreading/b3PosixThreadSupport.h +++ b/examples/MultiThreading/b3PosixThreadSupport.h @@ -57,14 +57,22 @@ public: void* m_userPtr; //for taskDesc etc void* m_lsMemory; //initialized using PosixLocalStoreMemorySetupFunc - pthread_t thread; - sem_t* startSemaphore; + pthread_t thread; + //each tread will wait until this signal to start its work + sem_t* startSemaphore; + // this is a copy of m_mainSemaphore, + //each tread will signal once it is finished with its work + sem_t* m_mainSemaphore; unsigned long threadUsed; }; private: b3AlignedObjectArray m_activeThreadStatus; + + // m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work + sem_t* m_mainSemaphore; + public: ///Setup and initialize SPU/CELL/Libspe2 From e88de13cc669b77acbe12c3efe303c1c37a60dbb Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 20 Jul 2016 15:41:58 -0700 Subject: [PATCH 102/115] fix Parse joint dynamics in SDF --- examples/Importers/ImportURDFDemo/UrdfParser.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index 6ed9ac2c8..a6a5e256e 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -960,7 +960,7 @@ bool UrdfParser::parseJoint(UrdfJoint& joint, TiXmlElement *config, ErrorLogger* return false; } - TiXmlElement *prop_xml = config->FirstChildElement("dynamics"); + TiXmlElement *prop_xml = axis_xml->FirstChildElement("dynamics"); if (prop_xml) { if (!parseJointDynamics(joint, prop_xml,logger)) From 75e86051c2724f159cecf12bd6b683ab8b83b82b Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Sun, 24 Jul 2016 22:22:42 -0700 Subject: [PATCH 103/115] Add inverse kinematics example with implementations by Sam Buss. Uses Kuka IIWA model description and 4 methods: Selectively Damped Least Squares,Damped Least Squares, Jacobi Transpose, Jacobi Pseudo Inverse Tweak some PD values in Inverse Dynamics example and Robot example. --- examples/ExampleBrowser/CMakeLists.txt | 13 + examples/ExampleBrowser/ExampleEntries.cpp | 19 +- .../ExampleBrowser/OpenGLExampleBrowser.cpp | 1 + examples/ExampleBrowser/premake4.lua | 4 +- .../InverseDynamicsExample.cpp | 21 +- .../InverseKinematicsExample.cpp | 382 ++++ .../InverseKinematicsExample.h | 8 + .../SharedMemory/PhysicsClientExample.cpp | 6 +- examples/ThirdPartyLibs/BussIK/Jacobian.cpp | 640 ++++++ examples/ThirdPartyLibs/BussIK/Jacobian.h | 132 ++ examples/ThirdPartyLibs/BussIK/LinearR2.cpp | 101 + examples/ThirdPartyLibs/BussIK/LinearR2.h | 981 ++++++++ examples/ThirdPartyLibs/BussIK/LinearR3.cpp | 822 +++++++ examples/ThirdPartyLibs/BussIK/LinearR3.h | 2027 +++++++++++++++++ examples/ThirdPartyLibs/BussIK/LinearR4.cpp | 467 ++++ examples/ThirdPartyLibs/BussIK/LinearR4.h | 1099 +++++++++ examples/ThirdPartyLibs/BussIK/MathMisc.h | 384 ++++ examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp | 984 ++++++++ examples/ThirdPartyLibs/BussIK/MatrixRmn.h | 402 ++++ examples/ThirdPartyLibs/BussIK/Misc.cpp | 346 +++ examples/ThirdPartyLibs/BussIK/Node.cpp | 90 + examples/ThirdPartyLibs/BussIK/Node.h | 101 + examples/ThirdPartyLibs/BussIK/Spherical.h | 298 +++ examples/ThirdPartyLibs/BussIK/Tree.cpp | 217 ++ examples/ThirdPartyLibs/BussIK/Tree.h | 92 + examples/ThirdPartyLibs/BussIK/VectorRn.cpp | 46 + examples/ThirdPartyLibs/BussIK/VectorRn.h | 238 ++ examples/TinyRenderer/tgaimage.h | 6 +- .../Featherstone/btMultiBodyJointMotor.cpp | 28 +- 29 files changed, 9926 insertions(+), 29 deletions(-) create mode 100644 examples/InverseKinematics/InverseKinematicsExample.cpp create mode 100644 examples/InverseKinematics/InverseKinematicsExample.h create mode 100644 examples/ThirdPartyLibs/BussIK/Jacobian.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/Jacobian.h create mode 100644 examples/ThirdPartyLibs/BussIK/LinearR2.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/LinearR2.h create mode 100644 examples/ThirdPartyLibs/BussIK/LinearR3.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/LinearR3.h create mode 100644 examples/ThirdPartyLibs/BussIK/LinearR4.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/LinearR4.h create mode 100644 examples/ThirdPartyLibs/BussIK/MathMisc.h create mode 100644 examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/MatrixRmn.h create mode 100644 examples/ThirdPartyLibs/BussIK/Misc.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/Node.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/Node.h create mode 100644 examples/ThirdPartyLibs/BussIK/Spherical.h create mode 100644 examples/ThirdPartyLibs/BussIK/Tree.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/Tree.h create mode 100644 examples/ThirdPartyLibs/BussIK/VectorRn.cpp create mode 100644 examples/ThirdPartyLibs/BussIK/VectorRn.h diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index da15ba32b..0678eaf4a 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -155,6 +155,8 @@ SET(BulletExampleBrowser_SRCS ../BasicDemo/BasicExample.h ../InverseDynamics/InverseDynamicsExample.cpp ../InverseDynamics/InverseDynamicsExample.h + ../InverseKinematics/InverseKinematicsExample.cpp + ../InverseKinematics/InverseKinematicsExample.h ../ForkLift/ForkLiftDemo.cpp ../ForkLift/ForkLiftDemo.h ../Tutorial/Tutorial.cpp @@ -298,6 +300,17 @@ SET(BulletExampleBrowser_SRCS ../ThirdPartyLibs/stb_image/stb_image.cpp ../ThirdPartyLibs/stb_image/stb_image.h + + ../ThirdPartyLibs/BussIK/Jacobian.cpp + ../ThirdPartyLibs/BussIK/Tree.cpp + ../ThirdPartyLibs/BussIK/Node.cpp + ../ThirdPartyLibs/BussIK/LinearR2.cpp + ../ThirdPartyLibs/BussIK/LinearR3.cpp + ../ThirdPartyLibs/BussIK/LinearR4.cpp + ../ThirdPartyLibs/BussIK/MatrixRmn.cpp + ../ThirdPartyLibs/BussIK/VectorRn.cpp + ../ThirdPartyLibs/BussIK/Misc.cpp + ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp ../ThirdPartyLibs/tinyxml/tinystr.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index c5901ca34..a6abd4fd7 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -46,6 +46,7 @@ #include "../MultiThreading/MultiThreadingExample.h" #include "../InverseDynamics/InverseDynamicsExample.h" #include "../RoboticsLearning/R2D2GraspExample.h" +#include "../InverseKinematics/InverseKinematicsExample.h" #ifdef ENABLE_LUA #include "../LuaDemo/LuaPhysicsSetup.h" @@ -95,7 +96,6 @@ struct ExampleEntry static ExampleEntry gDefaultExamples[]= { - ExampleEntry(0,"API"), ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc), @@ -124,14 +124,21 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc), ExampleEntry(1,"TestPendulum","Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc), - ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc), + ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc), ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc), - ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0), + ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0), - ExampleEntry(0,"Inverse Dynamics"), - ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF), - ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY), + ExampleEntry(0,"Inverse Dynamics"), + ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF), + ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY), + + ExampleEntry(0, "Inverse Kinematics"), + ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS), + ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS), + ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS), + ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO), + ExampleEntry(0,"Tutorial"), ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY), diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index e06d5f205..44d0baf53 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -800,6 +800,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[]) s_app = new SimpleOpenGL2App(title,width,height); s_app->m_renderer = new SimpleOpenGL2Renderer(width,height); } + #ifndef NO_OPENGL3 else { diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index 7d11eaed9..2010c744e 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -45,9 +45,10 @@ project "App_BulletExampleBrowser" defines {"INCLUDE_CLOTH_DEMOS"} files { + "main.cpp", "ExampleEntries.cpp", - + "../InverseKinematics/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", @@ -116,6 +117,7 @@ project "App_BulletExampleBrowser" "../ThirdPartyLibs/stb_image/*", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", "../ThirdPartyLibs/tinyxml/*", + "../ThirdPartyLibs/BussIK/*", "../GyroscopicDemo/GyroscopicSetup.cpp", "../GyroscopicDemo/GyroscopicSetup.h", "../ThirdPartyLibs/tinyxml/tinystr.cpp", diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp index ebf7efb0d..9eb9287f4 100644 --- a/examples/InverseDynamics/InverseDynamicsExample.cpp +++ b/examples/InverseDynamics/InverseDynamicsExample.cpp @@ -157,7 +157,7 @@ void InverseDynamicsExample::initPhysics() BulletURDFImporter u2b(m_guiHelper,0); - bool loadOk = u2b.loadURDF("kuka_lwr/kuka.urdf"); + bool loadOk = u2b.loadURDF("kuka_iiwa/model.urdf");// lwr / kuka.urdf"); if (loadOk) { int rootLinkIndex = u2b.getRootLinkIndex(); @@ -225,13 +225,13 @@ void InverseDynamicsExample::initPhysics() { qd[dof] = 0; char tmp[25]; - sprintf(tmp,"q_desired[%zu]",dof); + sprintf(tmp,"q_desired[%u]",dof); qd_name[dof] = tmp; SliderParams slider(qd_name[dof].c_str(),&qd[dof]); slider.m_minVal=-3.14; slider.m_maxVal=3.14; - sprintf(tmp,"q[%zu]",dof); + sprintf(tmp,"q[%u]",dof); q_name[dof] = tmp; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); btVector4 color = sJointCurveColors[dof&7]; @@ -340,6 +340,21 @@ void InverseDynamicsExample::stepSimulation(float deltaTime) // todo(thomas) check that this is correct: // want to advance by 10ms, with 1ms timesteps m_dynamicsWorld->stepSimulation(1e-3,0);//,1e-3); + btAlignedObjectArray scratch_q; + btAlignedObjectArray scratch_m; + m_multiBody->forwardKinematics(scratch_q, scratch_m); + for (int i = 0; i < m_multiBody->getNumLinks(); i++) + { + //btVector3 pos = m_multiBody->getLink(i).m_cachedWorldTransform.getOrigin(); + btTransform tr = m_multiBody->getLink(i).m_cachedWorldTransform; + btVector3 pos = tr.getOrigin() - quatRotate(tr.getRotation(), m_multiBody->getLink(i).m_dVector); + btVector3 localAxis = m_multiBody->getLink(i).m_axes[0].m_topVec; + //printf("link %d: %f,%f,%f, local axis:%f,%f,%f\n", i, pos.x(), pos.y(), pos.z(), localAxis.x(), localAxis.y(), localAxis.z()); + + + + + } } } diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp new file mode 100644 index 000000000..ae1ed8f17 --- /dev/null +++ b/examples/InverseKinematics/InverseKinematicsExample.cpp @@ -0,0 +1,382 @@ +#include "InverseKinematicsExample.h" + +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "Bullet3Common/b3Quaternion.h" +#include "Bullet3Common/b3Transform.h" +#include "Bullet3Common/b3AlignedObjectArray.h" +#include "../CommonInterfaces/CommonRenderInterface.h" +#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "../OpenGLWindow/OpenGLInclude.h" + +#include "BussIK/Node.h" +#include "BussIK/Tree.h" +#include "BussIK/Jacobian.h" +#include "BussIK/VectorRn.h" + +#define RADIAN(X) ((X)*RadiansToDegrees) + +#define MAX_NUM_NODE 1000 +#define MAX_NUM_THETA 1000 +#define MAX_NUM_EFFECT 100 + +double T = 0; +VectorR3 target1[MAX_NUM_EFFECT]; + + + +// Make slowdown factor larger to make the simulation take larger, less frequent steps +// Make the constant factor in Tstep larger to make time pass more quickly +//const int SlowdownFactor = 40; +const int SlowdownFactor = 0; // Make higher to take larger steps less frequently +const int SleepsPerStep=SlowdownFactor; +int SleepCounter=0; +//const double Tstep = 0.0005*(double)SlowdownFactor; // Time step + + +int AxesList; /* list to hold the axes */ +int AxesOn; /* ON or OFF */ + +float Scale, Scale2; /* scaling factors */ + + + +int JointLimitsOn; +int RestPositionOn; +int UseJacobianTargets1; + + +int numIteration = 1; +double error = 0.0; +double errorDLS = 0.0; +double errorSDLS = 0.0; +double sumError = 0.0; +double sumErrorDLS = 0.0; +double sumErrorSDLS = 0.0; + +#ifdef _DYNAMIC +bool initMaxDist = true; +extern double Excess[]; +extern double dsnorm[]; +#endif + + + + +void Reset(Tree &tree, Jacobian* m_ikJacobian) +{ + AxesOn = false; + + Scale = 1.0; + Scale2 = 0.0; /* because add 1. to it in Display() */ + + JointLimitsOn = true; + RestPositionOn = false; + UseJacobianTargets1 = false; + + + tree.Init(); + tree.Compute(); + m_ikJacobian->Reset(); + +} + +// Update target positions + +void UpdateTargets( double T2, Tree & treeY) { + double T = T2 / 20.; + target1[0].Set(0.6*b3Sin(0), 0.6*b3Cos(0), 0.5+0.4*b3Sin(3 * T)); +} + + +// Does a single update (on one kind of tree) +void DoUpdateStep(double Tstep, Tree & treeY, Jacobian *jacob, int ikMethod) { + + if ( SleepCounter==0 ) { + T += Tstep; + UpdateTargets( T , treeY); + } + + if ( UseJacobianTargets1 ) { + jacob->SetJtargetActive(); + } + else { + jacob->SetJendActive(); + } + jacob->ComputeJacobian(); // Set up Jacobian and deltaS vectors + + // Calculate the change in theta values + switch (ikMethod) { + case IK_JACOB_TRANS: + jacob->CalcDeltaThetasTranspose(); // Jacobian transpose method + break; + case IK_DLS: + jacob->CalcDeltaThetasDLS(); // Damped least squares method + break; + case IK_PURE_PSEUDO: + jacob->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method + break; + case IK_SDLS: + jacob->CalcDeltaThetasSDLS(); // Selectively damped least squares method + break; + default: + jacob->ZeroDeltaThetas(); + break; + } + + if ( SleepCounter==0 ) { + jacob->UpdateThetas(); // Apply the change in the theta values + jacob->UpdatedSClampValue(); + SleepCounter = SleepsPerStep; + } + else { + SleepCounter--; + } + + +} + + + + + + + + +///quick demo showing the right-handed coordinate system and positive rotations around each axis +class InverseKinematicsExample : public CommonExampleInterface +{ + CommonGraphicsApp* m_app; + int m_ikMethod; + Tree m_ikTree; + b3AlignedObjectArray m_ikNodes; + Jacobian* m_ikJacobian; + + float m_x; + float m_y; + float m_z; + b3AlignedObjectArray m_movingInstances; + int m_targetInstance; + enum + { + numCubesX = 20, + numCubesY = 20 + }; +public: + + InverseKinematicsExample(CommonGraphicsApp* app, int option) + :m_app(app), + m_x(0), + m_y(0), + m_z(0), + m_targetInstance(-1), + m_ikMethod(option) + { + m_app->setUpAxis(2); + + { + b3Vector3 extents=b3MakeVector3(100,100,100); + extents[m_app->getUpAxis()]=1; + + int xres = 20; + int yres = 20; + + b3Vector4 color0=b3MakeVector4(0.4, 0.4, 0.4,1); + b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1); + m_app->registerGrid(xres, yres, color0, color1); + } + + ///create some graphics proxy for the tracking target + ///the endeffector tries to track it using Inverse Kinematics + { + int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM); + b3Vector3 pos = b3MakeVector3(1,1,1); + pos[app->getUpAxis()] = 1; + b3Quaternion orn(0, 0, 0, 1); + b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1); + b3Vector3 scaling = b3MakeVector3(.02, .02, .02); + m_targetInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, pos, orn, color, scaling); + } + m_app->m_renderer->writeTransforms(); + } + virtual ~InverseKinematicsExample() + { + m_app->m_renderer->enableBlend(false); + } + + + virtual void physicsDebugDraw(int debugDrawMode) + { + + } + virtual void initPhysics() + { + BuildKukaIIWAShape(); + m_ikJacobian = new Jacobian(&m_ikTree); + Reset(m_ikTree,m_ikJacobian); + } + virtual void exitPhysics() + { + delete m_ikJacobian; + m_ikJacobian = 0; + } + + void BuildKukaIIWAShape(); + + void getLocalTransform(const Node* node, b3Transform& act) + { + b3Vector3 axis = b3MakeVector3(node->v.x, node->v.y, node->v.z); + b3Quaternion rot(0, 0, 0, 1); + if (axis.length()) + { + rot = b3Quaternion (axis, node->theta); + } + act.setIdentity(); + act.setRotation(rot); + act.setOrigin(b3MakeVector3(node->r.x, node->r.y, node->r.z)); + } + void MyDrawTree(Node* node, const b3Transform& tr) + { + b3Vector3 lineColor = b3MakeVector3(0, 0, 0); + int lineWidth = 2; + if (node != 0) { + // glPushMatrix(); + b3Vector3 pos = b3MakeVector3(tr.getOrigin().x, tr.getOrigin().y, tr.getOrigin().z); + b3Vector3 color = b3MakeVector3(0, 1, 0); + int pointSize = 10; + m_app->m_renderer->drawPoint(pos, color, pointSize); + + m_app->m_renderer->drawLine(pos, pos+ 0.05*tr.getBasis().getColumn(0), b3MakeVector3(1,0,0), lineWidth); + m_app->m_renderer->drawLine(pos, pos + 0.05*tr.getBasis().getColumn(1), b3MakeVector3(0, 1, 0), lineWidth); + m_app->m_renderer->drawLine(pos, pos + 0.05*tr.getBasis().getColumn(2), b3MakeVector3(0, 0, 1), lineWidth); + + b3Vector3 axisLocal = b3MakeVector3(node->v.x, node->v.y, node->v.z); + b3Vector3 axisWorld = tr.getBasis()*axisLocal; + + m_app->m_renderer->drawLine(pos, pos + 0.1*axisWorld, b3MakeVector3(.2, 0.2, 0.7), 5); + + //node->DrawNode(node == root); // Recursively draw node and update ModelView matrix + if (node->left) { + b3Transform act; + getLocalTransform(node->left, act); + + b3Transform trl = tr*act; + m_app->m_renderer->drawLine(tr.getOrigin(), trl.getOrigin(), lineColor, lineWidth); + MyDrawTree(node->left, trl); // Draw tree of children recursively + } + // glPopMatrix(); + if (node->right) { + b3Transform act; + getLocalTransform(node->right, act); + b3Transform trr = tr*act; + m_app->m_renderer->drawLine(tr.getOrigin(), trr.getOrigin(), lineColor, lineWidth); + MyDrawTree(node->right,trr); // Draw right siblings recursively + } + } + + } + virtual void stepSimulation(float deltaTime) + { + DoUpdateStep(deltaTime, m_ikTree, m_ikJacobian, m_ikMethod); + } + virtual void renderScene() + { + + + b3Transform act; + getLocalTransform(m_ikTree.GetRoot(), act); + MyDrawTree(m_ikTree.GetRoot(), act); + + b3Vector3 pos = b3MakeVector3(target1[0].x, target1[0].y, target1[0].z); + b3Quaternion orn(0, 0, 0, 1); + + m_app->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, m_targetInstance); + m_app->m_renderer->writeTransforms(); + m_app->m_renderer->renderScene(); + } + + + virtual void physicsDebugDraw() + { + + } + virtual bool mouseMoveCallback(float x,float y) + { + return false; + } + virtual bool mouseButtonCallback(int button, int state, float x, float y) + { + return false; + } + virtual bool keyboardCallback(int key, int state) + { + return false; + } + + virtual void resetCamera() + { + float dist = 1.3; + float pitch = 120; + float yaw = 13; + float targetPos[3]={-0.35,0.14,0.25}; + if (m_app->m_renderer && m_app->m_renderer->getActiveCamera()) + { + + m_app->m_renderer->getActiveCamera()->setCameraDistance(dist); + m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch); + m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw); + m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]); + } + } + +}; + +void InverseKinematicsExample::BuildKukaIIWAShape() +{ + const VectorR3& unitx = VectorR3::UnitX; + const VectorR3& unity = VectorR3::UnitY; + const VectorR3& unitz = VectorR3::UnitZ; + const VectorR3 unit1(sqrt(14.0) / 8.0, 1.0 / 8.0, 7.0 / 8.0); + const VectorR3& zero = VectorR3::Zero; + + float minTheta = -4 * PI; + float maxTheta = 4 * PI; + + m_ikNodes.resize(8);//7DOF+additional endeffector + + m_ikNodes[0] = new Node(VectorR3(0.100000, 0.000000, 0.087500), unitz, 0.08, JOINT, -1e30, 1e30, RADIAN(0.)); + m_ikTree.InsertRoot(m_ikNodes[0]); + + m_ikNodes[1] = new Node(VectorR3(0.100000, -0.000000, 0.290000), unity, 0.08, JOINT, -0.5, 0.4, RADIAN(0.)); + m_ikTree.InsertLeftChild(m_ikNodes[0], m_ikNodes[1]); + + m_ikNodes[2] = new Node(VectorR3(0.100000, -0.000000, 0.494500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.)); + m_ikTree.InsertLeftChild(m_ikNodes[1], m_ikNodes[2]); + + m_ikNodes[3] = new Node(VectorR3(0.100000, 0.000000, 0.710000), -unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.)); + m_ikTree.InsertLeftChild(m_ikNodes[2], m_ikNodes[3]); + + m_ikNodes[4] = new Node(VectorR3(0.100000, 0.000000, 0.894500), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.)); + m_ikTree.InsertLeftChild(m_ikNodes[3], m_ikNodes[4]); + + m_ikNodes[5] = new Node(VectorR3(0.100000, 0.000000, 1.110000), unity, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.)); + m_ikTree.InsertLeftChild(m_ikNodes[4], m_ikNodes[5]); + + m_ikNodes[6] = new Node(VectorR3(0.100000, 0.000000, 1.191000), unitz, 0.08, JOINT, minTheta, maxTheta, RADIAN(0.)); + m_ikTree.InsertLeftChild(m_ikNodes[5], m_ikNodes[6]); + + m_ikNodes[7] = new Node(VectorR3(0.100000, 0.000000, 1.20000), zero, 0.08, EFFECTOR); + m_ikTree.InsertLeftChild(m_ikNodes[6], m_ikNodes[7]); + +} + + +class CommonExampleInterface* InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options) +{ + return new InverseKinematicsExample(options.m_guiHelper->getAppInterface(), options.m_option); +} + + + + + diff --git a/examples/InverseKinematics/InverseKinematicsExample.h b/examples/InverseKinematics/InverseKinematicsExample.h new file mode 100644 index 000000000..ca0d1e3b5 --- /dev/null +++ b/examples/InverseKinematics/InverseKinematicsExample.h @@ -0,0 +1,8 @@ +#ifndef INVERSE_KINEMATICSEXAMPLE_H +#define INVERSE_KINEMATICSEXAMPLE_H + +enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS }; + +class CommonExampleInterface* InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options); + +#endif //INVERSE_KINEMATICSEXAMPLE_H diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 9faa782a9..b5788bd09 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -171,10 +171,10 @@ protected: b3JointControlSetDesiredPosition(commandHandle, qIndex, targetPos); b3JointControlSetDesiredVelocity(commandHandle,uIndex,0); - b3JointControlSetKp(commandHandle, qIndex, 0.01); - b3JointControlSetKd(commandHandle, uIndex, 0.1); + b3JointControlSetKp(commandHandle, qIndex, 0.2); + b3JointControlSetKd(commandHandle, uIndex, 1.); - b3JointControlSetMaximumForce(commandHandle,uIndex,1000); + b3JointControlSetMaximumForce(commandHandle,uIndex,5000); } } virtual void physicsDebugDraw(int debugFlags) diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp new file mode 100644 index 000000000..646513b86 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp @@ -0,0 +1,640 @@ +/* +* +* Inverse Kinematics software, with several solvers including +* Selectively Damped Least Squares Method +* Damped Least Squares Method +* Pure Pseudoinverse Method +* Jacobian Transpose Method +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +#include +#include +#include +#include +using namespace std; + +#include "../OpenGLWindow/OpenGLInclude.h" + +#include "Jacobian.h" + +void Arrow(const VectorR3& tail, const VectorR3& head); + +//extern RestPositionOn; +extern VectorR3 target1[]; + +// Optimal damping values have to be determined in an ad hoc manner (Yuck!) +const double Jacobian::DefaultDampingLambda = 0.6; // Optimal for the "Y" shape (any lower gives jitter) +//const double Jacobian::DefaultDampingLambda = 1.1; // Optimal for the DLS "double Y" shape (any lower gives jitter) +// const double Jacobian::DefaultDampingLambda = 0.7; // Optimal for the DLS "double Y" shape with distance clamping (lower gives jitter) + +const double Jacobian::PseudoInverseThresholdFactor = 0.01; +const double Jacobian::MaxAngleJtranspose = 30.0*DegreesToRadians; +const double Jacobian::MaxAnglePseudoinverse = 5.0*DegreesToRadians; +const double Jacobian::MaxAngleDLS = 45.0*DegreesToRadians; +const double Jacobian::MaxAngleSDLS = 45.0*DegreesToRadians; +const double Jacobian::BaseMaxTargetDist = 0.4; + +Jacobian::Jacobian(Tree* tree) +{ + Jacobian::tree = tree; + nEffector = tree->GetNumEffector(); + nJoint = tree->GetNumJoint(); + nRow = 3 * nEffector; + nCol = nJoint; + + Jend.SetSize(nRow, nCol); // The Jocobian matrix + Jend.SetZero(); + Jtarget.SetSize(nRow, nCol); // The Jacobian matrix based on target positions + Jtarget.SetZero(); + SetJendActive(); + + U.SetSize(nRow, nRow); // The U matrix for SVD calculations + w .SetLength(Min(nRow, nCol)); + V.SetSize(nCol, nCol); // The V matrix for SVD calculations + + dS.SetLength(nRow); // (Target positions) - (End effector positions) + dTheta.SetLength(nCol); // Changes in joint angles + dPreTheta.SetLength(nCol); + + // Used by Jacobian transpose method & DLS & SDLS + dT1.SetLength(nRow); // Linearized change in end effector positions based on dTheta + + // Used by the Selectively Damped Least Squares Method + //dT.SetLength(nRow); + dSclamp.SetLength(nEffector); + errorArray.SetLength(nEffector); + Jnorms.SetSize(nEffector, nCol); // Holds the norms of the active J matrix + + Reset(); +} + +void Jacobian::Reset() +{ + // Used by Damped Least Squares Method + DampingLambda = DefaultDampingLambda; + DampingLambdaSq = Square(DampingLambda); + // DampingLambdaSDLS = 1.5*DefaultDampingLambda; + + dSclamp.Fill(HUGE_VAL); +} + +// Compute the deltaS vector, dS, (the error in end effector positions +// Compute the J and K matrices (the Jacobians) +void Jacobian::ComputeJacobian() +{ + // Traverse tree to find all end effectors + VectorR3 temp; + Node* n = tree->GetRoot(); + while ( n ) { + if ( n->IsEffector() ) { + int i = n->GetEffectorNum(); + const VectorR3& targetPos = target1[i]; + + // Compute the delta S value (differences from end effectors to target positions. + temp = targetPos; + temp -= n->GetS(); + dS.SetTriple(i, temp); + + // Find all ancestors (they will usually all be joints) + // Set the corresponding entries in the Jacobians J, K. + Node* m = tree->GetParent(n); + while ( m ) { + int j = m->GetJointNum(); + assert ( 0 <=i && iIsFrozen() ) { + Jend.SetTriple(i, j, VectorR3::Zero); + Jtarget.SetTriple(i, j, VectorR3::Zero); + } + else { + temp = m->GetS(); // joint pos. + temp -= n->GetS(); // -(end effector pos. - joint pos.) + temp *= m->GetW(); // cross product with joint rotation axis + Jend.SetTriple(i, j, temp); + temp = m->GetS(); // joint pos. + temp -= targetPos; // -(target pos. - joint pos.) + temp *= m->GetW(); // cross product with joint rotation axis + Jtarget.SetTriple(i, j, temp); + } + m = tree->GetParent( m ); + } + } + n = tree->GetSuccessor( n ); + } +} + +// The delta theta values have been computed in dTheta array +// Apply the delta theta values to the joints +// Nothing is done about joint limits for now. +void Jacobian::UpdateThetas() +{ + // Traverse the tree to find all joints + // Update the joint angles + Node* n = tree->GetRoot(); + while ( n ) { + if ( n->IsJoint() ) { + int i = n->GetJointNum(); + n->AddToTheta( dTheta[i] ); + + } + n = tree->GetSuccessor( n ); + } + + // Update the positions and rotation axes of all joints/effectors + tree->Compute(); +} + +void Jacobian::CalcDeltaThetas() +{ + switch (CurrentUpdateMode) { + case JACOB_Undefined: + ZeroDeltaThetas(); + break; + case JACOB_JacobianTranspose: + CalcDeltaThetasTranspose(); + break; + case JACOB_PseudoInverse: + CalcDeltaThetasPseudoinverse(); + break; + case JACOB_DLS: + CalcDeltaThetasDLS(); + break; + case JACOB_SDLS: + CalcDeltaThetasSDLS(); + break; + } +} + +void Jacobian::ZeroDeltaThetas() +{ + dTheta.SetZero(); +} + +// Find the delta theta values using inverse Jacobian method +// Uses a greedy method to decide scaling factor +void Jacobian::CalcDeltaThetasTranspose() +{ + const MatrixRmn& J = ActiveJacobian(); + + J.MultiplyTranspose( dS, dTheta ); + + // Scale back the dTheta values greedily + J.Multiply ( dTheta, dT1 ); // dT = J * dTheta + double alpha = Dot(dS,dT1) / dT1.NormSq(); + assert ( alpha>0.0 ); + // Also scale back to be have max angle change less than MaxAngleJtranspose + double maxChange = dTheta.MaxAbs(); + double beta = MaxAngleJtranspose/maxChange; + dTheta *= Min(alpha, beta); + +} + +void Jacobian::CalcDeltaThetasPseudoinverse() +{ + MatrixRmn& J = const_cast(ActiveJacobian()); + + // Compute Singular Value Decomposition + // This an inefficient way to do Pseudoinverse, but it is convenient since we need SVD anyway + + J.ComputeSVD( U, w, V ); + + // Next line for debugging only + assert(J.DebugCheckSVD(U, w , V)); + + // Calculate response vector dTheta that is the DLS solution. + // Delta target values are the dS values + // We multiply by Moore-Penrose pseudo-inverse of the J matrix + double pseudoInverseThreshold = PseudoInverseThresholdFactor*w.MaxAbs(); + + long diagLength = w.GetLength(); + double* wPtr = w.GetPtr(); + dTheta.SetZero(); + for ( long i=0; ipseudoInverseThreshold ) { + alpha = 1.0/alpha; + MatrixRmn::AddArrayScale(V.GetNumRows(), V.GetColumnPtr(i), 1, dTheta.GetPtr(), 1, dotProdCol*alpha ); + } + } + + // Scale back to not exceed maximum angle changes + double maxChange = dTheta.MaxAbs(); + if ( maxChange>MaxAnglePseudoinverse ) { + dTheta *= MaxAnglePseudoinverse/maxChange; + } + +} + +void Jacobian::CalcDeltaThetasDLS() +{ + const MatrixRmn& J = ActiveJacobian(); + + MatrixRmn::MultiplyTranspose(J, J, U); // U = J * (J^T) + U.AddToDiagonal( DampingLambdaSq ); + + // Use the next four lines instead of the succeeding two lines for the DLS method with clamped error vector e. + // CalcdTClampedFromdS(); + // VectorRn dTextra(3*nEffector); + // U.Solve( dT, &dTextra ); + // J.MultiplyTranspose( dTextra, dTheta ); + + // Use these two lines for the traditional DLS method + U.Solve( dS, &dT1 ); + J.MultiplyTranspose( dT1, dTheta ); + + // Scale back to not exceed maximum angle changes + double maxChange = dTheta.MaxAbs(); + if ( maxChange>MaxAngleDLS ) { + dTheta *= MaxAngleDLS/maxChange; + } +} + +void Jacobian::CalcDeltaThetasDLSwithSVD() +{ + const MatrixRmn& J = ActiveJacobian(); + + // Compute Singular Value Decomposition + // This an inefficient way to do DLS, but it is convenient since we need SVD anyway + + J.ComputeSVD( U, w, V ); + + // Next line for debugging only + assert(J.DebugCheckSVD(U, w , V)); + + // Calculate response vector dTheta that is the DLS solution. + // Delta target values are the dS values + // We multiply by DLS inverse of the J matrix + long diagLength = w.GetLength(); + double* wPtr = w.GetPtr(); + dTheta.SetZero(); + for ( long i=0; iMaxAngleDLS ) { + dTheta *= MaxAngleDLS/maxChange; + } +} + + +void Jacobian::CalcDeltaThetasSDLS() +{ + const MatrixRmn& J = ActiveJacobian(); + + // Compute Singular Value Decomposition + + J.ComputeSVD( U, w, V ); + + // Next line for debugging only + assert(J.DebugCheckSVD(U, w , V)); + + // Calculate response vector dTheta that is the SDLS solution. + // Delta target values are the dS values + int nRows = J.GetNumRows(); + int numEndEffectors = tree->GetNumEffector(); // Equals the number of rows of J divided by three + int nCols = J.GetNumColumns(); + dTheta.SetZero(); + + // Calculate the norms of the 3-vectors in the Jacobian + long i; + const double *jx = J.GetPtr(); + double *jnx = Jnorms.GetPtr(); + for ( i=nCols*numEndEffectors; i>0; i-- ) { + double accumSq = Square(*(jx++)); + accumSq += Square(*(jx++)); + accumSq += Square(*(jx++)); + *(jnx++) = sqrt(accumSq); + } + + // Clamp the dS values + CalcdTClampedFromdS(); + + // Loop over each singular vector + for ( i=0; i0; j-- ) { + double tmp; + alpha += (*ux)*(*(dTx++)); + tmp = Square( *(ux++) ); + alpha += (*ux)*(*(dTx++)); + tmp += Square(*(ux++)); + alpha += (*ux)*(*(dTx++)); + tmp += Square(*(ux++)); + N += sqrt(tmp); + } + + // M is the quasi-1-norm of the response to angles changing according to the i-th column of V + // Then is multiplied by the wiInv value. + double M = 0.0; + double *vx = V.GetColumnPtr(i); + jnx = Jnorms.GetPtr(); + for ( j=nCols; j>0; j-- ) { + double accum=0.0; + for ( long k=numEndEffectors; k>0; k-- ) { + accum += *(jnx++); + } + M += fabs((*(vx++)))*accum; + } + M *= fabs(wiInv); + + double gamma = MaxAngleSDLS; + if ( NMaxAngleSDLS ) { + dTheta *= MaxAngleSDLS/(MaxAngleSDLS+maxChange); + //dTheta *= MaxAngleSDLS/maxChange; + } +} + +void Jacobian::CalcdTClampedFromdS() +{ + long len = dS.GetLength(); + long j = 0; + for ( long i=0; iSquare(dSclamp[j]) ) { + double factor = dSclamp[j]/sqrt(normSq); + dT1[i] = dS[i]*factor; + dT1[i+1] = dS[i+1]*factor; + dT1[i+2] = dS[i+2]*factor; + } + else { + dT1[i] = dS[i]; + dT1[i+1] = dS[i+1]; + dT1[i+2] = dS[i+2]; + } + } +} + +double Jacobian::UpdateErrorArray() +{ + double totalError = 0.0; + + // Traverse tree to find all end effectors + VectorR3 temp; + Node* n = tree->GetRoot(); + while ( n ) { + if ( n->IsEffector() ) { + int i = n->GetEffectorNum(); + const VectorR3& targetPos = target1[i]; + temp = targetPos; + temp -= n->GetS(); + double err = temp.Norm(); + errorArray[i] = err; + totalError += err; + } + n = tree->GetSuccessor( n ); + } + return totalError; +} + +void Jacobian::UpdatedSClampValue() +{ + // Traverse tree to find all end effectors + VectorR3 temp; + Node* n = tree->GetRoot(); + while ( n ) { + if ( n->IsEffector() ) { + int i = n->GetEffectorNum(); + const VectorR3& targetPos = target1[i]; + + // Compute the delta S value (differences from end effectors to target positions. + // While we are at it, also update the clamping values in dSclamp; + temp = targetPos; + temp -= n->GetS(); + double normSi = sqrt(Square(dS[i])+Square(dS[i+1])+Square(dS[i+2])); + double changedDist = temp.Norm()-normSi; + if ( changedDist>0.0 ) { + dSclamp[i] = BaseMaxTargetDist + changedDist; + } + else { + dSclamp[i] = BaseMaxTargetDist; + } + } + n = tree->GetSuccessor( n ); + } +} + +void Jacobian::DrawEigenVectors() const +{ + int i, j; + VectorR3 tail; + VectorR3 head; + Node *node; + + for (i=0; iGetEffector(j); + tail = node->GetS(); + U.GetTriple( j, i, &head ); + head += tail; + glDisable(GL_LIGHTING); + glColor3f(1.0f, 0.2f, 0.0f); + glLineWidth(2.0); + glBegin(GL_LINES); + glVertex3f(tail.x, tail.y, tail.z); + glVertex3f(head.x, head.y, tail.z); + glEnd(); + Arrow(tail, head); + glLineWidth(1.0); + glEnable(GL_LIGHTING); + } + } +} + +void Jacobian::CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 ) +{ + const VectorRn& e1 = j1.errorArray; + const VectorRn& e2 = j2.errorArray; + double ret1 = 0.0; + double ret2 = 0.0; + int len = e1.GetLength(); + for ( long i=0; iGetNumEffector(); // Equals the number of rows of J divided by three + int nCols = J.GetNumColumns(); + dTheta.SetZero(); + + // Calculate the norms of the 3-vectors in the Jacobian + long i; + const double *jx = J.GetPtr(); + double *jnx = Jnorms.GetPtr(); + for ( i=nCols*numEndEffectors; i>0; i-- ) { + double accumSq = Square(*(jx++)); + accumSq += Square(*(jx++)); + accumSq += Square(*(jx++)); + *(jnx++) = sqrt(accumSq); + } + + // Loop over each singular vector + for ( i=0; i0; j-- ) { + double tmp; + alpha += (*ux)*(*(dSx++)); + tmp = Square( *(ux++) ); + alpha += (*ux)*(*(dSx++)); + tmp += Square(*(ux++)); + alpha += (*ux)*(*(dSx++)); + tmp += Square(*(ux++)); + N += sqrt(tmp); + } + + // P is the quasi-1-norm of the response to angles changing according to the i-th column of V + double P = 0.0; + double *vx = V.GetColumnPtr(i); + jnx = Jnorms.GetPtr(); + for ( j=nCols; j>0; j-- ) { + double accum=0.0; + for ( long k=numEndEffectors; k>0; k-- ) { + accum += *(jnx++); + } + P += fabs((*(vx++)))*accum; + } + + double lambda = 1.0; + if ( N

      MaxAngleSDLS ) { + dTheta *= MaxAngleSDLS/maxChange; + } +} */ + + + + diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.h b/examples/ThirdPartyLibs/BussIK/Jacobian.h new file mode 100644 index 000000000..1c0bc4572 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h @@ -0,0 +1,132 @@ + +/* +* +* Inverse Kinematics software, with several solvers including +* Selectively Damped Least Squares Method +* Damped Least Squares Method +* Pure Pseudoinverse Method +* Jacobian Transpose Method +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +#include "Node.h" +#include "Tree.h" +#include "MathMisc.h" +#include "LinearR3.h" +#include "VectorRn.h" +#include "MatrixRmn.h" + +#ifndef _CLASS_JACOBIAN +#define _CLASS_JACOBIAN + +#ifdef _DYNAMIC +const double BASEMAXDIST = 0.02; +#else +const double MAXDIST = 0.08; // optimal value for double Y shape : 0.08 +#endif +const double DELTA = 0.4; +const long double LAMBDA = 2.0; // only for DLS. optimal : 0.24 +const double NEARZERO = 0.0000000001; + +enum UpdateMode { + JACOB_Undefined = 0, + JACOB_JacobianTranspose = 1, + JACOB_PseudoInverse = 2, + JACOB_DLS = 3, + JACOB_SDLS = 4 }; + +class Jacobian { +public: + Jacobian(Tree*); + + void ComputeJacobian(); + const MatrixRmn& ActiveJacobian() const { return *Jactive; } + void SetJendActive() { Jactive = &Jend; } // The default setting is Jend. + void SetJtargetActive() { Jactive = &Jtarget; } + + void CalcDeltaThetas(); // Use this only if the Current Mode has been set. + void ZeroDeltaThetas(); + void CalcDeltaThetasTranspose(); + void CalcDeltaThetasPseudoinverse(); + void CalcDeltaThetasDLS(); + void CalcDeltaThetasDLSwithSVD(); + void CalcDeltaThetasSDLS(); + + void UpdateThetas(); + double UpdateErrorArray(); // Returns sum of errors + const VectorRn& GetErrorArray() const { return errorArray; } + void UpdatedSClampValue(); + void DrawEigenVectors() const; + + void SetCurrentMode( UpdateMode mode ) { CurrentUpdateMode = mode; } + UpdateMode GetCurrentMode() const { return CurrentUpdateMode; } + void SetDampingDLS( double lambda ) { DampingLambda = lambda; DampingLambdaSq = Square(lambda); } + + void Reset(); + + static void CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 ); + static void CountErrors( const Jacobian& j1, const Jacobian& j2, int* numBetter1, int* numBetter2, int* numTies ); + +private: + Tree* tree; // tree associated with this Jacobian matrix + int nEffector; // Number of end effectors + int nJoint; // Number of joints + int nRow; // Total number of rows the real J (= 3*number of end effectors for now) + int nCol; // Total number of columns in the real J (= number of joints for now) + + MatrixRmn Jend; // Jacobian matrix based on end effector positions + MatrixRmn Jtarget; // Jacobian matrix based on target positions + MatrixRmn Jnorms; // Norms of 3-vectors in active Jacobian (SDLS only) + + MatrixRmn U; // J = U * Diag(w) * V^T (Singular Value Decomposition) + VectorRn w; + MatrixRmn V; + + UpdateMode CurrentUpdateMode; + + VectorRn dS; // delta s + VectorRn dT1; // delta t -- these are delta S values clamped to smaller magnitude + VectorRn dSclamp; // Value to clamp magnitude of dT at. + VectorRn dTheta; // delta theta + VectorRn dPreTheta; // delta theta for single eigenvalue (SDLS only) + + VectorRn errorArray; // Distance of end effectors from target after updating + + // Parameters for pseudoinverses + static const double PseudoInverseThresholdFactor; // Threshold for treating eigenvalue as zero (fraction of largest eigenvalue) + + // Parameters for damped least squares + static const double DefaultDampingLambda; + double DampingLambda; + double DampingLambdaSq; + //double DampingLambdaSDLS; + + // Cap on max. value of changes in angles in single update step + static const double MaxAngleJtranspose; + static const double MaxAnglePseudoinverse; + static const double MaxAngleDLS; + static const double MaxAngleSDLS; + MatrixRmn* Jactive; + + void CalcdTClampedFromdS(); + static const double BaseMaxTargetDist; + +}; + +#endif \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/LinearR2.cpp b/examples/ThirdPartyLibs/BussIK/LinearR2.cpp new file mode 100644 index 000000000..9e3398f65 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/LinearR2.cpp @@ -0,0 +1,101 @@ + /* + * + * Mathematics Subpackage (VrMath) + * + * + * Author: Samuel R. Buss, sbuss@ucsd.edu. + * Web page: http://math.ucsd.edu/~sbuss/MathCG + * + * + This software is provided 'as-is', without any express or implied warranty. + In no event will the authors be held liable for any damages arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it freely, + subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. + * + * + */ + +#include "LinearR2.h" + + +#include + +// ****************************************************** +// * VectorR2 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +const VectorR2 VectorR2::Zero(0.0, 0.0); +const VectorR2 VectorR2::UnitX( 1.0, 0.0); +const VectorR2 VectorR2::UnitY( 0.0, 1.0); +const VectorR2 VectorR2::NegUnitX(-1.0, 0.0); +const VectorR2 VectorR2::NegUnitY( 0.0,-1.0); + +const Matrix2x2 Matrix2x2::Identity(1.0, 0.0, 0.0, 1.0); + +// ****************************************************** +// * Matrix2x2 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + +// ****************************************************** +// * LinearMapR2 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + +LinearMapR2 LinearMapR2::Inverse() const // Returns inverse +{ + + + register double detInv = 1.0/(m11*m22 - m12*m21) ; + + return( LinearMapR2( m22*detInv, -m21*detInv, -m12*detInv, m11*detInv ) ); +} + +LinearMapR2& LinearMapR2::Invert() // Converts into inverse. +{ + register double detInv = 1.0/(m11*m22 - m12*m21) ; + + double temp; + temp = m11*detInv; + m11= m22*detInv; + m22=temp; + m12 = -m12*detInv; + m21 = -m22*detInv; + + return ( *this ); +} + +VectorR2 LinearMapR2::Solve(const VectorR2& u) const // Returns solution +{ + // Just uses Inverse() for now. + return ( Inverse()*u ); +} + +// ****************************************************** +// * RotationMapR2 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + + +// *************************************************************** +// * 2-space vector and matrix utilities * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + + + + +// *************************************************************** +// Stream Output Routines * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +ostream& operator<< ( ostream& os, const VectorR2& u ) +{ + return (os << "<" << u.x << "," << u.y << ">"); +} + + diff --git a/examples/ThirdPartyLibs/BussIK/LinearR2.h b/examples/ThirdPartyLibs/BussIK/LinearR2.h new file mode 100644 index 000000000..4c4140c71 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/LinearR2.h @@ -0,0 +1,981 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +// +// Linear Algebra Classes over R2 +// +// +// A. Vector and Position classes +// +// A.1. VectorR2: a column vector of length 2 +// +// A.2. VectorHgR2 - homogenous vector for R2 (a 3-Vector) +// +// B. Matrix Classes +// +// B.1 LinearMapR2 - arbitrary linear map; 2x2 real matrix +// +// B.2 RotationMapR2 - orthonormal 2x2 matrix +// + +#ifndef LINEAR_R2_H +#define LINEAR_R2_H + +#include +#include +#include +#include "MathMisc.h" +using namespace std; + +class VectorR2; // R2 Vector +class VectorHgR2; +class Matrix2x2; +class LinearMapR2; // 2x2 real matrix +class AffineMapR3; // Affine Map (3x4 Matrix) +class RotationMapR2; // 2x2 rotation map + +// ************************************** +// VectorR2 class * +// * * * * * * * * * * * * * * * * * * ** + +class VectorR2 { + +public: + double x, y; // The x & y coordinates. + +public: + VectorR2( ) : x(0.0), y(0.0) {} + VectorR2( double xVal, double yVal ) + : x(xVal), y(yVal) {} + VectorR2( const VectorHgR2& uH ); + + VectorR2& SetZero() { x=0.0; y=0.0; return *this;} + VectorR2& Set( double xx, double yy ) + { x=xx; y=yy; return *this;} + VectorR2& Load( const double* v ); + VectorR2& Load( const float* v ); + void Dump( double* v ) const; + void Dump( float* v ) const; + + static const VectorR2 Zero; + static const VectorR2 UnitX; + static const VectorR2 UnitY; + static const VectorR2 NegUnitX; + static const VectorR2 NegUnitY; + + VectorR2& operator+= ( const VectorR2& v ) + { x+=v.x; y+=v.y; return(*this); } + VectorR2& operator-= ( const VectorR2& v ) + { x-=v.x; y-=v.y; return(*this); } + VectorR2& operator*= ( double m ) + { x*=m; y*=m; return(*this); } + VectorR2& operator/= ( double m ) + { register double mInv = 1.0/m; + x*=mInv; y*=mInv; + return(*this); } + VectorR2 operator- () const { return ( VectorR2(-x, -y) ); } + VectorR2& ArrayProd(const VectorR2&); // Component-wise product + + VectorR2& AddScaled( const VectorR2& u, double s ); + + double Norm() const { return ( sqrt( x*x + y*y ) ); } + double L1Norm() const { return (Max(fabs(x),fabs(y))); } + double Dist( const VectorR2& u ) const; // Distance from u + double DistSq( const VectorR2& u ) const; // Distance from u + double NormSq() const { return ( x*x + y*y ); } + double MaxAbs() const; + VectorR2& Normalize () { *this /= Norm(); return *this;} // No error checking + VectorR2& MakeUnit(); // Normalize() with error checking + VectorR2& ReNormalize(); + bool IsUnit( double tolerance = 1.0e-15 ) const + { register double norm = Norm(); + return ( 1.0+tolerance>=norm && norm>=1.0-tolerance ); } + bool IsZero() const { return ( x==0.0 && y==0.0 ); } + bool NearZero(double tolerance) const { return( MaxAbs()<=tolerance );} + // tolerance should be non-negative + + VectorR2& Rotate( double theta ); // rotate through angle theta + VectorR2& Rotate( double costheta, double sintheta ); + +}; + +inline VectorR2 operator+( const VectorR2& u, const VectorR2& v ); +inline VectorR2 operator-( const VectorR2& u, const VectorR2& v ); +inline VectorR2 operator*( const VectorR2& u, double m); +inline VectorR2 operator*( double m, const VectorR2& u); +inline VectorR2 operator/( const VectorR2& u, double m); +inline int operator==( const VectorR2& u, const VectorR2& v ); + +inline double operator^ (const VectorR2& u, const VectorR2& v ); // Dot Product +inline VectorR2 ArrayProd ( const VectorR2& u, const VectorR2& v ); + +inline double Mag(const VectorR2& u) { return u.Norm(); } +inline double Dist(const VectorR2& u, const VectorR2& v) { return u.Dist(v); } +inline double DistSq(const VectorR2& u, const VectorR2& v) { return u.DistSq(v); } +inline double NormalizeError (const VectorR2&); + +// **************************************** +// VectorHgR2 class * +// * * * * * * * * * * * * * * * * * * * ** + +class VectorHgR2 { + +public: + double x, y, w; // The x & y & w coordinates. + +public: + VectorHgR2( ) : x(0.0), y(0.0), w(1.0) {} + VectorHgR2( double xVal, double yVal ) + : x(xVal), y(yVal), w(1.0) {} + VectorHgR2( double xVal, double yVal, double wVal ) + : x(xVal), y(yVal), w(wVal) {} + VectorHgR2 ( const VectorR2& u ) : x(u.x), y(u.y), w(1.0) {} +}; + +// ******************************************************************** +// Matrix2x2 - base class for 2x2 matrices * +// * * * * * * * * * * * * * * * * * * * * * ************************** + +class Matrix2x2 { + +public: + double m11, m12, m21, m22; + + // Implements a 2x2 matrix: m_i_j - row-i and column-j entry + + static const Matrix2x2 Identity; + +public: + + inline Matrix2x2(); + inline Matrix2x2( const VectorR2&, const VectorR2& ); // Sets by columns! + inline Matrix2x2( double, double, double, double ); // Sets by columns + + inline void SetIdentity (); // Set to the identity map + inline void SetZero (); // Set to the zero map + inline void Set( const VectorR2&, const VectorR2& ); + inline void Set( double, double, double, double ); + inline void SetByRows( const VectorR2&, const VectorR2& ); + inline void SetByRows( double, double, double, double ); + inline void SetColumn1 ( double, double ); + inline void SetColumn2 ( double, double ); + inline void SetColumn1 ( const VectorR2& ); + inline void SetColumn2 ( const VectorR2& ); + inline VectorR2 Column1() const; + inline VectorR2 Column2() const; + + inline void SetRow1 ( double, double ); + inline void SetRow2 ( double, double ); + inline void SetRow1 ( const VectorR2& ); + inline void SetRow2 ( const VectorR2& ); + inline VectorR2 Row1() const; + inline VectorR2 Row2() const; + + inline void SetDiagonal( double, double ); + inline void SetDiagonal( const VectorR2& ); + inline double Diagonal( int ); + + inline void MakeTranspose(); // Transposes it. + inline void operator*= (const Matrix2x2& B); // Matrix product + inline Matrix2x2& ReNormalize(); + + inline void Transform( VectorR2* ) const; + inline void Transform( const VectorR2& src, VectorR2* dest) const; + +}; + +inline double NormalizeError( const Matrix2x2& ); +inline VectorR2 operator* ( const Matrix2x2&, const VectorR2& ); + +ostream& operator<< ( ostream& os, const Matrix2x2& A ); + + +// ***************************************** +// LinearMapR2 class * +// * * * * * * * * * * * * * * * * * * * * * + +class LinearMapR2 : public Matrix2x2 { + +public: + + LinearMapR2(); + LinearMapR2( const VectorR2&, const VectorR2& ); // Sets by columns! + LinearMapR2( double, double, double, double ); // Sets by columns + LinearMapR2 ( const Matrix2x2& ); + + inline void Negate(); + inline LinearMapR2& operator+= (const Matrix2x2& ); + inline LinearMapR2& operator-= (const Matrix2x2& ); + inline LinearMapR2& operator*= (double); + inline LinearMapR2& operator/= (double); + inline LinearMapR2& operator*= (const Matrix2x2& ); // Matrix product + + inline LinearMapR2 Transpose() const; + inline double Determinant () const; // Returns the determinant + LinearMapR2 Inverse() const; // Returns inverse + LinearMapR2& Invert(); // Converts into inverse. + VectorR2 Solve(const VectorR2&) const; // Returns solution + LinearMapR2 PseudoInverse() const; // Returns pseudo-inverse TO DO + VectorR2 PseudoSolve(const VectorR2&); // Finds least squares solution TO DO +}; + +inline LinearMapR2 operator+ ( const LinearMapR2&, const LinearMapR2&); +inline LinearMapR2 operator- ( const Matrix2x2& ); +inline LinearMapR2 operator- ( const LinearMapR2&, const LinearMapR2&); +inline LinearMapR2 operator* ( const LinearMapR2&, double); +inline LinearMapR2 operator* ( double, const LinearMapR2& ); +inline LinearMapR2 operator/ ( const LinearMapR2&, double ); +inline LinearMapR2 operator* ( const Matrix2x2&, const LinearMapR2& ); +inline LinearMapR2 operator* ( const LinearMapR2&, const Matrix2x2& ); +inline LinearMapR2 operator* ( const LinearMapR2&, const LinearMapR2& ); + // Matrix product (composition) + + +// ******************************************* +// RotationMapR2class * +// * * * * * * * * * * * * * * * * * * * * * * + +class RotationMapR2 : public Matrix2x2 { + +public: + + RotationMapR2(); + RotationMapR2( const VectorR2&, const VectorR2& ); // Sets by columns! + RotationMapR2( double, double, double, double ); // Sets by columns! + + RotationMapR2& SetZero(); // IT IS AN ERROR TO USE THIS FUNCTION! + + inline RotationMapR2& operator*= (const RotationMapR2& ); // Matrix product + + inline RotationMapR2 Transpose() const; + inline RotationMapR2 Inverse() const { return Transpose(); }; // Returns the transpose + inline RotationMapR2& Invert() { MakeTranspose(); return *this; }; // Transposes it. + inline VectorR2 Invert(const VectorR2&) const; // Returns solution +}; + +inline RotationMapR2 operator* ( const RotationMapR2&, const RotationMapR2& ); + // Matrix product (composition) + + + +// *************************************************************** +// * 2-space vector and matrix utilities (prototypes) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns the angle between vectors u and v. +// Use AngleUnit if both vectors are unit vectors +inline double Angle( const VectorR2& u, const VectorR2& v); +inline double AngleUnit( const VectorR2& u, const VectorR2& v ); + +// Returns a righthanded orthonormal basis to complement vector u +// The vector u must be unit. +inline VectorR2 GetOrtho( const VectorR2& u ); + +// Projections + +inline VectorR2 ProjectToUnit ( const VectorR2& u, const VectorR2& v); + // Project u onto v +inline VectorR2 ProjectPerpUnit ( const VectorR2& u, const VectorR2 & v); + // Project perp to v +// v must be a unit vector. + +// Projection maps (LinearMapR2's) + +inline LinearMapR2 VectorProjectMap( const VectorR2& u ); + +inline LinearMapR2 PerpProjectMap ( const VectorR2& u ); +// u - must be unit vector. + +// Rotation Maps + +inline RotationMapR2 RotateToMap( const VectorR2& fromVec, const VectorR2& toVec); +// fromVec and toVec should be unit vectors + + + +// *************************************************************** +// * Stream Output Routines (Prototypes) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +ostream& operator<< ( ostream& os, const VectorR2& u ); + + +// ***************************************************** +// * VectorR2 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * + +inline VectorR2& VectorR2::Load( const double* v ) +{ + x = *v; + y = *(v+1); + return *this; +} + +inline VectorR2& VectorR2::Load( const float* v ) +{ + x = *v; + y = *(v+1); + return *this; +} + +inline void VectorR2::Dump( double* v ) const +{ + *v = x; + *(v+1) = y; +} + +inline void VectorR2::Dump( float* v ) const +{ + *v = (float)x; + *(v+1) = (float)y; +} + +inline VectorR2& VectorR2::ArrayProd (const VectorR2& v) // Component-wise Product +{ + x *= v.x; + y *= v.y; + return ( *this ); +} + +inline VectorR2& VectorR2::MakeUnit () // Convert to unit vector (or leave zero). +{ + double nSq = NormSq(); + if (nSq != 0.0) { + *this /= sqrt(nSq); + } + return *this; +} + +inline VectorR2& VectorR2::ReNormalize() // Convert near unit back to unit +{ + double nSq = NormSq(); + register double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor + *this *= mFact; + return *this; +} + +// Rotate through angle theta +inline VectorR2& VectorR2::Rotate( double theta ) +{ + double costheta = cos(theta); + double sintheta = sin(theta); + double tempx = x*costheta - y*sintheta; + y = y*costheta + x*sintheta; + x = tempx; + return *this; +} + +inline VectorR2& VectorR2::Rotate( double costheta, double sintheta ) +{ + double tempx = x*costheta + y*sintheta; + y = y*costheta - x*sintheta; + x = tempx; + return *this; +} + +inline double VectorR2::MaxAbs() const +{ + register double m; + m = (x>=0.0) ? x : -x; + if ( y>m ) m=y; + else if ( -y >m ) m = -y; + return m; +} + +inline VectorR2 operator+( const VectorR2& u, const VectorR2& v ) +{ + return VectorR2(u.x+v.x, u.y+v.y ); +} +inline VectorR2 operator-( const VectorR2& u, const VectorR2& v ) +{ + return VectorR2(u.x-v.x, u.y-v.y ); +} +inline VectorR2 operator*( const VectorR2& u, register double m) +{ + return VectorR2( u.x*m, u.y*m ); +} +inline VectorR2 operator*( register double m, const VectorR2& u) +{ + return VectorR2( u.x*m, u.y*m ); +} +inline VectorR2 operator/( const VectorR2& u, double m) +{ + register double mInv = 1.0/m; + return VectorR2( u.x*mInv, u.y*mInv ); +} + +inline int operator==( const VectorR2& u, const VectorR2& v ) +{ + return ( u.x==v.x && u.y==v.y ); +} + +inline double operator^ ( const VectorR2& u, const VectorR2& v ) // Dot Product +{ + return ( u.x*v.x + u.y*v.y ); +} + +inline VectorR2 ArrayProd ( const VectorR2& u, const VectorR2& v ) +{ + return ( VectorR2( u.x*v.x, u.y*v.y ) ); +} + +inline VectorR2& VectorR2::AddScaled( const VectorR2& u, double s ) +{ + x += s*u.x; + y += s*u.y; + return(*this); +} + +inline VectorR2::VectorR2( const VectorHgR2& uH ) +: x(uH.x), y(uH.y) +{ + *this /= uH.w; +} + +inline double NormalizeError (const VectorR2& u) +{ + register double discrepancy; + discrepancy = u.x*u.x + u.y*u.y - 1.0; + if ( discrepancy < 0.0 ) { + discrepancy = -discrepancy; + } + return discrepancy; +} + +inline double VectorR2::Dist( const VectorR2& u ) const // Distance from u +{ + return sqrt( DistSq(u) ); +} + +inline double VectorR2::DistSq( const VectorR2& u ) const // Distance from u +{ + return ( (x-u.x)*(x-u.x) + (y-u.y)*(y-u.y) ); +} + + +// ********************************************************* +// * Matrix2x2 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ***** + +inline Matrix2x2::Matrix2x2() {} + +inline Matrix2x2::Matrix2x2( const VectorR2& u, const VectorR2& v ) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m12 = v.x; // Column 2 + m22 = v.y; +} + +inline Matrix2x2::Matrix2x2( double a11, double a21, double a12, double a22 ) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m21 = a21; // Row 2 + m22 = a22; +} + +inline void Matrix2x2::SetIdentity ( ) +{ + m11 = m22 = 1.0; + m12 = m21 = 0.0; +} + +inline void Matrix2x2::Set( const VectorR2& u, const VectorR2& v ) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m12 = v.x; // Column 2 + m22 = v.y; +} + +inline void Matrix2x2::Set( double a11, double a21, double a12, double a22 ) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m21 = a21; // Row 2 + m22 = a22; +} + +inline void Matrix2x2::SetZero( ) +{ + m11 = m12 = m21 = m22 = 0.0; +} + +inline void Matrix2x2::SetByRows( const VectorR2& u, const VectorR2& v ) +{ + m11 = u.x; // Row 1 + m12 = u.y; + m21 = v.x; // Row 2 + m22 = v.y; +} + +inline void Matrix2x2::SetByRows( double a11, double a12, double a21, double a22 ) + // Values specified in row order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m21 = a21; // Row 2 + m22 = a22; +} + +inline void Matrix2x2::SetColumn1 ( double x, double y ) +{ + m11 = x; m21 = y; +} + +inline void Matrix2x2::SetColumn2 ( double x, double y ) +{ + m12 = x; m22 = y; +} + +inline void Matrix2x2::SetColumn1 ( const VectorR2& u ) +{ + m11 = u.x; m21 = u.y; +} + +inline void Matrix2x2::SetColumn2 ( const VectorR2& u ) +{ + m12 = u.x; m22 = u.y; +} + +VectorR2 Matrix2x2::Column1() const +{ + return ( VectorR2(m11, m21) ); +} + +VectorR2 Matrix2x2::Column2() const +{ + return ( VectorR2(m12, m22) ); +} + +inline void Matrix2x2::SetRow1 ( double x, double y ) +{ + m11 = x; m12 = y; +} + +inline void Matrix2x2::SetRow2 ( double x, double y ) +{ + m21 = x; m22 = y; +} + +inline void Matrix2x2::SetRow1 ( const VectorR2& u ) +{ + m11 = u.x; m12 = u.y; +} + +inline void Matrix2x2::SetRow2 ( const VectorR2& u ) +{ + m21 = u.x; m22 = u.y; +} + +VectorR2 Matrix2x2::Row1() const +{ + return ( VectorR2(m11, m12) ); +} + +VectorR2 Matrix2x2::Row2() const +{ + return ( VectorR2(m21, m22) ); +} + +inline void Matrix2x2::SetDiagonal( double x, double y ) +{ + m11 = x; + m22 = y; +} + +inline void Matrix2x2::SetDiagonal( const VectorR2& u ) +{ + SetDiagonal ( u.x, u.y ); +} + +inline double Matrix2x2::Diagonal( int i ) +{ + switch (i) { + case 0: + return m11; + case 1: + return m22; + default: + assert(0); + return 0.0; + } +} +inline void Matrix2x2::MakeTranspose() // Transposes it. +{ + register double temp; + temp = m12; + m12 = m21; + m21=temp; +} + +inline void Matrix2x2::operator*= (const Matrix2x2& B) // Matrix product +{ + double t1; // temporary value + + t1 = m11*B.m11 + m12*B.m21; + m12 = m11*B.m12 + m12*B.m22; + m11 = t1; + + t1 = m21*B.m11 + m22*B.m21; + m22 = m21*B.m12 + m22*B.m22; + m21 = t1; +} + +inline Matrix2x2& Matrix2x2::ReNormalize() // Re-normalizes nearly orthonormal matrix +{ + register double alpha = m11*m11+m21*m21; // First column's norm squared + register double beta = m12*m12+m22*m22; // Second column's norm squared + alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor + beta = 1.0 - 0.5*(beta-1.0); + m11 *= alpha; // Renormalize first column + m21 *= alpha; + m12 *= beta; // Renormalize second column + m22 *= beta; + alpha = m11*m12+m21*m22; // Columns' inner product + alpha *= 0.5; // times 1/2 + register double temp; + temp = m11-alpha*m12; // Subtract alpha times other column + m12 -= alpha*m11; + m11 = temp; + temp = m21-alpha*m22; + m22 -= alpha*m21; + m11 = temp; + return *this; +} + +// Gives a measure of how far the matrix is from being normalized. +// Mostly intended for diagnostic purposes. +inline double NormalizeError( const Matrix2x2& A) +{ + register double discrepancy; + register double newdisc; + discrepancy = A.m11*A.m11 + A.m21*A.m21 -1.0; // First column - inner product - 1 + if (discrepancy<0.0) { + discrepancy = -discrepancy; + } + newdisc = A.m12*A.m12 + A.m22*A.m22 - 1.0; // Second column inner product - 1 + if ( newdisc<0.0 ) { + newdisc = -newdisc; + } + if ( newdisc>discrepancy ) { + discrepancy = newdisc; + } + newdisc = A.m11*A.m12 + A.m21*A.m22; // Inner product of two columns + if ( newdisc<0.0 ) { + newdisc = -newdisc; + } + if ( newdisc>discrepancy ) { + discrepancy = newdisc; + } + return discrepancy; +} + +inline VectorR2 operator* ( const Matrix2x2& A, const VectorR2& u) +{ + return(VectorR2 ( A.m11*u.x + A.m12*u.y, + A.m21*u.x + A.m22*u.y ) ); +} + +inline void Matrix2x2::Transform( VectorR2* u ) const { + double newX; + newX = m11*u->x + m12*u->y; + u->y = m21*u->x + m22*u->y; + u->x = newX; +} + +inline void Matrix2x2::Transform( const VectorR2& src, VectorR2* dest ) const { + dest->x = m11*src.x + m12*src.y; + dest->y = m21*src.x + m22*src.y; +} + + + +// ****************************************************** +// * LinearMapR2 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline LinearMapR2::LinearMapR2() +{ + SetZero(); + return; +} + +inline LinearMapR2::LinearMapR2( const VectorR2& u, const VectorR2& v ) +:Matrix2x2 ( u, v ) +{ } + +inline LinearMapR2::LinearMapR2(double a11, double a21, double a12, double a22) + // Values specified in column order!!! +:Matrix2x2 ( a11, a21, a12, a22 ) +{ } + +inline LinearMapR2::LinearMapR2 ( const Matrix2x2& A ) +: Matrix2x2 (A) +{} + +inline void LinearMapR2::Negate () +{ + m11 = -m11; + m12 = -m12; + m21 = -m21; + m22 = -m22; +} + +inline LinearMapR2& LinearMapR2::operator+= (const Matrix2x2& B) +{ + m11 += B.m11; + m12 += B.m12; + m21 += B.m21; + m22 += B.m22; + return ( *this ); +} + +inline LinearMapR2& LinearMapR2::operator-= (const Matrix2x2& B) +{ + m11 -= B.m11; + m12 -= B.m12; + m21 -= B.m21; + m22 -= B.m22; + return( *this ); +} + +inline LinearMapR2 operator+ (const LinearMapR2& A, const LinearMapR2& B) +{ + return( LinearMapR2( A.m11+B.m11, A.m21+B.m21, + A.m12+B.m12, A.m22+B.m22 ) ); +} + +inline LinearMapR2 operator- (const Matrix2x2& A) +{ + return( LinearMapR2( -A.m11, -A.m21, -A.m12, -A.m22 ) ); +} + +inline LinearMapR2 operator- (const LinearMapR2& A, const LinearMapR2& B) +{ + return( LinearMapR2( A.m11-B.m11, A.m21-B.m21, + A.m12-B.m12, A.m22-B.m22 ) ); +} + +inline LinearMapR2& LinearMapR2::operator*= (register double b) +{ + m11 *= b; + m12 *= b; + m21 *= b; + m22 *= b; + return ( *this); +} + +inline LinearMapR2 operator* ( const LinearMapR2& A, register double b) +{ + return( LinearMapR2( A.m11*b, A.m21*b, + A.m12*b, A.m22*b ) ); +} + +inline LinearMapR2 operator* ( register double b, const LinearMapR2& A) +{ + return( LinearMapR2( A.m11*b, A.m21*b, + A.m12*b, A.m22*b ) ); +} + +inline LinearMapR2 operator/ ( const LinearMapR2& A, double b) +{ + register double bInv = 1.0/b; + return ( A*bInv ); +} + +inline LinearMapR2& LinearMapR2::operator/= (register double b) +{ + register double bInv = 1.0/b; + return ( *this *= bInv ); +} + +inline LinearMapR2 LinearMapR2::Transpose() const // Returns the transpose +{ + return (LinearMapR2( m11, m12, m21, m22 ) ); +} + +inline LinearMapR2& LinearMapR2::operator*= (const Matrix2x2& B) // Matrix product +{ + (*this).Matrix2x2::operator*=(B); + + return( *this ); +} + +inline LinearMapR2 operator* ( const LinearMapR2& A, const Matrix2x2& B) +{ + LinearMapR2 AA(A); + AA.Matrix2x2::operator*=(B); + return AA; +} + +inline LinearMapR2 operator* ( const Matrix2x2& A, const LinearMapR2& B) +{ + LinearMapR2 AA(A); + AA.Matrix2x2::operator*=(B); + return AA; +} + +inline LinearMapR2 operator* ( const LinearMapR2& A, const LinearMapR2& B) +{ + LinearMapR2 AA(A); + AA.Matrix2x2::operator*=(B); + return AA; +} + +inline double LinearMapR2::Determinant () const // Returns the determinant +{ + return ( m11*m22 - m12*m21 ); +} + +// ****************************************************** +// * RotationMapR2 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline RotationMapR2::RotationMapR2() +{ + SetIdentity(); + return; +} + +inline RotationMapR2::RotationMapR2( const VectorR2& u, const VectorR2& v ) +:Matrix2x2 ( u, v ) +{ } + +inline RotationMapR2::RotationMapR2( + double a11, double a21, double a12, double a22 ) + // Values specified in column order!!! +:Matrix2x2 ( a11, a21, a12, a22 ) +{ } + +inline RotationMapR2 RotationMapR2::Transpose() const // Returns the transpose +{ + return ( RotationMapR2( m11, m12, + m21, m22 ) ); +} + +inline VectorR2 RotationMapR2::Invert(const VectorR2& u) const // Returns solution +{ + return (VectorR2( m11*u.x + m21*u.y, // Multiply with Transpose + m12*u.x + m22*u.y ) ); +} + +inline RotationMapR2& RotationMapR2::operator*= (const RotationMapR2& B) // Matrix product +{ + (*this).Matrix2x2::operator*=(B); + + return( *this ); +} + +inline RotationMapR2 operator* ( const RotationMapR2& A, const RotationMapR2& B) +{ + RotationMapR2 AA(A); + AA.Matrix2x2::operator*=(B); + return AA; +} + + +// *************************************************************** +// * 2-space vector and matrix utilities (inlined functions) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns a righthanded orthonormal basis to complement vector u +// The vector u must be unit. +inline VectorR2 GetOrtho( const VectorR2& u ) +{ + return VectorR2 ( -u.y, u.x ); +} + +// Returns the projection of u onto unit v +inline VectorR2 ProjectToUnit ( const VectorR2& u, const VectorR2& v) +{ + return (u^v)*v; +} + +// Returns the projection of u onto the plane perpindicular to the unit vector v +inline VectorR2 ProjectPerpUnit ( const VectorR2& u, const VectorR2& v) +{ + return ( u - ((u^v)*v) ); +} + +// Returns the projection of u onto the plane perpindicular to the unit vector v +// This one is more stable when u and v are nearly equal. +inline VectorR2 ProjectPerpUnitDiff ( const VectorR2& u, const VectorR2& v) +{ + VectorR2 ans = u; + ans -= v; + ans -= ((ans^v)*v); + return ans; // ans = (u-v) - ((u-v)^v)*v +} + +// Returns the solid angle between vectors u and v. +inline double Angle( const VectorR2& u, const VectorR2& v) +{ + double nSqU = u.NormSq(); + double nSqV = v.NormSq(); + if ( nSqU==0.0 && nSqV==0.0 ) { + return (0.0); + } + else { + return ( AngleUnit( u/sqrt(nSqU), v/sqrt(nSqV) ) ); + } +} + +inline double AngleUnit( const VectorR2& u, const VectorR2& v ) +{ + return ( atan2 ( (ProjectPerpUnit(v,u)).Norm(), u^v ) ); +} + +// Projection maps (LinearMapR2's) + +// VectorProjectMap returns map projecting onto a given vector u. +// u should be a unit vector (otherwise the returned map is +// scaled according to the magnitude of u. +inline LinearMapR2 VectorProjectMap( const VectorR2& u ) +{ + double xy = u.x*u.y; + return( LinearMapR2( u.x*u.x, xy, xy, u.y*u.y ) ) ; +} + +// PlaneProjectMap returns map projecting onto a given plane. +// The plane is the plane orthognal to u. +// u must be a unit vector (otherwise the returned map is +// garbage). +inline LinearMapR2 PerpProjectMap ( const VectorR2& u ) +{ + double nxy = -u.x*u.y; + return ( LinearMapR2 ( 1.0-u.x*u.x, nxy, nxy, 1.0-u.y*u.y ) ); +} + +// fromVec and toVec should be unit vectors +inline RotationMapR2 RotateToMap( const VectorR2& fromVec, const VectorR2& toVec) +{ + double costheta = fromVec.x*toVec.x + fromVec.y*toVec.y; + double sintheta = fromVec.x*toVec.y - fromVec.y*toVec.x; + return( RotationMapR2( costheta, sintheta, -sintheta, costheta ) ); +} + +#endif // LINEAR_R2_H diff --git a/examples/ThirdPartyLibs/BussIK/LinearR3.cpp b/examples/ThirdPartyLibs/BussIK/LinearR3.cpp new file mode 100644 index 000000000..c74d2b2b5 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/LinearR3.cpp @@ -0,0 +1,822 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + + +#include "MathMisc.h" +#include "LinearR3.h" +#include "Spherical.h" + +// ****************************************************** +// * VectorR3 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +const VectorR3 UnitVecIR3(1.0, 0.0, 0.0); +const VectorR3 UnitVecJR3(0.0, 1.0, 0.0); +const VectorR3 UnitVecKR3(0.0, 0.0, 1.0); + +const VectorR3 VectorR3::Zero(0.0, 0.0, 0.0); +const VectorR3 VectorR3::UnitX( 1.0, 0.0, 0.0); +const VectorR3 VectorR3::UnitY( 0.0, 1.0, 0.0); +const VectorR3 VectorR3::UnitZ( 0.0, 0.0, 1.0); +const VectorR3 VectorR3::NegUnitX(-1.0, 0.0, 0.0); +const VectorR3 VectorR3::NegUnitY( 0.0,-1.0, 0.0); +const VectorR3 VectorR3::NegUnitZ( 0.0, 0.0,-1.0); + +const Matrix3x3 Matrix3x3::Identity(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0); +const Matrix3x4 Matrix3x4::Identity(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0); + +double VectorR3::MaxAbs() const +{ + register double m; + m = (x>0.0) ? x : -x; + if ( y>m ) m=y; + else if ( -y >m ) m = -y; + if ( z>m ) m=z; + else if ( -z>m ) m = -z; + return m; +} + +VectorR3& VectorR3::Set( const Quaternion& q ) +{ + double sinhalf = sqrt( Square(q.x)+Square(q.y)+Square(q.z) ); + if (sinhalf>0.0) { + double theta = atan2( sinhalf, q.w ); + theta += theta; + this->Set( q.x, q.y, q.z ); + (*this) *= (theta/sinhalf); + } + else { + this->SetZero(); + } + return *this; +} + + +// ********************************************************************* +// Rotation routines * +// ********************************************************************* + +// s.Rotate(theta, u) rotates s and returns s +// rotated theta degrees around unit vector w. +VectorR3& VectorR3::Rotate( double theta, const VectorR3& w) +{ + double c = cos(theta); + double s = sin(theta); + double dotw = (x*w.x + y*w.y + z*w.z); + double v0x = dotw*w.x; + double v0y = dotw*w.y; // v0 = provjection onto w + double v0z = dotw*w.z; + double v1x = x-v0x; + double v1y = y-v0y; // v1 = projection onto plane normal to w + double v1z = z-v0z; + double v2x = w.y*v1z - w.z*v1y; + double v2y = w.z*v1x - w.x*v1z; // v2 = w * v1 (cross product) + double v2z = w.x*v1y - w.y*v1x; + + x = v0x + c*v1x + s*v2x; + y = v0y + c*v1y + s*v2y; + z = v0z + c*v1z + s*v2z; + + return ( *this ); +} + +// Rotate unit vector x in the direction of "dir": length of dir is rotation angle. +// x must be a unit vector. dir must be perpindicular to x. +VectorR3& VectorR3::RotateUnitInDirection ( const VectorR3& dir) +{ + double theta = dir.NormSq(); + if ( theta==0.0 ) { + return *this; + } + else { + theta = sqrt(theta); + double costheta = cos(theta); + double sintheta = sin(theta); + VectorR3 dirUnit = dir/theta; + *this = costheta*(*this) + sintheta*dirUnit; + return ( *this ); + } +} + +// ****************************************************** +// * Matrix3x3 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +Matrix3x3& Matrix3x3::ReNormalize() // Re-normalizes nearly orthonormal matrix +{ + register double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared + register double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared + register double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared + alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor + beta = 1.0 - 0.5*(beta-1.0); + gamma = 1.0 - 0.5*(gamma-1.0); + m11 *= alpha; // Renormalize first column + m21 *= alpha; + m31 *= alpha; + m12 *= beta; // Renormalize second column + m22 *= beta; + m32 *= beta; + m13 *= gamma; + m23 *= gamma; + m33 *= gamma; + alpha = m11*m12+m21*m22+m31*m32; // First and second column dot product + beta = m11*m13+m21*m23+m31*m33; // First and third column dot product + gamma = m12*m13+m22*m23+m32*m33; // Second and third column dot product + alpha *= 0.5; + beta *= 0.5; + gamma *= 0.5; + register double temp1, temp2; + temp1 = m11-alpha*m12-beta*m13; // Update row1 + temp2 = m12-alpha*m11-gamma*m13; + m13 -= beta*m11+gamma*m12; + m11 = temp1; + m12 = temp2; + temp1 = m21-alpha*m22-beta*m23; // Update row2 + temp2 = m22-alpha*m21-gamma*m23; + m23 -= beta*m21+gamma*m22; + m21 = temp1; + m22 = temp2; + temp1 = m31-alpha*m32-beta*m33; // Update row3 + temp2 = m32-alpha*m31-gamma*m33; + m33 -= beta*m31+gamma*m32; + m31 = temp1; + m32 = temp2; + return *this; +} + +void Matrix3x3::OperatorTimesEquals(const Matrix3x3& B) // Matrix product +{ + double t1, t2; // temporary values + t1 = m11*B.m11 + m12*B.m21 + m13*B.m31; + t2 = m11*B.m12 + m12*B.m22 + m13*B.m32; + m13 = m11*B.m13 + m12*B.m23 + m13*B.m33; + m11 = t1; + m12 = t2; + + t1 = m21*B.m11 + m22*B.m21 + m23*B.m31; + t2 = m21*B.m12 + m22*B.m22 + m23*B.m32; + m23 = m21*B.m13 + m22*B.m23 + m23*B.m33; + m21 = t1; + m22 = t2; + + t1 = m31*B.m11 + m32*B.m21 + m33*B.m31; + t2 = m31*B.m12 + m32*B.m22 + m33*B.m32; + m33 = m31*B.m13 + m32*B.m23 + m33*B.m33; + m31 = t1; + m32 = t2; + return; +} + +VectorR3 Matrix3x3::Solve(const VectorR3& u) const // Returns solution +{ // based on Cramer's rule + double sd11 = m22*m33-m23*m32; + double sd21 = m32*m13-m12*m33; + double sd31 = m12*m23-m22*m13; + double sd12 = m31*m23-m21*m33; + double sd22 = m11*m33-m31*m13; + double sd32 = m21*m13-m11*m23; + double sd13 = m21*m32-m31*m22; + double sd23 = m31*m12-m11*m32; + double sd33 = m11*m22-m21*m12; + + register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13); + + double rx = (u.x*sd11 + u.y*sd21 + u.z*sd31)*detInv; + double ry = (u.x*sd12 + u.y*sd22 + u.z*sd32)*detInv; + double rz = (u.x*sd13 + u.y*sd23 + u.z*sd33)*detInv; + + return ( VectorR3( rx, ry, rz ) ); +} + + +// ****************************************************** +// * Matrix3x4 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +Matrix3x4& Matrix3x4::ReNormalize() // Re-normalizes nearly orthonormal matrix +{ + register double alpha = m11*m11+m21*m21+m31*m31; // First column's norm squared + register double beta = m12*m12+m22*m22+m32*m32; // Second column's norm squared + register double gamma = m13*m13+m23*m23+m33*m33; // Third column's norm squared + alpha = 1.0 - 0.5*(alpha-1.0); // Get mult. factor + beta = 1.0 - 0.5*(beta-1.0); + gamma = 1.0 - 0.5*(gamma-1.0); + m11 *= alpha; // Renormalize first column + m21 *= alpha; + m31 *= alpha; + m12 *= beta; // Renormalize second column + m22 *= beta; + m32 *= beta; + m13 *= gamma; + m23 *= gamma; + m33 *= gamma; + alpha = m11*m12+m21*m22+m31*m32; // First and second column dot product + beta = m11*m13+m21*m23+m31*m33; // First and third column dot product + gamma = m12*m13+m22*m23+m32*m33; // Second and third column dot product + alpha *= 0.5; + beta *= 0.5; + gamma *= 0.5; + register double temp1, temp2; + temp1 = m11-alpha*m12-beta*m13; // Update row1 + temp2 = m12-alpha*m11-gamma*m13; + m13 -= beta*m11+gamma*m12; + m11 = temp1; + m12 = temp2; + temp1 = m21-alpha*m22-beta*m23; // Update row2 + temp2 = m22-alpha*m21-gamma*m23; + m23 -= beta*m21+gamma*m22; + m21 = temp1; + m22 = temp2; + temp1 = m31-alpha*m32-beta*m33; // Update row3 + temp2 = m32-alpha*m31-gamma*m33; + m33 -= beta*m31+gamma*m32; + m31 = temp1; + m32 = temp2; + return *this; +} + +void Matrix3x4::OperatorTimesEquals (const Matrix3x4& B) // Composition +{ + m14 += m11*B.m14 + m12*B.m24 + m13*B.m34; + m24 += m21*B.m14 + m22*B.m24 + m23*B.m34; + m34 += m31*B.m14 + m32*B.m24 + m33*B.m34; + + double t1, t2; // temporary values + t1 = m11*B.m11 + m12*B.m21 + m13*B.m31; + t2 = m11*B.m12 + m12*B.m22 + m13*B.m32; + m13 = m11*B.m13 + m12*B.m23 + m13*B.m33; + m11 = t1; + m12 = t2; + + t1 = m21*B.m11 + m22*B.m21 + m23*B.m31; + t2 = m21*B.m12 + m22*B.m22 + m23*B.m32; + m23 = m21*B.m13 + m22*B.m23 + m23*B.m33; + m21 = t1; + m22 = t2; + + t1 = m31*B.m11 + m32*B.m21 + m33*B.m31; + t2 = m31*B.m12 + m32*B.m22 + m33*B.m32; + m33 = m31*B.m13 + m32*B.m23 + m33*B.m33; + m31 = t1; + m32 = t2; +} + +void Matrix3x4::OperatorTimesEquals (const Matrix3x3& B) // Composition +{ + double t1, t2; // temporary values + t1 = m11*B.m11 + m12*B.m21 + m13*B.m31; + t2 = m11*B.m12 + m12*B.m22 + m13*B.m32; + m13 = m11*B.m13 + m12*B.m23 + m13*B.m33; + m11 = t1; + m12 = t2; + + t1 = m21*B.m11 + m22*B.m21 + m23*B.m31; + t2 = m21*B.m12 + m22*B.m22 + m23*B.m32; + m23 = m21*B.m13 + m22*B.m23 + m23*B.m33; + m21 = t1; + m22 = t2; + + t1 = m31*B.m11 + m32*B.m21 + m33*B.m31; + t2 = m31*B.m12 + m32*B.m22 + m33*B.m32; + m33 = m31*B.m13 + m32*B.m23 + m33*B.m33; + m31 = t1; + m32 = t2; +} + +// ****************************************************** +// * LinearMapR3 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + +LinearMapR3 operator* ( const LinearMapR3& A, const LinearMapR3& B) +{ + return( LinearMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31, + A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31, + A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31, + A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32, + A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32, + A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32, + A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33, + A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33, + A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33 ) ); +} + +double LinearMapR3::Determinant () const // Returns the determinant +{ + return ( m11*(m22*m33-m23*m32) + - m12*(m21*m33-m31*m23) + + m13*(m21*m23-m31*m22) ); +} + +LinearMapR3 LinearMapR3::Inverse() const // Returns inverse +{ + double sd11 = m22*m33-m23*m32; + double sd21 = m32*m13-m12*m33; + double sd31 = m12*m23-m22*m13; + double sd12 = m31*m23-m21*m33; + double sd22 = m11*m33-m31*m13; + double sd32 = m21*m13-m11*m23; + double sd13 = m21*m32-m31*m22; + double sd23 = m31*m12-m11*m32; + double sd33 = m11*m22-m21*m12; + + register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13); + + return( LinearMapR3( sd11*detInv, sd12*detInv, sd13*detInv, + sd21*detInv, sd22*detInv, sd23*detInv, + sd31*detInv, sd32*detInv, sd33*detInv ) ); +} + +LinearMapR3& LinearMapR3::Invert() // Converts into inverse. +{ + double sd11 = m22*m33-m23*m32; + double sd21 = m32*m13-m12*m33; + double sd31 = m12*m23-m22*m13; + double sd12 = m31*m23-m21*m33; + double sd22 = m11*m33-m31*m13; + double sd32 = m21*m13-m11*m23; + double sd13 = m21*m32-m31*m22; + double sd23 = m31*m12-m11*m32; + double sd33 = m11*m22-m21*m12; + + register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13); + + m11 = sd11*detInv; + m12 = sd21*detInv; + m13 = sd31*detInv; + m21 = sd12*detInv; + m22 = sd22*detInv; + m23 = sd32*detInv; + m31 = sd13*detInv; + m32 = sd23*detInv; + m33 = sd33*detInv; + + return ( *this ); +} + + +// ****************************************************** +// * AffineMapR3 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +AffineMapR3 operator* ( const AffineMapR3& A, const AffineMapR3& B ) +{ + return( AffineMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31, + A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31, + A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31, + A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32, + A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32, + A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32, + A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33, + A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33, + A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33, + A.m11*B.m14 + A.m12*B.m24 + A.m13*B.m34 + A.m14, + A.m21*B.m14 + A.m22*B.m24 + A.m23*B.m34 + A.m24, + A.m31*B.m14 + A.m32*B.m24 + A.m33*B.m34 + A.m34)); +} + +AffineMapR3 operator* ( const LinearMapR3& A, const AffineMapR3& B ) +{ + return( AffineMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31, + A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31, + A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31, + A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32, + A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32, + A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32, + A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33, + A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33, + A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33, + A.m11*B.m14 + A.m12*B.m24 + A.m13*B.m34, + A.m21*B.m14 + A.m22*B.m24 + A.m23*B.m34, + A.m31*B.m14 + A.m32*B.m24 + A.m33*B.m34 )); + +} + +AffineMapR3 operator* ( const AffineMapR3& A, const LinearMapR3& B ) +{ + return( AffineMapR3( A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31, + A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31, + A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31, + A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32, + A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32, + A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32, + A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33, + A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33, + A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33, + A.m14, + A.m24, + A.m34 ) ); +} + + +AffineMapR3 AffineMapR3::Inverse() const // Returns inverse +{ + double sd11 = m22*m33-m23*m32; + double sd21 = m32*m13-m12*m33; + double sd31 = m12*m23-m22*m13; + double sd12 = m31*m23-m21*m33; + double sd22 = m11*m33-m31*m13; + double sd32 = m21*m13-m11*m23; + double sd13 = m21*m32-m31*m22; + double sd23 = m31*m12-m11*m32; + double sd33 = m11*m22-m21*m12; + + register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13); + + // Make sd's hold the (transpose of) the inverse of the 3x3 part + sd11 *= detInv; + sd12 *= detInv; + sd13 *= detInv; + sd21 *= detInv; + sd22 *= detInv; + sd23 *= detInv; + sd31 *= detInv; + sd32 *= detInv; + sd33 *= detInv; + double sd41 = -(m14*sd11 + m24*sd21 + m34*sd31); + double sd42 = -(m14*sd12 + m24*sd22 + m34*sd32); + double sd43 = -(m14*sd12 + m24*sd23 + m34*sd33); + + return( AffineMapR3( sd11, sd12, sd13, + sd21, sd22, sd23, + sd31, sd32, sd33, + sd41, sd42, sd43 ) ); +} + +AffineMapR3& AffineMapR3::Invert() // Converts into inverse. +{ + double sd11 = m22*m33-m23*m32; + double sd21 = m32*m13-m12*m33; + double sd31 = m12*m23-m22*m13; + double sd12 = m31*m23-m21*m33; + double sd22 = m11*m33-m31*m13; + double sd32 = m21*m13-m11*m23; + double sd13 = m21*m32-m31*m22; + double sd23 = m31*m12-m11*m32; + double sd33 = m11*m22-m21*m12; + + register double detInv = 1.0/(m11*sd11 + m12*sd12 + m13*sd13); + + m11 = sd11*detInv; + m12 = sd21*detInv; + m13 = sd31*detInv; + m21 = sd12*detInv; + m22 = sd22*detInv; + m23 = sd32*detInv; + m31 = sd13*detInv; + m32 = sd23*detInv; + m33 = sd33*detInv; + double sd41 = -(m14*m11 + m24*m12 + m34*m13); // Compare to ::Inverse. + double sd42 = -(m14*m21 + m24*m22 + m34*m23); + double sd43 = -(m14*m31 + m24*m32 + m34*m33); + m14 = sd41; + m24 = sd42; + m34 = sd43; + + return ( *this ); +} + +// ************************************************************** +// * RotationMapR3 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +RotationMapR3 operator*(const RotationMapR3& A, const RotationMapR3& B) + // Matrix product (composition) +{ + return(RotationMapR3(A.m11*B.m11 + A.m12*B.m21 + A.m13*B.m31, + A.m21*B.m11 + A.m22*B.m21 + A.m23*B.m31, + A.m31*B.m11 + A.m32*B.m21 + A.m33*B.m31, + A.m11*B.m12 + A.m12*B.m22 + A.m13*B.m32, + A.m21*B.m12 + A.m22*B.m22 + A.m23*B.m32, + A.m31*B.m12 + A.m32*B.m22 + A.m33*B.m32, + A.m11*B.m13 + A.m12*B.m23 + A.m13*B.m33, + A.m21*B.m13 + A.m22*B.m23 + A.m23*B.m33, + A.m31*B.m13 + A.m32*B.m23 + A.m33*B.m33 ) ); +} + +RotationMapR3& RotationMapR3::Set( const Quaternion& quat ) +{ + double wSq = quat.w*quat.w; + double xSq = quat.x*quat.x; + double ySq = quat.y*quat.y; + double zSq = quat.z*quat.z; + double Dqwx = 2.0*quat.w*quat.x; + double Dqwy = 2.0*quat.w*quat.y; + double Dqwz = 2.0*quat.w*quat.z; + double Dqxy = 2.0*quat.x*quat.y; + double Dqyz = 2.0*quat.y*quat.z; + double Dqxz = 2.0*quat.x*quat.z; + m11 = wSq+xSq-ySq-zSq; + m22 = wSq-xSq+ySq-zSq; + m33 = wSq-xSq-ySq+zSq; + m12 = Dqxy-Dqwz; + m21 = Dqxy+Dqwz; + m13 = Dqxz+Dqwy; + m31 = Dqxz-Dqwy; + m23 = Dqyz-Dqwx; + m32 = Dqyz+Dqwx; + return *this; +} + +RotationMapR3& RotationMapR3::Set( const VectorR3& u, double theta ) +{ + assert ( fabs(u.NormSq()-1.0)<2.0e-6 ); + register double c = cos(theta); + register double s = sin(theta); + register double mc = 1.0-c; + double xmc = u.x*mc; + double xymc = xmc*u.y; + double xzmc = xmc*u.z; + double yzmc = u.y*u.z*mc; + double xs = u.x*s; + double ys = u.y*s; + double zs = u.z*s; + Matrix3x3::Set( u.x*u.x*mc+c, xymc+zs, xzmc-ys, + xymc-zs, u.y*u.y*mc+c, yzmc+xs, + xzmc+ys, yzmc-xs, u.z*u.z*mc+c ); + return *this; +} + +// The rotation axis vector u MUST be a UNIT vector!!! +RotationMapR3& RotationMapR3::Set( const VectorR3& u, double s, double c ) +{ + assert ( fabs(u.NormSq()-1.0)<2.0e-6 ); + double mc = 1.0-c; + double xmc = u.x*mc; + double xymc = xmc*u.y; + double xzmc = xmc*u.z; + double yzmc = u.y*u.z*mc; + double xs = u.x*s; + double ys = u.y*s; + double zs = u.z*s; + Matrix3x3::Set( u.x*u.x*mc+c, xymc+zs, xzmc-ys, + xymc-zs, u.y*u.y*mc+c, yzmc+xs, + xzmc+ys, yzmc-xs, u.z*u.z*mc+c ); + return *this; +} + + +// ToAxisAndAngle - find a unit vector in the direction of the rotation axis, +// and the angle theta of rotation. Returns true if the rotation angle is non-zero, +// and false if it is zero. +bool RotationMapR3::ToAxisAndAngle( VectorR3* u, double *theta ) const +{ + double alpha = m11+m22+m33-1.0; + double beta = sqrt(Square(m32-m23)+Square(m13-m31)+Square(m21-m12)); + if ( beta==0.0 ) { + *u = VectorR3::UnitY; + *theta = 0.0; + return false; + } + else { + u->Set(m32-m23, m13-m31, m21-m12); + *u /= beta; + *theta = atan2( beta, alpha ); + return true; + } +} + +// VrRotate is similar to glRotate. Returns a matrix (LinearMapR3) +// that will perform the rotation when multiplied on the left. +// u is supposed to be a *unit* vector. Otherwise, the LinearMapR3 +// returned will be garbage! +RotationMapR3 VrRotate( double theta, const VectorR3& u ) +{ + RotationMapR3 ret; + ret.Set( u, theta ); + return ret; +} + +// This version of rotate takes the cosine and sine of theta +// instead of theta. u must still be a unit vector. + +RotationMapR3 VrRotate( double c, double s, const VectorR3& u ) +{ + RotationMapR3 ret; + ret.Set( u, s, c ); + return ret; +} + +// Returns a RotationMapR3 which rotates the fromVec to be colinear +// with toVec. + +RotationMapR3 VrRotateAlign( const VectorR3& fromVec, const VectorR3& toVec) +{ + VectorR3 crossVec = fromVec; + crossVec *= toVec; + double sinetheta = crossVec.Norm(); // Not yet normalized! + if ( sinetheta < 1.0e-40 ) { + return ( RotationMapR3( + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0) ); + } + crossVec /= sinetheta; // Normalize the vector + double scale = 1.0/sqrt(fromVec.NormSq()*toVec.NormSq()); + sinetheta *= scale; + double cosinetheta = (fromVec^toVec)*scale; + return ( VrRotate( cosinetheta, sinetheta, crossVec) ); +} + +// RotateToMap returns a rotation map which rotates fromVec to have the +// same direction as toVec. +// fromVec and toVec should be unit vectors +RotationMapR3 RotateToMap( const VectorR3& fromVec, const VectorR3& toVec) +{ + VectorR3 crossVec = fromVec; + crossVec *= toVec; + double sintheta = crossVec.Norm(); + double costheta = fromVec^toVec; + if ( sintheta <= 1.0e-40 ) { + if ( costheta>0.0 ) { + return ( RotationMapR3( + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0) ); + } + else { + GetOrtho ( toVec, crossVec ); // Get arbitrary orthonormal vector + return( VrRotate(costheta, sintheta, crossVec ) ); + } + } + else { + crossVec /= sintheta; // Normalize the vector + return ( VrRotate( costheta, sintheta, crossVec) ); + } +} + +// ************************************************************** +// * RigidMapR3 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +// The rotation axis vector u MUST be a UNIT vector!!! +RigidMapR3& RigidMapR3::SetRotationPart( const VectorR3& u, double theta ) +{ + assert ( fabs(u.NormSq()-1.0)<2.0e-6 ); + register double c = cos(theta); + register double s = sin(theta); + register double mc = 1.0-c; + double xmc = u.x*mc; + double xymc = xmc*u.y; + double xzmc = xmc*u.z; + double yzmc = u.y*u.z*mc; + double xs = u.x*s; + double ys = u.y*s; + double zs = u.z*s; + Matrix3x4::Set3x3( u.x*u.x*mc+c, xymc+zs, xzmc-ys, + xymc-zs, u.y*u.y*mc+c, yzmc+xs, + xzmc+ys, yzmc-xs, u.z*u.z*mc+c ); + return *this; +} + +// The rotation axis vector u MUST be a UNIT vector!!! +RigidMapR3& RigidMapR3::SetRotationPart( const VectorR3& u, double s, double c ) +{ + assert ( fabs(u.NormSq()-1.0)<2.0e-6 ); + double mc = 1.0-c; + double xmc = u.x*mc; + double xymc = xmc*u.y; + double xzmc = xmc*u.z; + double yzmc = u.y*u.z*mc; + double xs = u.x*s; + double ys = u.y*s; + double zs = u.z*s; + Matrix3x4::Set3x3( u.x*u.x*mc+c, xymc+zs, xzmc-ys, + xymc-zs, u.y*u.y*mc+c, yzmc+xs, + xzmc+ys, yzmc-xs, u.z*u.z*mc+c ); + return *this; +} + + +// CalcGlideRotation - converts a rigid map into an equivalent +// glide rotation (screw motion). It returns the rotation axis +// as base point u, and a rotation axis v. The vectors u and v are +// always orthonormal. v will be a unit vector. +// It also returns the glide distance, which is the translation parallel +// to v. Further, it returns the signed rotation angle theta (right hand rule +// specifies the direction. +// The glide rotation means a rotation around the point u with axis direction v. +// Return code "true" if the rotation amount is non-zero. "false" if pure translation. +bool RigidMapR3::CalcGlideRotation( VectorR3* u, VectorR3* v, + double *glideDist, double *rotation ) const +{ + // Compare to the code for ToAxisAndAngle. + double alpha = m11+m22+m33-1.0; + double beta = sqrt(Square(m32-m23)+Square(m13-m31)+Square(m21-m12)); + if ( beta==0.0 ) { + double vN = m14*m14 + m24*m24 + m34*m34; + if ( vN>0.0 ) { + vN = sqrt(vN); + v->Set( m14, m24, m34 ); + *v /= vN; + *glideDist = vN; + } + else { + *v = VectorR3::UnitX; + *glideDist = 0.0; + } + u->SetZero(); + *rotation = 0; + return false; + } + else { + v->Set(m32-m23, m13-m31, m21-m12); + *v /= beta; // v - unit vector, rotation axis + *rotation = atan2( beta, alpha ); + u->Set( m14, m24, m34 ); + *glideDist = ((*u)^(*v)); + VectorR3 temp = *v; + temp *= *glideDist; + *u -= temp; // Subtract component in direction of rot. axis v + temp = *v; + temp *= *u; + temp /= tan((*rotation)/2); // temp = (v \times u) / tan(rotation/2) + *u += temp; + *u *= 0.5; + return true; + } + +} + +// *************************************************************** +// Linear Algebra Utilities * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns a righthanded orthonormal basis to complement vector u +void GetOrtho( const VectorR3& u, VectorR3& v, VectorR3& w) +{ + if ( u.x > 0.5 || u.x<-0.5 || u.y > 0.5 || u.y<-0.5 ) { + v.Set ( u.y, -u.x, 0.0 ); + } + else { + v.Set ( 0.0, u.z, -u.y); + } + v.Normalize(); + w = u; + w *= v; + w.Normalize(); + // w.NormalizeFast(); + return; +} + +// Returns a vector v orthonormal to unit vector u +void GetOrtho( const VectorR3& u, VectorR3& v ) +{ + if ( u.x > 0.5 || u.x<-0.5 || u.y > 0.5 || u.y<-0.5 ) { + v.Set ( u.y, -u.x, 0.0 ); + } + else { + v.Set ( 0.0, u.z, -u.y); + } + v.Normalize(); + return; +} + +// *************************************************************** +// Stream Output Routines * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +ostream& operator<< ( ostream& os, const VectorR3& u ) +{ + return (os << "<" << u.x << "," << u.y << "," << u.z << ">"); +} + +ostream& operator<< ( ostream& os, const Matrix3x3& A ) +{ + os << " <" << A.m11 << ", " << A.m12 << ", " << A.m13 << ">\n" + << " <" << A.m21 << ", " << A.m22 << ", " << A.m23 << ">\n" + << " <" << A.m31 << ", " << A.m32 << ", " << A.m33 << ">\n" ; + return (os); +} + +ostream& operator<< ( ostream& os, const Matrix3x4& A ) +{ + os << " <" << A.m11 << ", " << A.m12 << ", " << A.m13 + << "; " << A.m14 << ">\n" + << " <" << A.m21 << ", " << A.m22 << ", " << A.m23 + << "; " << A.m24 << ">\n" + << " <" << A.m31 << ", " << A.m32 << ", " << A.m33 + << "; " << A.m34 << ">\n" ; + return (os); +} + diff --git a/examples/ThirdPartyLibs/BussIK/LinearR3.h b/examples/ThirdPartyLibs/BussIK/LinearR3.h new file mode 100644 index 000000000..4b79d4eed --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/LinearR3.h @@ -0,0 +1,2027 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +// +// Linear Algebra Classes over R3 +// +// +// A. Vector and Position classes +// +// A.1. VectorR3: a real column vector of length 3. +// +// A.2. VectorHgR3: a column vector of length 4 which is +// the homogenous representation of a vector in 3-space +// +// B. Matrix Classes +// +// B.1 LinearMapR3 - arbitrary linear map; 3x3 real matrix +// +// B.2 AffineMapR3 - arbitrary affine map; a 3x4 real matrix +// +// B.3 RotationMapR3 - orthonormal 3x3 matrix +// +// B.4 RigidMapR3 - RotationMapR3 plus displacement +// + +#ifndef LINEAR_R3_H +#define LINEAR_R3_H + +#include +#include +#include +#include "MathMisc.h" +using namespace std; + +class VectorR3; // Space Vector (length 3) +class VectorHgR3; // Homogenous Space Vector +class VectorR4; // Space Vector (length 4) + +class LinearMapR3; // Linear Map (3x3 Matrix) +class AffineMapR3; // Affine Map (3x4 Matrix) +class RotationMapR3; // Rotation (3x3 orthonormal matrix) +class RigidMapR3; // 3x4 matrix, first 3 columns orthonormal + +// Most for internal use: +class Matrix3x3; +class Matrix3x4; + +class Quaternion; + +// ************************************** +// VectorR3 class * +// * * * * * * * * * * * * * * * * * * ** + +class VectorR3 { + +public: + double x, y, z; // The x & y & z coordinates. + + static const VectorR3 Zero; + static const VectorR3 UnitX; + static const VectorR3 UnitY; + static const VectorR3 UnitZ; + static const VectorR3 NegUnitX; + static const VectorR3 NegUnitY; + static const VectorR3 NegUnitZ; + +public: + VectorR3( ) : x(0.0), y(0.0), z(0.0) {} + VectorR3( double xVal, double yVal, double zVal ) + : x(xVal), y(yVal), z(zVal) {} + VectorR3( const VectorHgR3& uH ); + + VectorR3& Set( const Quaternion& ); // Convert quat to rotation vector + VectorR3& Set( double xx, double yy, double zz ) + { x=xx; y=yy; z=zz; return *this; } + VectorR3& SetFromHg( const VectorR4& ); // Convert homogeneous VectorR4 to VectorR3 + VectorR3& SetZero() { x=0.0; y=0.0; z=0.0; return *this;} + VectorR3& Load( const double* v ); + VectorR3& Load( const float* v ); + void Dump( double* v ) const; + void Dump( float* v ) const; + + inline double operator[]( int i ); + + VectorR3& operator= ( const VectorR3& v ) + { x=v.x; y=v.y; z=v.z; return(*this);} + VectorR3& operator+= ( const VectorR3& v ) + { x+=v.x; y+=v.y; z+=v.z; return(*this); } + VectorR3& operator-= ( const VectorR3& v ) + { x-=v.x; y-=v.y; z-=v.z; return(*this); } + VectorR3& operator*= ( double m ) + { x*=m; y*=m; z*=m; return(*this); } + VectorR3& operator/= ( double m ) + { register double mInv = 1.0/m; + x*=mInv; y*=mInv; z*=mInv; + return(*this); } + VectorR3 operator- () const { return ( VectorR3(-x, -y, -z) ); } + VectorR3& operator*= (const VectorR3& v); // Cross Product + VectorR3& ArrayProd(const VectorR3&); // Component-wise product + + VectorR3& AddScaled( const VectorR3& u, double s ); + + bool IsZero() const { return ( x==0.0 && y==0.0 && z==0.0 ); } + double Norm() const { return ( (double)sqrt( x*x + y*y + z*z ) ); } + double NormSq() const { return ( x*x + y*y + z*z ); } + double MaxAbs() const; + double Dist( const VectorR3& u ) const; // Distance from u + double DistSq( const VectorR3& u ) const; // Distance from u squared + VectorR3& Negate() { x = -x; y = -y; z = -z; return *this;} + VectorR3& Normalize () { *this /= Norm(); return *this;} // No error checking + inline VectorR3& MakeUnit(); // Normalize() with error checking + inline VectorR3& ReNormalize(); + bool IsUnit( ) const + { register double norm = Norm(); + return ( 1.000001>=norm && norm>=0.999999 ); } + bool IsUnit( double tolerance ) const + { register double norm = Norm(); + return ( 1.0+tolerance>=norm && norm>=1.0-tolerance ); } + bool NearZero(double tolerance) const { return( MaxAbs()<=tolerance );} + // tolerance should be non-negative + + double YaxisDistSq() const { return (x*x+z*z); } + double YaxisDist() const { return sqrt(x*x+z*z); } + + VectorR3& Rotate( double theta, const VectorR3& u); // rotate around u. + VectorR3& RotateUnitInDirection ( const VectorR3& dir); // rotate in direction dir + VectorR3& Rotate( const Quaternion& ); // Rotate according to quaternion + + friend ostream& operator<< ( ostream& os, const VectorR3& u ); + +}; + +inline VectorR3 operator+( const VectorR3& u, const VectorR3& v ); +inline VectorR3 operator-( const VectorR3& u, const VectorR3& v ); +inline VectorR3 operator*( const VectorR3& u, double m); +inline VectorR3 operator*( double m, const VectorR3& u); +inline VectorR3 operator/( const VectorR3& u, double m); +inline int operator==( const VectorR3& u, const VectorR3& v ); + +inline double operator^ (const VectorR3& u, const VectorR3& v ); // Dot Product +inline VectorR3 operator* (const VectorR3& u, const VectorR3& v); // Cross Product +inline VectorR3 ArrayProd ( const VectorR3& u, const VectorR3& v ); + +inline double Mag(const VectorR3& u) { return u.Norm(); } +inline double Dist(const VectorR3& u, const VectorR3& v) { return u.Dist(v); } +inline double DistSq(const VectorR3& u, const VectorR3& v) { return u.DistSq(v); } +inline double NormalizeError (const VectorR3& u); + +extern const VectorR3 UnitVecIR3; +extern const VectorR3 UnitVecJR3; +extern const VectorR3 UnitVecKR3; + +inline VectorR3 ToVectorR3( const Quaternion& q ) + {return VectorR3().Set(q);} + + +// **************************************** +// VectorHgR3 class * +// * * * * * * * * * * * * * * * * * * * ** + +class VectorHgR3 { + +public: + double x, y, z, w; // The x & y & z & w coordinates. + +public: + VectorHgR3( ) : x(0.0), y(0.0), z(0.0), w(1.0) {} + VectorHgR3( double xVal, double yVal, double zVal ) + : x(xVal), y(yVal), z(zVal), w(1.0) {} + VectorHgR3( double xVal, double yVal, double zVal, double wVal ) + : x(xVal), y(yVal), z(zVal), w(wVal) {} + VectorHgR3 ( const VectorR3& u ) : x(u.x), y(u.y), z(u.z), w(1.0) {} +}; + +// +// Advanced vector and position functions (prototypes) +// + +VectorR3 Interpolate( const VectorR3& start, const VectorR3& end, double a); + +// ***************************************** +// Matrix3x3 class * +// * * * * * * * * * * * * * * * * * * * * * + +class Matrix3x3 { +public: + + double m11, m12, m13, m21, m22, m23, m31, m32, m33; + + // Implements a 3x3 matrix: m_i_j - row-i and column-j entry + + static const Matrix3x3 Identity; + +public: + inline Matrix3x3(); + inline Matrix3x3(const VectorR3&, const VectorR3&, const VectorR3&); // Sets by columns! + inline Matrix3x3(double, double, double, double, double, double, + double, double, double ); // Sets by columns + + inline void SetIdentity (); // Set to the identity map + inline void Set ( const Matrix3x3& ); // Set to the matrix. + inline void Set3x3 ( const Matrix3x4& ); // Set to the 3x3 part of the matrix. + inline void Set( const VectorR3&, const VectorR3&, const VectorR3& ); + inline void Set( double, double, double, + double, double, double, + double, double, double ); + inline void SetByRows( double, double, double, double, double, double, + double, double, double ); + inline void SetByRows( const VectorR3&, const VectorR3&, const VectorR3& ); + + inline void SetColumn1 ( double, double, double ); + inline void SetColumn2 ( double, double, double ); + inline void SetColumn3 ( double, double, double ); + inline void SetColumn1 ( const VectorR3& ); + inline void SetColumn2 ( const VectorR3& ); + inline void SetColumn3 ( const VectorR3& ); + inline VectorR3 Column1() const; + inline VectorR3 Column2() const; + inline VectorR3 Column3() const; + + inline void SetRow1 ( double, double, double ); + inline void SetRow2 ( double, double, double ); + inline void SetRow3 ( double, double, double ); + inline void SetRow1 ( const VectorR3& ); + inline void SetRow2 ( const VectorR3& ); + inline void SetRow3 ( const VectorR3& ); + inline VectorR3 Row1() const; + inline VectorR3 Row2() const; + inline VectorR3 Row3() const; + + inline void SetDiagonal( double, double, double ); + inline void SetDiagonal( const VectorR3& ); + inline double Diagonal( int ); + + inline void MakeTranspose(); // Transposes it. + Matrix3x3& ReNormalize(); + VectorR3 Solve(const VectorR3&) const; // Returns solution + + inline void Transform( VectorR3* ) const; + inline void Transform( const VectorR3& src, VectorR3* dest) const; + +protected: + void OperatorTimesEquals( const Matrix3x3& ); // Internal use only + void SetZero (); // Set to the zero map + +}; + +inline VectorR3 operator* ( const Matrix3x3&, const VectorR3& ); + +ostream& operator<< ( ostream& os, const Matrix3x3& A ); + + +// ***************************************** +// Matrix3x4 class * +// * * * * * * * * * * * * * * * * * * * * * + +class Matrix3x4 +{ +public: + double m11, m12, m13, m21, m22, m23, m31, m32, m33; + double m14; + double m24; + double m34; + + static const Matrix3x4 Identity; + +public: + // Constructors set by columns! + Matrix3x4() {} + Matrix3x4(const VectorR3&, const VectorR3&, const VectorR3&, const VectorR3& ); + Matrix3x4(double, double, double, double, double, double, + double, double, double, double, double, double ); // Sets by columns + Matrix3x4( const Matrix3x3&, const VectorR3& ); + + void SetIdentity (); // Set to the identity map + void Set ( const Matrix3x4& ); // Set to the matrix. + void Set3x3 ( const Matrix3x3& ); // Set linear part to the matrix. + void Set ( const Matrix3x3&, const VectorR3& ); // Set to the matrix plus 4th column + void Set( const VectorR3&, const VectorR3&, const VectorR3&, const VectorR3& ); + void Set( double, double, double, + double, double, double, + double, double, double, + double, double, double ); // Sets by columns + void Set3x3( double, double, double, + double, double, double, + double, double, double ); // Sets by columns + void SetByRows( double, double, double, double, double, double, + double, double, double, double, double, double ); + + void SetColumn1 ( double, double, double ); + void SetColumn2 ( double, double, double ); + void SetColumn3 ( double, double, double ); + void SetColumn4 ( double, double, double ); + void SetColumn1 ( const VectorR3& ); + void SetColumn2 ( const VectorR3& ); + void SetColumn3 ( const VectorR3& ); + void SetColumn4 ( const VectorR3& ); + VectorR3 Column1() const; + VectorR3 Column2() const; + VectorR3 Column3() const; + VectorR3 Column4() const; + void SetRow1 ( double x, double y, double z, double w ); + void SetRow2 ( double x, double y, double z, double w ); + void SetRow3 ( double x, double y, double z, double w ); + void SetRow4 ( double x, double y, double z, double w ); + + Matrix3x4& ApplyTranslationLeft( const VectorR3& u ); + Matrix3x4& ApplyTranslationRight( const VectorR3& u ); + Matrix3x4& ApplyYRotationLeft( double theta ); + Matrix3x4& ApplyYRotationLeft( double costheta, double sintheta ); + + Matrix3x4& ReNormalize(); + VectorR3 Solve(const VectorR3&) const; // Returns solution + + inline void Transform( VectorR3* ) const; + inline void Transform3x3( VectorR3* ) const; + inline void Transform( const VectorR3& src, VectorR3* dest ) const; + inline void Transform3x3( const VectorR3& src, VectorR3* dest ) const; + inline void Transform3x3Transpose( VectorR3* dest ) const; + inline void Transform3x3Transpose( const VectorR3& src, VectorR3* dest ) const; + +protected: + void SetZero (); // Set to the zero map + void OperatorTimesEquals( const Matrix3x3& ); // Internal use only + void OperatorTimesEquals( const Matrix3x4& ); // Internal use only +}; + +inline VectorR3 operator* ( const Matrix3x4&, const VectorR3& ); + +ostream& operator<< ( ostream& os, const Matrix3x4& A ); + +// ***************************************** +// LinearMapR3 class * +// * * * * * * * * * * * * * * * * * * * * * + +class LinearMapR3 : public Matrix3x3 { + +public: + + LinearMapR3(); + LinearMapR3( const VectorR3&, const VectorR3&, const VectorR3& ); + LinearMapR3( double, double, double, double, double, double, + double, double, double ); // Sets by columns + LinearMapR3 ( const Matrix3x3& ); + + void SetZero (); // Set to the zero map + inline void Negate(); + + inline LinearMapR3& operator+= (const Matrix3x3& ); + inline LinearMapR3& operator-= (const Matrix3x3& ); + inline LinearMapR3& operator*= (double); + inline LinearMapR3& operator/= (double); + LinearMapR3& operator*= (const Matrix3x3& ); // Matrix product + + inline LinearMapR3 Transpose() const; // Returns the transpose + double Determinant () const; // Returns the determinant + LinearMapR3 Inverse() const; // Returns inverse + LinearMapR3& Invert(); // Converts into inverse. + VectorR3 Solve(const VectorR3&) const; // Returns solution + LinearMapR3 PseudoInverse() const; // Returns pseudo-inverse TO DO + VectorR3 PseudoSolve(const VectorR3&); // Finds least squares solution TO DO + +}; + +inline LinearMapR3 operator+ (const LinearMapR3&, const Matrix3x3&); +inline LinearMapR3 operator+ (const Matrix3x3&, const LinearMapR3&); +inline LinearMapR3 operator- (const LinearMapR3&); +inline LinearMapR3 operator- (const LinearMapR3&, const Matrix3x3&); +inline LinearMapR3 operator- (const Matrix3x3&, const LinearMapR3&); +inline LinearMapR3 operator* ( const LinearMapR3&, double); +inline LinearMapR3 operator* ( double, const LinearMapR3& ); +inline LinearMapR3 operator/ ( const LinearMapR3&, double ); +LinearMapR3 operator* ( const LinearMapR3&, const LinearMapR3& ); + // Matrix product (composition) + + +// ***************************************************** +// * AffineMapR3 class * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * + +class AffineMapR3 : public Matrix3x4 { + +public: + AffineMapR3(); + AffineMapR3( double, double, double, double, double, double, + double, double, double, double, double, double ); // Sets by columns + AffineMapR3 ( const VectorR3&, const VectorR3&, const VectorR3&, const VectorR3&); + AffineMapR3 ( const LinearMapR3&, const VectorR3& ); + + void SetIdentity (); // Set to the identity map + void SetZero (); // Set to the zero map + + AffineMapR3& operator+= (const Matrix3x4& ); + AffineMapR3& operator-= (const Matrix3x4& ); + AffineMapR3& operator*= (double); + AffineMapR3& operator/= (double); + AffineMapR3& operator*= (const Matrix3x3& ); // Composition + AffineMapR3& operator*= (const Matrix3x4& ); // Composition + + AffineMapR3& ApplyTranslationLeft( const VectorR3& u ) + { Matrix3x4::ApplyTranslationLeft( u ); return *this; } + AffineMapR3& ApplyTranslationRight( const VectorR3& u ) + { Matrix3x4::ApplyTranslationRight( u ); return *this; } + AffineMapR3& ApplyYRotationLeft( double theta ) + { Matrix3x4::ApplyYRotationLeft( theta ); return *this; } + AffineMapR3& ApplyYRotationLeft( double costheta, double sintheta ) + { Matrix3x4::ApplyYRotationLeft( costheta, sintheta ); return *this; } + + AffineMapR3 Inverse() const; // Returns inverse + AffineMapR3& Invert(); // Converts into inverse. + VectorR3 Solve(const VectorR3&) const; // Returns solution + AffineMapR3 PseudoInverse() const; // Returns pseudo-inverse // TO DO + VectorR3 PseudoSolve(const VectorR3&); // Least squares solution // TO DO +}; + +inline AffineMapR3 operator+ (const AffineMapR3&, const Matrix3x4&); +inline AffineMapR3 operator+ (const Matrix3x4&, const AffineMapR3&); +inline AffineMapR3 operator+ (const AffineMapR3&, const Matrix3x3&); +inline AffineMapR3 operator+ (const Matrix3x3&, const AffineMapR3&); +inline AffineMapR3 operator- (const AffineMapR3&, const Matrix3x4&); +inline AffineMapR3 operator- (const Matrix3x4&, const AffineMapR3&); +inline AffineMapR3 operator- (const AffineMapR3&, const Matrix3x3&); +inline AffineMapR3 operator- (const Matrix3x3&, const AffineMapR3&); +inline AffineMapR3 operator* (const AffineMapR3&, double); +inline AffineMapR3 operator* (double, const AffineMapR3& ); +inline AffineMapR3 operator/ (const AffineMapR3&, double ); + +// Composition operators +AffineMapR3 operator* ( const AffineMapR3&, const AffineMapR3& ); +AffineMapR3 operator* ( const LinearMapR3&, const AffineMapR3& ); +AffineMapR3 operator* ( const AffineMapR3&, const LinearMapR3& ); + + +// ******************************************* +// RotationMapR3 class * +// * * * * * * * * * * * * * * * * * * * * * * + +class RotationMapR3 : public Matrix3x3 { + +public: + + RotationMapR3(); + RotationMapR3( const VectorR3&, const VectorR3&, const VectorR3& ); + RotationMapR3( double, double, double, double, double, double, + double, double, double ); + + RotationMapR3& Set( const Quaternion& ); + RotationMapR3& Set( const VectorR3&, double theta ); // Set rotation axis and angle + RotationMapR3& Set( const VectorR3&, double sintheta, double costheta ); + + RotationMapR3& operator*= (const RotationMapR3& ); // Matrix product + + RotationMapR3 Transpose() const { return Inverse(); }; // Returns the transpose + RotationMapR3 Inverse() const; // Returns inverse + RotationMapR3& Invert(); // Converts into inverse. + VectorR3 Solve(const VectorR3&) const; // Returns solution // Was named Invert + + bool ToAxisAndAngle( VectorR3* u, double* theta ) const; // returns unit vector u and angle + +}; + +RotationMapR3 operator* ( const RotationMapR3&, const RotationMapR3& ); + // Matrix product (composition) + +inline RotationMapR3 ToRotationMapR3( const Quaternion& q ) + { return( RotationMapR3().Set(q) ); } + +ostream& operator<< ( ostream& os, const RotationMapR3& A ); + + + +// *************************************************************** +// * RigidMapR3 class - prototypes. * * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +class RigidMapR3 : public Matrix3x4 +{ + +public: + RigidMapR3(); + RigidMapR3( const VectorR3&, const VectorR3&, const VectorR3&, const VectorR3& ); + RigidMapR3( double, double, double, double, double, double, + double, double, double, double, double, double ); + RigidMapR3( const Matrix3x3&, const VectorR3& ); + + RigidMapR3& Set( const Matrix3x3&, const VectorR3& ); // Set to RotationMap & Vector + RigidMapR3& SetTranslationPart( const VectorR3& ); // Set the translation part + RigidMapR3& SetTranslationPart( double, double, double ); // Set the translation part + RigidMapR3& SetRotationPart( const Matrix3x3& ); // Set the rotation part + RigidMapR3& SetRotationPart( const Quaternion& ); + RigidMapR3& SetRotationPart( const VectorR3&, double theta ); // Set rotation axis and angle + RigidMapR3& SetRotationPart( const VectorR3&, double sintheta, double costheta ); + + RigidMapR3& ApplyTranslationLeft( const VectorR3& u ) + {Matrix3x4::ApplyTranslationLeft( u ); return *this;} + RigidMapR3& ApplyTranslationRight( const VectorR3& u ) + {Matrix3x4::ApplyTranslationRight( u ); return *this;} + RigidMapR3& ApplyYRotationLeft( double theta ) + { Matrix3x4::ApplyYRotationLeft( theta ); return *this; } + RigidMapR3& ApplyYRotationLeft( double costheta, double sintheta ) + { Matrix3x4::ApplyYRotationLeft( costheta, sintheta ); return *this; } + + RigidMapR3& operator*=(const RotationMapR3& ); // Composition + RigidMapR3& operator*=(const RigidMapR3& ); // Composition + + RigidMapR3 Inverse() const; // Returns inverse + RigidMapR3& Invert(); // Converts into inverse. + + bool CalcGlideRotation( VectorR3* u, VectorR3* v, + double *glideDist, double *rotation ) const; + + void Transform3x3Inverse( VectorR3* dest ) const + { Matrix3x4::Transform3x3Transpose( dest ); } + void Transform3x3Inverse( const VectorR3& src, VectorR3* dest ) const + { Matrix3x4::Transform3x3Transpose( src, dest ); } + +}; + + +// *************************************************************** +// * 3-space vector and matrix utilities (prototypes) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns the solid angle between vectors v and w. +inline double SolidAngle( const VectorR3& v, const VectorR3& w); + +// Returns a righthanded orthonormal basis to complement unit vector x +void GetOrtho( const VectorR3& x, VectorR3& y, VectorR3& z); +// Returns a vector v orthonormal to unit vector x +void GetOrtho( const VectorR3& x, VectorR3& y ); + +// Projections + +// The next three functions are templated below. +//inline VectorR3 ProjectToUnit ( const VectorR3& u, const VectorR3& v); // Project u onto v +//inline VectorR3 ProjectPerpUnit ( const VectorR3& u, const VectorR3 & v); // Project perp to v +//inline VectorR3 ProjectPerpUnitDiff ( const VectorR3& u, const VectorR3& v) +// v must be a unit vector. + +// Projection maps (LinearMapR3s) + +inline LinearMapR3 VectorProjectMap( const VectorR3& u ); +inline LinearMapR3 PlaneProjectMap ( const VectorR3& w ); +inline LinearMapR3 PlaneProjectMap ( const VectorR3& u, const VectorR3 &v ); +// u,v,w - must be unit vector. u and v must be orthonormal and +// specify the plane they are parallel to. w specifies the plane +// it is orthogonal to. + +// VrRotate is similar to glRotate. Returns a matrix (RotationMapR3) +// that will perform the rotation. u should be a unit vector. +RotationMapR3 VrRotate( double theta, const VectorR3& u ); +RotationMapR3 VrRotate( double costheta, double sintheta, const VectorR3& u ); +RotationMapR3 VrRotateAlign( const VectorR3& fromVec, const VectorR3& toVec); +RotationMapR3 RotateToMap( const VectorR3& fromVec, const VectorR3& toVec); +// fromVec and toVec should be unit vectors for RotateToMap + +// *************************************************************** +// * Stream Output Routines (Prototypes) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +ostream& operator<< ( ostream& os, const VectorR3& u ); + + +// ***************************************************** +// * VectorR3 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * + +inline VectorR3& VectorR3::Load( const double* v ) +{ + x = *v; + y = *(v+1); + z = *(v+2); + return *this; +} + +inline VectorR3& VectorR3::Load( const float* v ) +{ + x = *v; + y = *(v+1); + z = *(v+2); + return *this; +} + +inline void VectorR3::Dump( double* v ) const +{ + *v = x; + *(v+1) = y; + *(v+2) = z; +} + +inline void VectorR3::Dump( float* v ) const +{ + *v = (float)x; + *(v+1) = (float)y; + *(v+2) = (float)z; +} + +inline double VectorR3::operator[]( int i ) +{ + switch (i) { + case 0: + return x; + case 1: + return y; + case 2: + return z; + default: + assert(0); + return 0.0; + } +} + +inline VectorR3& VectorR3::MakeUnit () // Convert to unit vector (or leave zero). +{ + double nSq = NormSq(); + if (nSq != 0.0) { + *this /= sqrt(nSq); + } + return *this; +} + +inline VectorR3 operator+( const VectorR3& u, const VectorR3& v ) +{ + return VectorR3(u.x+v.x, u.y+v.y, u.z+v.z); +} +inline VectorR3 operator-( const VectorR3& u, const VectorR3& v ) +{ + return VectorR3(u.x-v.x, u.y-v.y, u.z-v.z); +} +inline VectorR3 operator*( const VectorR3& u, register double m) +{ + return VectorR3( u.x*m, u.y*m, u.z*m); +} +inline VectorR3 operator*( register double m, const VectorR3& u) +{ + return VectorR3( u.x*m, u.y*m, u.z*m); +} +inline VectorR3 operator/( const VectorR3& u, double m) +{ + register double mInv = 1.0/m; + return VectorR3( u.x*mInv, u.y*mInv, u.z*mInv); +} + +inline int operator==( const VectorR3& u, const VectorR3& v ) +{ + return ( u.x==v.x && u.y==v.y && u.z==v.z ); +} + +inline double operator^ ( const VectorR3& u, const VectorR3& v ) // Dot Product +{ + return ( u.x*v.x + u.y*v.y + u.z*v.z ); +} + +inline VectorR3 operator* (const VectorR3& u, const VectorR3& v) // Cross Product +{ + return (VectorR3( u.y*v.z - u.z*v.y, + u.z*v.x - u.x*v.z, + u.x*v.y - u.y*v.x ) ); +} + +inline VectorR3 ArrayProd ( const VectorR3& u, const VectorR3& v ) +{ + return ( VectorR3( u.x*v.x, u.y*v.y, u.z*v.z ) ); +} + +inline VectorR3& VectorR3::operator*= (const VectorR3& v) // Cross Product +{ + double tx=x, ty=y; + x = y*v.z - z*v.y; + y = z*v.x - tx*v.z; + z = tx*v.y - ty*v.x; + return ( *this ); +} + +inline VectorR3& VectorR3::ArrayProd (const VectorR3& v) // Component-wise Product +{ + x *= v.x; + y *= v.y; + z *= v.z; + return ( *this ); +} + +inline VectorR3& VectorR3::AddScaled( const VectorR3& u, double s ) +{ + x += s*u.x; + y += s*u.y; + z += s*u.z; + return(*this); +} + +inline VectorR3::VectorR3( const VectorHgR3& uH ) +: x(uH.x), y(uH.y), z(uH.z) +{ + *this /= uH.w; +} + +inline VectorR3& VectorR3::ReNormalize() // Convert near unit back to unit +{ + double nSq = NormSq(); + register double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor + *this *= mFact; + return *this; +} + +inline double NormalizeError (const VectorR3& u) +{ + register double discrepancy; + discrepancy = u.x*u.x + u.y*u.y + u.z*u.z - 1.0; + if ( discrepancy < 0.0 ) { + discrepancy = -discrepancy; + } + return discrepancy; +} + +inline double VectorR3::Dist( const VectorR3& u ) const // Distance from u +{ + return sqrt( DistSq(u) ); +} + +inline double VectorR3::DistSq( const VectorR3& u ) const // Distance from u +{ + return ( (x-u.x)*(x-u.x) + (y-u.y)*(y-u.y) + (z-u.z)*(z-u.z) ); +} + +// +// Interpolation routines (not just Spherical Interpolation) +// + +// Interpolate(start,end,frac) - linear interpolation +// - allows overshooting the end points +inline VectorR3 Interpolate( const VectorR3& start, const VectorR3& end, double a) +{ + VectorR3 ret; + Lerp( start, end, a, ret ); + return ret; +} + + +// ****************************************************** +// * Matrix3x3 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline Matrix3x3::Matrix3x3() {} + +inline Matrix3x3::Matrix3x3( const VectorR3& u, const VectorR3& v, + const VectorR3& s ) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m13 = s.x; // Column 3 + m23 = s.y; + m33 = s.z; +} + +inline Matrix3x3::Matrix3x3( double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; +} + +inline void Matrix3x3::SetIdentity ( ) +{ + m11 = m22 = m33 = 1.0; + m12 = m13 = m21 = m23 = m31 = m32 = 0.0; +} + +inline void Matrix3x3::SetZero( ) +{ + m11 = m12 = m13 = m21 = m22 = m23 = m31 = m32 = m33 = 0.0; +} + +inline void Matrix3x3::Set ( const Matrix3x3& A ) // Set to the matrix. +{ + m11 = A.m11; + m21 = A.m21; + m31 = A.m31; + m12 = A.m12; + m22 = A.m22; + m32 = A.m32; + m13 = A.m13; + m23 = A.m23; + m33 = A.m33; +} + +inline void Matrix3x3::Set3x3 ( const Matrix3x4& A ) // Set to the 3x3 part of the matrix. +{ + m11 = A.m11; + m21 = A.m21; + m31 = A.m31; + m12 = A.m12; + m22 = A.m22; + m32 = A.m32; + m13 = A.m13; + m23 = A.m23; + m33 = A.m33; +} + +inline void Matrix3x3::Set( const VectorR3& u, const VectorR3& v, + const VectorR3& w) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m13 = w.x; // Column 3 + m23 = w.y; + m33 = w.z; +} + +inline void Matrix3x3::Set( double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; +} + +inline void Matrix3x3::SetByRows( double a11, double a12, double a13, + double a21, double a22, double a23, + double a31, double a32, double a33) + // Values specified in row order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; +} + +inline void Matrix3x3::SetByRows( const VectorR3& u, const VectorR3& v, + const VectorR3& s ) +{ + m11 = u.x; // Row 1 + m12 = u.y; + m13 = u.z; + m21 = v.x; // Row 2 + m22 = v.y; + m23 = v.z; + m31 = s.x; // Row 3 + m32 = s.y; + m33 = s.z; +} + +inline void Matrix3x3::SetColumn1 ( double x, double y, double z) +{ + m11 = x; m21 = y; m31= z; +} + +inline void Matrix3x3::SetColumn2 ( double x, double y, double z) +{ + m12 = x; m22 = y; m32= z; +} + +inline void Matrix3x3::SetColumn3 ( double x, double y, double z) +{ + m13 = x; m23 = y; m33= z; +} + +inline void Matrix3x3::SetColumn1 ( const VectorR3& u ) +{ + m11 = u.x; m21 = u.y; m31 = u.z; +} + +inline void Matrix3x3::SetColumn2 ( const VectorR3& u ) +{ + m12 = u.x; m22 = u.y; m32 = u.z; +} + +inline void Matrix3x3::SetColumn3 ( const VectorR3& u ) +{ + m13 = u.x; m23 = u.y; m33 = u.z; +} + +inline void Matrix3x3::SetRow1 ( double x, double y, double z ) +{ + m11 = x; + m12 = y; + m13 = z; +} + +inline void Matrix3x3::SetRow2 ( double x, double y, double z ) +{ + m21 = x; + m22 = y; + m23 = z; +} + +inline void Matrix3x3::SetRow3 ( double x, double y, double z ) +{ + m31 = x; + m32 = y; + m33 = z; +} + + + +inline VectorR3 Matrix3x3::Column1() const +{ + return ( VectorR3(m11, m21, m31) ); +} + +inline VectorR3 Matrix3x3::Column2() const +{ + return ( VectorR3(m12, m22, m32) ); +} + +inline VectorR3 Matrix3x3::Column3() const +{ + return ( VectorR3(m13, m23, m33) ); +} + +inline VectorR3 Matrix3x3::Row1() const +{ + return ( VectorR3(m11, m12, m13) ); +} + +inline VectorR3 Matrix3x3::Row2() const +{ + return ( VectorR3(m21, m22, m23) ); +} + +inline VectorR3 Matrix3x3::Row3() const +{ + return ( VectorR3(m31, m32, m33) ); +} + +inline void Matrix3x3::SetDiagonal( double x, double y, double z ) +{ + m11 = x; + m22 = y; + m33 = z; +} + +inline void Matrix3x3::SetDiagonal( const VectorR3& u ) +{ + SetDiagonal ( u.x, u.y, u.z ); +} + +inline double Matrix3x3::Diagonal( int i ) +{ + switch (i) { + case 0: + return m11; + case 1: + return m22; + case 2: + return m33; + default: + assert(0); + return 0.0; + } +} + +inline void Matrix3x3::MakeTranspose() // Transposes it. +{ + register double temp; + temp = m12; + m12 = m21; + m21=temp; + temp = m13; + m13 = m31; + m31 = temp; + temp = m23; + m23 = m32; + m32 = temp; +} + +inline VectorR3 operator* ( const Matrix3x3& A, const VectorR3& u) +{ + return( VectorR3( A.m11*u.x + A.m12*u.y + A.m13*u.z, + A.m21*u.x + A.m22*u.y + A.m23*u.z, + A.m31*u.x + A.m32*u.y + A.m33*u.z ) ); +} + +inline void Matrix3x3::Transform( VectorR3* u ) const { + double newX, newY; + newX = m11*u->x + m12*u->y + m13*u->z; + newY = m21*u->x + m22*u->y + m23*u->z; + u->z = m31*u->x + m32*u->y + m33*u->z; + u->x = newX; + u->y = newY; +} + +inline void Matrix3x3::Transform( const VectorR3& src, VectorR3* dest ) const { + dest->x = m11*src.x + m12*src.y + m13*src.z; + dest->y = m21*src.x + m22*src.y + m23*src.z; + dest->z = m31*src.x + m32*src.y + m33*src.z; +} + + +// ****************************************************** +// * Matrix3x4 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline Matrix3x4::Matrix3x4(const VectorR3& u, const VectorR3& v, + const VectorR3& s, const VectorR3& t) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m13 = s.x; // Column 3 + m23 = s.y; + m33 = s.z; + m14 = t.x; + m24 = t.y; + m34 = t.z; +} + +inline Matrix3x4::Matrix3x4(double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33, + double a14, double a24, double a34) +{ // Values in COLUMN order! + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; +} + +inline Matrix3x4::Matrix3x4( const Matrix3x3& A, const VectorR3& u ) +{ + Set(A, u); +} + +inline void Matrix3x4::SetIdentity () // Set to the identity map +{ + m11 = m22 = m33 = 1.0; + m12 = m13 = m21 = m23 = m31 = m32 = 0.0; + m14 = m24 = m34 = 0.0; +} + +inline void Matrix3x4::SetZero () // Set to the zero map +{ + m11 = m22 = m33 = 0.0; + m12 = m13 = m21 = m23 = m31 = m32 = 0.0; + m14 = m24 = m34 = 0.0; +} + +inline void Matrix3x4::Set ( const Matrix3x4& A ) // Set to the matrix. +{ + m11 = A.m11; + m21 = A.m21; + m31 = A.m31; + m12 = A.m12; + m22 = A.m22; + m32 = A.m32; + m13 = A.m13; + m23 = A.m23; + m33 = A.m33; + m14 = A.m14; + m24 = A.m24; + m34 = A.m34; +} + +inline void Matrix3x4::Set ( const Matrix3x3& A, const VectorR3& t ) // Set to the matrix plus 4th column +{ + m11 = A.m11; + m21 = A.m21; + m31 = A.m31; + m12 = A.m12; + m22 = A.m22; + m32 = A.m32; + m13 = A.m13; + m23 = A.m23; + m33 = A.m33; + m14 = t.x; // Column 4 + m24 = t.y; + m34 = t.z; +} + +// Set linear part to the matrix +inline void Matrix3x4::Set3x3 ( const Matrix3x3& A ) +{ + m11 = A.m11; + m21 = A.m21; + m31 = A.m31; + m12 = A.m12; + m22 = A.m22; + m32 = A.m32; + m13 = A.m13; + m23 = A.m23; + m33 = A.m33; +} + +inline void Matrix3x4::Set( const VectorR3& u, const VectorR3& v, + const VectorR3& w, const VectorR3& t ) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m13 = w.x; // Column 3 + m23 = w.y; + m33 = w.z; + m14 = t.x; // Column 4 + m24 = t.y; + m34 = t.z; +} + +inline void Matrix3x4::Set( double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33, + double a14, double a24, double a34 ) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; +} + +inline void Matrix3x4::Set3x3( double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33 ) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; +} + +inline void Matrix3x4::SetByRows( double a11, double a12, double a13, double a14, + double a21, double a22, double a23, double a24, + double a31, double a32, double a33, double a34 ) + // Values specified in row order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; +} + +inline void Matrix3x4::SetColumn1 ( double x, double y, double z) +{ + m11 = x; m21 = y; m31= z; +} + +inline void Matrix3x4::SetColumn2 ( double x, double y, double z) +{ + m12 = x; m22 = y; m32= z; +} + +inline void Matrix3x4::SetColumn3 ( double x, double y, double z) +{ + m13 = x; m23 = y; m33= z; +} + +inline void Matrix3x4::SetColumn4 ( double x, double y, double z ) +{ + m14 = x; m24 = y; m34= z; +} + +inline void Matrix3x4::SetColumn1 ( const VectorR3& u ) +{ + m11 = u.x; m21 = u.y; m31 = u.z; +} + +inline void Matrix3x4::SetColumn2 ( const VectorR3& u ) +{ + m12 = u.x; m22 = u.y; m32 = u.z; +} + +inline void Matrix3x4::SetColumn3 ( const VectorR3& u ) +{ + m13 = u.x; m23 = u.y; m33 = u.z; +} + +inline void Matrix3x4::SetColumn4 ( const VectorR3& u ) +{ + m14 = u.x; m24 = u.y; m34 = u.z; +} + +inline VectorR3 Matrix3x4::Column1() const +{ + return ( VectorR3(m11, m21, m31) ); +} + +inline VectorR3 Matrix3x4::Column2() const +{ + return ( VectorR3(m12, m22, m32) ); +} + +inline VectorR3 Matrix3x4::Column3() const +{ + return ( VectorR3(m13, m23, m33) ); +} + +inline VectorR3 Matrix3x4::Column4() const +{ + return ( VectorR3(m14, m24, m34) ); +} + +inline void Matrix3x4::SetRow1 ( double x, double y, double z, double w ) +{ + m11 = x; + m12 = y; + m13 = z; + m14 = w; +} + +inline void Matrix3x4::SetRow2 ( double x, double y, double z, double w ) +{ + m21 = x; + m22 = y; + m23 = z; + m24 = w; +} + +inline void Matrix3x4::SetRow3 ( double x, double y, double z, double w ) +{ + m31 = x; + m32 = y; + m33 = z; + m34 = w; +} + +// Left multiply with a translation (so the translation is applied afterwards). +inline Matrix3x4& Matrix3x4::ApplyTranslationLeft( const VectorR3& u ) +{ + m14 += u.x; + m24 += u.y; + m34 += u.z; + return *this; +} + +// Right multiply with a translation (so the translation is applied first). +inline Matrix3x4& Matrix3x4::ApplyTranslationRight( const VectorR3& u ) +{ + double new14 = m14 + m11*u.x + m12*u.y + m13*u.z; + double new24 = m24 + m21*u.x + m22*u.y + m23*u.z; + m34 = m34 + m31*u.x + m32*u.y + m33*u.z; + m14 = new14; + m24 = new24; + return *this; +} + +// Left-multiply with a rotation around the y-axis. +inline Matrix3x4& Matrix3x4::ApplyYRotationLeft( double theta ) +{ + double costheta = cos(theta); + double sintheta = sin(theta); + return ApplyYRotationLeft( costheta, sintheta ); +} + +inline Matrix3x4& Matrix3x4::ApplyYRotationLeft( double costheta, double sintheta ) +{ + double tmp; + tmp = costheta*m11+sintheta*m31; + m31 = costheta*m31-sintheta*m11; + m11 = tmp; + + tmp = costheta*m12+sintheta*m32; + m32 = costheta*m32-sintheta*m12; + m12 = tmp; + + tmp = costheta*m13+sintheta*m33; + m33 = costheta*m33-sintheta*m13; + m13 = tmp; + + tmp = costheta*m14+sintheta*m34; + m34 = costheta*m34-sintheta*m14; + m14 = tmp; + + return *this; +} + +inline VectorR3 Matrix3x4::Solve(const VectorR3& u) const // Returns solution +{ + Matrix3x3 A; + A.Set3x3(*this); + return ( A.Solve( VectorR3(m14-u.x, m24-u.y, m34-u.z) ) ); +} + +inline void Matrix3x4::Transform( VectorR3* u ) const { + double newX, newY; + newX = m11*u->x + m12*u->y + m13*u->z + m14; + newY = m21*u->x + m22*u->y + m23*u->z + m24; + u->z = m31*u->x + m32*u->y + m33*u->z + m34; + u->x = newX; + u->y = newY; +} + +inline void Matrix3x4::Transform3x3( VectorR3* u ) const { + double newX, newY; + newX = m11*u->x + m12*u->y + m13*u->z; + newY = m21*u->x + m22*u->y + m23*u->z; + u->z = m31*u->x + m32*u->y + m33*u->z; + u->x = newX; + u->y = newY; +} + +inline void Matrix3x4::Transform( const VectorR3& src, VectorR3* dest ) const { + dest->x = m11*src.x + m12*src.y + m13*src.z + m14; + dest->y = m21*src.x + m22*src.y + m23*src.z + m24; + dest->z = m31*src.x + m32*src.y + m33*src.z + m34; +} + +inline void Matrix3x4::Transform3x3( const VectorR3& src, VectorR3* dest ) const { + dest->x = m11*src.x + m12*src.y + m13*src.z; + dest->y = m21*src.x + m22*src.y + m23*src.z; + dest->z = m31*src.x + m32*src.y + m33*src.z; +} + +inline void Matrix3x4::Transform3x3Transpose( VectorR3* u ) const { + double newX, newY; + newX = m11*u->x + m21*u->y + m31*u->z; + newY = m12*u->x + m22*u->y + m32*u->z; + u->z = m13*u->x + m23*u->y + m33*u->z; + u->x = newX; + u->y = newY; +} + +inline void Matrix3x4::Transform3x3Transpose( const VectorR3& src, VectorR3* dest ) const { + dest->x = m11*src.x + m21*src.y + m31*src.z; + dest->y = m12*src.x + m22*src.y + m32*src.z; + dest->z = m13*src.x + m23*src.y + m33*src.z; +} + +inline VectorR3 operator* ( const Matrix3x4& A, const VectorR3& u ) +{ + return( VectorR3( A.m11*u.x + A.m12*u.y + A.m13*u.z + A.m14, + A.m21*u.x + A.m22*u.y + A.m23*u.z + A.m24, + A.m31*u.x + A.m32*u.y + A.m33*u.z + A.m34) ); +} + + +// ****************************************************** +// * LinearMapR3 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline LinearMapR3::LinearMapR3() +{ + SetZero(); + return; +} + +inline LinearMapR3::LinearMapR3( const VectorR3& u, const VectorR3& v, + const VectorR3& s ) +:Matrix3x3 ( u, v, s ) +{ } + +inline LinearMapR3::LinearMapR3( + double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33) + // Values specified in column order!!! +:Matrix3x3 ( a11, a21, a31, a12, a22, a32, a13, a23, a33) +{ } + +inline LinearMapR3::LinearMapR3 ( const Matrix3x3& A ) +: Matrix3x3 (A) +{} + +inline void LinearMapR3::SetZero( ) +{ + Matrix3x3::SetZero(); +} + +inline void LinearMapR3::Negate() +{ + m11 = -m11; // Row 1 + m12 = -m12; + m13 = -m13; + m21 = -m21; // Row 2 + m22 = -m22; + m23 = -m23; + m31 = -m31; // Row 3 + m32 = -m32; + m33 = -m33; +} + + +inline LinearMapR3& LinearMapR3::operator+= (const Matrix3x3& B) +{ + m11 += B.m11; + m12 += B.m12; + m13 += B.m13; + m21 += B.m21; + m22 += B.m22; + m23 += B.m23; + m31 += B.m31; + m32 += B.m32; + m33 += B.m33; + return ( *this ); +} + +inline LinearMapR3& LinearMapR3::operator-= (const Matrix3x3& B) +{ + m11 -= B.m11; + m12 -= B.m12; + m13 -= B.m13; + m21 -= B.m21; + m22 -= B.m22; + m23 -= B.m23; + m31 -= B.m31; + m32 -= B.m32; + m33 -= B.m33; + return( *this ); +} + +inline LinearMapR3 operator+ (const LinearMapR3& A, const Matrix3x3& B) +{ + return (LinearMapR3( A.m11+B.m11, A.m21+B.m21, A.m31+B.m31, + A.m12+B.m12, A.m22+B.m22, A.m32+B.m32, + A.m13+B.m13, A.m23+B.m23, A.m33+B.m33 ) ); +} + +inline LinearMapR3 operator+ (const Matrix3x3& A, const LinearMapR3& B) +{ + return (LinearMapR3( A.m11+B.m11, A.m21+B.m21, A.m31+B.m31, + A.m12+B.m12, A.m22+B.m22, A.m32+B.m32, + A.m13+B.m13, A.m23+B.m23, A.m33+B.m33 ) ); +} + +inline LinearMapR3 operator- (const LinearMapR3& A) +{ + return( LinearMapR3( -A.m11, -A.m21, -A.m31, + -A.m12, -A.m22, -A.m32, + -A.m13, -A.m23, -A.m33 ) ); +} + +inline LinearMapR3 operator- (const Matrix3x3& A, const LinearMapR3& B) +{ + return( LinearMapR3( A.m11-B.m11, A.m21-B.m21, A.m31-B.m31, + A.m12-B.m12, A.m22-B.m22, A.m32-B.m32, + A.m13-B.m13, A.m23-B.m23, A.m33-B.m33 ) ); +} + +inline LinearMapR3 operator- (const LinearMapR3& A, const Matrix3x3& B) +{ + return( LinearMapR3( A.m11-B.m11, A.m21-B.m21, A.m31-B.m31, + A.m12-B.m12, A.m22-B.m22, A.m32-B.m32, + A.m13-B.m13, A.m23-B.m23, A.m33-B.m33 ) ); +} + +inline LinearMapR3& LinearMapR3::operator*= (register double b) +{ + m11 *= b; + m12 *= b; + m13 *= b; + m21 *= b; + m22 *= b; + m23 *= b; + m31 *= b; + m32 *= b; + m33 *= b; + return ( *this); +} + +inline LinearMapR3 operator* ( const LinearMapR3& A, register double b) +{ + return( LinearMapR3( A.m11*b, A.m21*b, A.m31*b, + A.m12*b, A.m22*b, A.m32*b, + A.m13*b, A.m23*b, A.m33*b ) ); +} + +inline LinearMapR3 operator* ( register double b, const LinearMapR3& A) +{ + return( LinearMapR3( A.m11*b, A.m21*b, A.m31*b, + A.m12*b, A.m22*b, A.m32*b, + A.m13*b, A.m23*b, A.m33*b ) ); +} + +inline LinearMapR3 operator/ ( const LinearMapR3& A, double b) +{ + register double bInv = 1.0/b; + return( LinearMapR3( A.m11*bInv, A.m21*bInv, A.m31*bInv, + A.m12*bInv, A.m22*bInv, A.m32*bInv, + A.m13*bInv, A.m23*bInv, A.m33*bInv ) ); +} + +inline LinearMapR3& LinearMapR3::operator/= (register double b) +{ + register double bInv = 1.0/b; + return ( *this *= bInv ); +} + +inline LinearMapR3& LinearMapR3::operator*= (const Matrix3x3& B) // Matrix product +{ + OperatorTimesEquals( B ); + return( *this ); +} + +inline VectorR3 LinearMapR3::Solve(const VectorR3& u) const // Returns solution +{ + return ( Matrix3x3::Solve( u ) ); +} + +inline LinearMapR3 LinearMapR3::Transpose() const // Returns the transpose +{ + return ( LinearMapR3 ( m11, m12, m13, m21, m22, m23, m31, m32, m33) ); +} + +// ****************************************************** +// * AffineMapR3 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline AffineMapR3::AffineMapR3( double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33, + double a14, double a24, double a34) +{ // Values in COLUMN order! + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; +} + +inline AffineMapR3::AffineMapR3 (const VectorR3& u, const VectorR3& v, + const VectorR3& w, const VectorR3& t) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m13 = w.x; // Column 3 + m23 = w.y; + m33 = w.z; + m14 = t.x; // Column 4 + m24 = t.y; + m34 = t.z; +} + +inline AffineMapR3::AffineMapR3 (const LinearMapR3& A, const VectorR3& t) +{ + m11 = A.m11; + m12 = A.m12; + m13 = A.m13; + m14 = t.x; + m21 = A.m21; + m22 = A.m22; + m23 = A.m23; + m24 = t.y; + m31 = A.m31; + m32 = A.m32; + m33 = A.m33; + m34 = t.z; + +} + +inline void AffineMapR3::SetIdentity ( ) +{ + Matrix3x4::SetIdentity(); +} + +inline void AffineMapR3::SetZero( ) +{ + Matrix3x4::SetZero(); +} + +inline VectorR3 AffineMapR3::Solve(const VectorR3& u) const // Returns solution +{ + return ( Matrix3x4::Solve( u ) ); +} + + +inline AffineMapR3& AffineMapR3::operator+= (const Matrix3x4& B) +{ + m11 += B.m11; + m21 += B.m21; + m31 += B.m31; + m12 += B.m12; + m22 += B.m22; + m32 += B.m32; + m13 += B.m13; + m23 += B.m23; + m33 += B.m33; + m14 += B.m14; + m24 += B.m24; + m34 += B.m34; + return (*this); +} + +inline AffineMapR3& AffineMapR3::operator-= (const Matrix3x4& B) +{ + m11 -= B.m11; + m21 -= B.m21; + m31 -= B.m31; + m12 -= B.m12; + m22 -= B.m22; + m32 -= B.m32; + m13 -= B.m13; + m23 -= B.m23; + m33 -= B.m33; + m14 -= B.m14; + m24 -= B.m24; + m34 -= B.m34; + return (*this); + +} + +inline AffineMapR3 operator+ (const AffineMapR3& A, const AffineMapR3& B) +{ + return( AffineMapR3( A.m11+B.m11, A.m21+B.m21, A.m31+B.m31, + A.m12+B.m12, A.m22+B.m22, A.m32+B.m32, + A.m13+B.m13, A.m23+B.m23, A.m33+B.m33, + A.m14+B.m14, A.m23+B.m24, A.m34+B.m34) ); +} + +inline AffineMapR3 operator+ (const AffineMapR3& A, const Matrix3x3& B) +{ + return( AffineMapR3( A.m11+B.m11, A.m21+B.m21, A.m31+B.m31, + A.m12+B.m12, A.m22+B.m22, A.m32+B.m32, + A.m13+B.m13, A.m23+B.m23, A.m33+B.m33, + A.m14, A.m23, A.m34 ) ); +} + +inline AffineMapR3 operator+ (const Matrix3x3& B, const AffineMapR3& A) +{ + return( AffineMapR3( A.m11+B.m11, A.m21+B.m21, A.m31+B.m31, + A.m12+B.m12, A.m22+B.m22, A.m32+B.m32, + A.m13+B.m13, A.m23+B.m23, A.m33+B.m33, + A.m14, A.m23, A.m34 ) ); +} + +inline AffineMapR3 operator- (const AffineMapR3& A, const AffineMapR3& B) +{ + return( AffineMapR3( A.m11-B.m11, A.m21-B.m21, A.m31-B.m31, + A.m12-B.m12, A.m22-B.m22, A.m32-B.m32, + A.m13-B.m13, A.m23-B.m23, A.m33-B.m33, + A.m14-B.m14, A.m23-B.m24, A.m34-B.m34) ); +} + +inline AffineMapR3 operator- (const AffineMapR3& A, const LinearMapR3& B) +{ + return ( AffineMapR3( A.m11-B.m11, A.m21-B.m21, A.m31-B.m31, + A.m12-B.m12, A.m22-B.m22, A.m32-B.m32, + A.m13-B.m13, A.m23-B.m23, A.m33-B.m33, + A.m14, A.m23, A.m34 ) ); +} + +inline AffineMapR3 operator- (const LinearMapR3& B, const AffineMapR3& A) +{ + return( AffineMapR3( A.m11-B.m11, A.m21-B.m21, A.m31-B.m31, + A.m12-B.m12, A.m22-B.m22, A.m32-B.m32, + A.m13-B.m13, A.m23-B.m23, A.m33-B.m33, + A.m14, A.m23, A.m34 ) ); +} + + +inline AffineMapR3& AffineMapR3::operator*= (register double b) +{ + m11 *= b; + m12 *= b; + m13 *= b; + m21 *= b; + m22 *= b; + m23 *= b; + m31 *= b; + m32 *= b; + m33 *= b; + m14 *= b; + m24 *= b; + m34 *= b; + return (*this); +} + +inline AffineMapR3 operator* (const AffineMapR3& A, register double b) +{ + return(AffineMapR3( A.m11*b, A.m21*b, A.m31*b, + A.m12*b, A.m22*b, A.m32*b, + A.m13*b, A.m23*b, A.m33*b, + A.m14*b, A.m24*b, A.m34*b ) ); +} + +inline AffineMapR3 operator* (register double b, const AffineMapR3& A) +{ + return(AffineMapR3( A.m11*b, A.m21*b, A.m31*b, + A.m12*b, A.m22*b, A.m32*b, + A.m13*b, A.m23*b, A.m33*b, + A.m14*b, A.m24*b, A.m34*b ) ); +} + +inline AffineMapR3& AffineMapR3::operator/= (double b) +{ + register double bInv = 1.0/b; + *this *= bInv; + return( *this ); +} + +inline AffineMapR3 operator/ (const AffineMapR3& A, double b) +{ + register double bInv = 1.0/b; + return(AffineMapR3( A.m11*bInv, A.m21*bInv, A.m31*bInv, + A.m12*bInv, A.m22*bInv, A.m32*bInv, + A.m13*bInv, A.m23*bInv, A.m33*bInv, + A.m14*bInv, A.m24*bInv, A.m34*bInv ) ); +} + +inline AffineMapR3& AffineMapR3::operator*= (const Matrix3x3& B) // Composition +{ + OperatorTimesEquals( B ); + return( *this ); +} + +inline AffineMapR3& AffineMapR3::operator*= (const Matrix3x4& B) // Composition +{ + OperatorTimesEquals( B ); + return( *this ); +} + +// ************************************************************** +// RotationMapR3 class (inlined functions) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline RotationMapR3::RotationMapR3() +{ + SetIdentity(); + return; +} + +inline RotationMapR3::RotationMapR3( const VectorR3& u, const VectorR3& v, + const VectorR3& s ) +:Matrix3x3 ( u, v, s ) +{ } + +inline RotationMapR3::RotationMapR3( + double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33) + // Values specified in column order!!! +:Matrix3x3 ( a11, a21, a31, a12, a22, a32, a13, a23, a33) +{ } + +inline RotationMapR3 RotationMapR3::Inverse() const // Returns inverse +{ + return ( RotationMapR3 ( m11, m12, m13, // In column order! + m21, m22, m23, + m31, m32, m33 ) ); +} + +inline RotationMapR3& RotationMapR3::Invert() // Converts into inverse. +{ + register double temp; + temp = m12; + m12 = m21; + m21 = temp; + temp = m13; + m13 = m31; + m31 = temp; + temp = m23; + m23 = m32; + m32 = temp; + return ( *this ); +} + +inline VectorR3 RotationMapR3::Solve(const VectorR3& u) const // Returns solution +{ + return( VectorR3( m11*u.x + m21*u.y + m31*u.z, + m12*u.x + m22*u.y + m32*u.z, + m13*u.x + m23*u.y + m33*u.z ) ); +} + +inline RotationMapR3& RotationMapR3::operator*= (const RotationMapR3& B) // Matrix product +{ + OperatorTimesEquals( B ); + return( *this ); +} + + +// ************************************************************** +// RigidMapR3 class (inlined functions) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline RigidMapR3::RigidMapR3() +{ + SetIdentity(); + return; +} + +inline RigidMapR3::RigidMapR3( const VectorR3& u, const VectorR3& v, + const VectorR3& s, const VectorR3& t ) +:Matrix3x4 ( u, v, s, t ) +{} + +inline RigidMapR3::RigidMapR3( + double a11, double a21, double a31, + double a12, double a22, double a32, + double a13, double a23, double a33, + double a14, double a24, double a34) + // Values specified in column order!!! +:Matrix3x4 ( a11, a21, a31, a12, a22, a32, a13, a23, a33, a14, a24, a34 ) +{} + +inline RigidMapR3::RigidMapR3( const Matrix3x3& A, const VectorR3& u ) // Set to RotationMap & Vector +: Matrix3x4( A, u ) +{} + + +inline RigidMapR3& RigidMapR3::Set( const Matrix3x3& A, const VectorR3& u ) // Set to RotationMap & Vector +{ + Matrix3x4::Set( A, u ); + return *this; +} + +inline RigidMapR3& RigidMapR3::SetTranslationPart( const VectorR3& u) // Set the translation part +{ + SetColumn4( u ); + return *this; +} + +inline RigidMapR3& RigidMapR3::SetTranslationPart( double x, double y, double z) // Set the translation part +{ + SetColumn4( x, y, z ); + return *this; +} + +inline RigidMapR3& RigidMapR3::SetRotationPart( const Matrix3x3& A) // Set the rotation part +{ + Matrix3x4::Set3x3( A ); + return *this; +} + +inline RigidMapR3& RigidMapR3::operator*= (const RotationMapR3& B) // Composition +{ + OperatorTimesEquals( B ); + return( *this ); +} + +inline RigidMapR3& RigidMapR3::operator*= (const RigidMapR3& B) // Composition +{ + OperatorTimesEquals( B ); + return( *this ); +} + +inline RigidMapR3 RigidMapR3::Inverse() const // Returns inverse +{ + double new14 = -(m11*m14 + m21*m24 + m31*m34); + double new24 = -(m12*m14 + m22*m24 + m32*m34); + double new34 = -(m13*m14 + m23*m24 + m33*m34); + return ( RigidMapR3 ( m11, m12, m13, // In column order! + m21, m22, m23, + m31, m32, m33, + new14, new24, new34 ) ); +} + +inline RigidMapR3& RigidMapR3::Invert() // Converts into inverse. +{ + double new14 = -(m11*m14 + m21*m24 + m31*m34); + double new24 = -(m12*m14 + m22*m24 + m32*m34); + m34 = -(m13*m14 + m23*m24 + m33*m34); + m14 = new14; + m24 = new24; + + register double temp; + temp = m12; + m12 = m21; + m21 = temp; + temp = m13; + m13 = m31; + m31 = temp; + temp = m23; + m23 = m32; + m32 = temp; + return ( *this ); +} + +// *************************************************************** +// * 3-space vector and matrix utilities (inlined functions) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns the projection of u onto unit v +inline VectorR3 ProjectToUnit ( const VectorR3& u, const VectorR3& v) +{ + return (u^v)*v; +} + +// Returns the projection of u onto the plane perpindicular to the unit vector v +inline VectorR3 ProjectPerpUnit ( const VectorR3& u, const VectorR3& v) +{ + return ( u - ((u^v)*v) ); +} + +// Returns the projection of u onto the plane perpindicular to the unit vector v +// This one is more stable when u and v are nearly equal. +inline VectorR3 ProjectPerpUnitDiff ( const VectorR3& u, const VectorR3& v) +{ + VectorR3 ans = u; + ans -= v; + ans -= ((ans^v)*v); + return ans; // ans = (u-v) - ((u-v)^v)*v +} + +// VectorProjectMap returns map projecting onto a given vector u. +// u should be a unit vector (otherwise the returned map is +// scaled according to the magnitude of u. +inline LinearMapR3 VectorProjectMap( const VectorR3& u ) +{ + double a = u.x*u.y; + double b = u.x*u.z; + double c = u.y*u.z; + return( LinearMapR3( u.x*u.x, a, b, + a, u.y*u.y, c, + b, c, u.z*u.z ) ); +} + +// PlaneProjectMap returns map projecting onto a given plane. +// The plane is the plane orthognal to w. +// w must be a unit vector (otherwise the returned map is +// garbage). +inline LinearMapR3 PlaneProjectMap ( const VectorR3& w ) +{ + double a = -w.x*w.y; + double b = -w.x*w.z; + double c = -w.y*w.z; + return( LinearMapR3( 1.0-w.x*w.x, a, b, + a, 1.0-w.y*w.y, c, + b, c, 1.0-w.z*w.z ) ); +} + +// PlaneProjectMap returns map projecting onto a given plane. +// The plane is the plane containing the two orthonormal vectors u,v. +// If u, v are orthonormal, this is a projection with scaling. +// If they are not orthonormal, the results are more difficult +// to interpret. +inline LinearMapR3 PlaneProjectMap ( const VectorR3& u, const VectorR3 &v ) +{ + double a = u.x*u.y + v.x*v.y; + double b = u.x*u.z + v.x*v.z; + double c = u.y*u.z + v.y*v.z; + return( LinearMapR3( u.x*u.x+v.x*v.x, a, b, + a, u.y*u.y+u.y*u.y, c, + b, c, u.z*u.z+v.z*v.z ) ); +} + +// Returns the solid angle between unit vectors v and w. +inline double SolidAngle( const VectorR3& v, const VectorR3& w) +{ + return atan2 ( (v*w).Norm(), v^w ); +} + + +#endif + +// ******************* End of header material ******************** diff --git a/examples/ThirdPartyLibs/BussIK/LinearR4.cpp b/examples/ThirdPartyLibs/BussIK/LinearR4.cpp new file mode 100644 index 000000000..f662a7d90 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/LinearR4.cpp @@ -0,0 +1,467 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +#include "LinearR4.h" + +#include + +const VectorR4 VectorR4::Zero(0.0, 0.0, 0.0, 0.0); +const VectorR4 VectorR4::UnitX( 1.0, 0.0, 0.0, 0.0); +const VectorR4 VectorR4::UnitY( 0.0, 1.0, 0.0, 0.0); +const VectorR4 VectorR4::UnitZ( 0.0, 0.0, 1.0, 0.0); +const VectorR4 VectorR4::UnitW( 0.0, 0.0, 0.0, 1.0); +const VectorR4 VectorR4::NegUnitX(-1.0, 0.0, 0.0, 0.0); +const VectorR4 VectorR4::NegUnitY( 0.0,-1.0, 0.0, 0.0); +const VectorR4 VectorR4::NegUnitZ( 0.0, 0.0,-1.0, 0.0); +const VectorR4 VectorR4::NegUnitW( 0.0, 0.0, 0.0,-1.0); + +const Matrix4x4 Matrix4x4::Identity(1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0); + + +// ****************************************************** +// * VectorR4 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +double VectorR4::MaxAbs() const +{ + register double m; + m = (x>0.0) ? x : -x; + if ( y>m ) m=y; + else if ( -y >m ) m = -y; + if ( z>m ) m=z; + else if ( -z>m ) m = -z; + if ( w>m ) m=w; + else if ( -w>m ) m = -w; + return m; +} + +// ****************************************************** +// * Matrix4x4 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + +void Matrix4x4::operator*= (const Matrix4x4& B) // Matrix product +{ + double t1, t2, t3; // temporary values + t1 = m11*B.m11 + m12*B.m21 + m13*B.m31 + m14*B.m41; + t2 = m11*B.m12 + m12*B.m22 + m13*B.m32 + m14*B.m42; + t3 = m11*B.m13 + m12*B.m23 + m13*B.m33 + m14*B.m43; + m14 = m11*B.m14 + m12*B.m24 + m13*B.m34 + m14*B.m44; + m11 = t1; + m12 = t2; + m13 = t3; + + t1 = m21*B.m11 + m22*B.m21 + m23*B.m31 + m24*B.m41; + t2 = m21*B.m12 + m22*B.m22 + m23*B.m32 + m24*B.m42; + t3 = m21*B.m13 + m22*B.m23 + m23*B.m33 + m24*B.m43; + m24 = m21*B.m14 + m22*B.m24 + m23*B.m34 + m24*B.m44; + m21 = t1; + m22 = t2; + m23 = t3; + + t1 = m31*B.m11 + m32*B.m21 + m33*B.m31 + m34*B.m41; + t2 = m31*B.m12 + m32*B.m22 + m33*B.m32 + m34*B.m42; + t3 = m31*B.m13 + m32*B.m23 + m33*B.m33 + m34*B.m43; + m34 = m31*B.m14 + m32*B.m24 + m33*B.m34 + m34*B.m44; + m31 = t1; + m32 = t2; + m33 = t3; + + t1 = m41*B.m11 + m42*B.m21 + m43*B.m31 + m44*B.m41; + t2 = m41*B.m12 + m42*B.m22 + m43*B.m32 + m44*B.m42; + t3 = m41*B.m13 + m42*B.m23 + m43*B.m33 + m44*B.m43; + m44 = m41*B.m14 + m42*B.m24 + m43*B.m34 + m44*B.m44; + m41 = t1; + m42 = t2; + m43 = t3; +} + +inline void ReNormalizeHelper ( double &a, double &b, double &c, double &d ) +{ + register double scaleF = a*a+b*b+c*c+d*d; // Inner product of Vector-R4 + scaleF = 1.0-0.5*(scaleF-1.0); + a *= scaleF; + b *= scaleF; + c *= scaleF; + d *= scaleF; +} + +Matrix4x4& Matrix4x4::ReNormalize() { + ReNormalizeHelper( m11, m21, m31, m41 ); // Renormalize first column + ReNormalizeHelper( m12, m22, m32, m42 ); // Renormalize second column + ReNormalizeHelper( m13, m23, m33, m43 ); // Renormalize third column + ReNormalizeHelper( m14, m24, m34, m44 ); // Renormalize fourth column + double alpha = 0.5*(m11*m12 + m21*m22 + m31*m32 + m41*m42); //1st and 2nd cols + double beta = 0.5*(m11*m13 + m21*m23 + m31*m33 + m41*m43); //1st and 3rd cols + double gamma = 0.5*(m11*m14 + m21*m24 + m31*m34 + m41*m44); //1st and 4nd cols + double delta = 0.5*(m12*m13 + m22*m23 + m32*m33 + m42*m43); //2nd and 3rd cols + double eps = 0.5*(m12*m14 + m22*m24 + m32*m34 + m42*m44); //2nd and 4nd cols + double phi = 0.5*(m13*m14 + m23*m24 + m33*m34 + m43*m44); //3rd and 4nd cols + double temp1, temp2, temp3; + temp1 = m11 - alpha*m12 - beta*m13 - gamma*m14; + temp2 = m12 - alpha*m11 - delta*m13 - eps*m14; + temp3 = m13 - beta*m11 - delta*m12 - phi*m14; + m14 -= (gamma*m11 + eps*m12 + phi*m13); + m11 = temp1; + m12 = temp2; + m13 = temp3; + temp1 = m21 - alpha*m22 - beta*m23 - gamma*m24; + temp2 = m22 - alpha*m21 - delta*m23 - eps*m24; + temp3 = m23 - beta*m21 - delta*m22 - phi*m24; + m24 -= (gamma*m21 + eps*m22 + phi*m23); + m21 = temp1; + m22 = temp2; + m23 = temp3; + temp1 = m31 - alpha*m32 - beta*m33 - gamma*m34; + temp2 = m32 - alpha*m31 - delta*m33 - eps*m34; + temp3 = m33 - beta*m31 - delta*m32 - phi*m34; + m34 -= (gamma*m31 + eps*m32 + phi*m33); + m31 = temp1; + m32 = temp2; + m33 = temp3; + temp1 = m41 - alpha*m42 - beta*m43 - gamma*m44; + temp2 = m42 - alpha*m41 - delta*m43 - eps*m44; + temp3 = m43 - beta*m41 - delta*m42 - phi*m44; + m44 -= (gamma*m41 + eps*m42 + phi*m43); + m41 = temp1; + m42 = temp2; + m43 = temp3; + return *this; +} + +// ****************************************************** +// * LinearMapR4 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + +double LinearMapR4::Determinant () const // Returns the determinant +{ + double Tbt34C12 = m31*m42-m32*m41; // 2x2 subdeterminants + double Tbt34C13 = m31*m43-m33*m41; + double Tbt34C14 = m31*m44-m34*m41; + double Tbt34C23 = m32*m43-m33*m42; + double Tbt34C24 = m32*m44-m34*m42; + double Tbt34C34 = m33*m44-m34*m43; + + double sd11 = m22*Tbt34C34 - m23*Tbt34C24 + m24*Tbt34C23; // 3x3 subdeterminants + double sd12 = m21*Tbt34C34 - m23*Tbt34C14 + m24*Tbt34C13; + double sd13 = m21*Tbt34C24 - m22*Tbt34C14 + m24*Tbt34C12; + double sd14 = m21*Tbt34C23 - m22*Tbt34C13 + m23*Tbt34C12; + + return ( m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14 ); +} + +LinearMapR4 LinearMapR4::Inverse() const // Returns inverse +{ + + double Tbt34C12 = m31*m42-m32*m41; // 2x2 subdeterminants + double Tbt34C13 = m31*m43-m33*m41; + double Tbt34C14 = m31*m44-m34*m41; + double Tbt34C23 = m32*m43-m33*m42; + double Tbt34C24 = m32*m44-m34*m42; + double Tbt34C34 = m33*m44-m34*m43; + double Tbt24C12 = m21*m42-m22*m41; // 2x2 subdeterminants + double Tbt24C13 = m21*m43-m23*m41; + double Tbt24C14 = m21*m44-m24*m41; + double Tbt24C23 = m22*m43-m23*m42; + double Tbt24C24 = m22*m44-m24*m42; + double Tbt24C34 = m23*m44-m24*m43; + double Tbt23C12 = m21*m32-m22*m31; // 2x2 subdeterminants + double Tbt23C13 = m21*m33-m23*m31; + double Tbt23C14 = m21*m34-m24*m31; + double Tbt23C23 = m22*m33-m23*m32; + double Tbt23C24 = m22*m34-m24*m32; + double Tbt23C34 = m23*m34-m24*m33; + + double sd11 = m22*Tbt34C34 - m23*Tbt34C24 + m24*Tbt34C23; // 3x3 subdeterminants + double sd12 = m21*Tbt34C34 - m23*Tbt34C14 + m24*Tbt34C13; + double sd13 = m21*Tbt34C24 - m22*Tbt34C14 + m24*Tbt34C12; + double sd14 = m21*Tbt34C23 - m22*Tbt34C13 + m23*Tbt34C12; + double sd21 = m12*Tbt34C34 - m13*Tbt34C24 + m14*Tbt34C23; // 3x3 subdeterminants + double sd22 = m11*Tbt34C34 - m13*Tbt34C14 + m14*Tbt34C13; + double sd23 = m11*Tbt34C24 - m12*Tbt34C14 + m14*Tbt34C12; + double sd24 = m11*Tbt34C23 - m12*Tbt34C13 + m13*Tbt34C12; + double sd31 = m12*Tbt24C34 - m13*Tbt24C24 + m14*Tbt24C23; // 3x3 subdeterminants + double sd32 = m11*Tbt24C34 - m13*Tbt24C14 + m14*Tbt24C13; + double sd33 = m11*Tbt24C24 - m12*Tbt24C14 + m14*Tbt24C12; + double sd34 = m11*Tbt24C23 - m12*Tbt24C13 + m13*Tbt24C12; + double sd41 = m12*Tbt23C34 - m13*Tbt23C24 + m14*Tbt23C23; // 3x3 subdeterminants + double sd42 = m11*Tbt23C34 - m13*Tbt23C14 + m14*Tbt23C13; + double sd43 = m11*Tbt23C24 - m12*Tbt23C14 + m14*Tbt23C12; + double sd44 = m11*Tbt23C23 - m12*Tbt23C13 + m13*Tbt23C12; + + + register double detInv = 1.0/(m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14); + + return( LinearMapR4( sd11*detInv, -sd12*detInv, sd13*detInv, -sd14*detInv, + -sd21*detInv, sd22*detInv, -sd23*detInv, sd24*detInv, + sd31*detInv, -sd32*detInv, sd33*detInv, -sd34*detInv, + -sd41*detInv, sd42*detInv, -sd43*detInv, sd44*detInv ) ); +} + +LinearMapR4& LinearMapR4::Invert() // Converts into inverse. +{ + double Tbt34C12 = m31*m42-m32*m41; // 2x2 subdeterminants + double Tbt34C13 = m31*m43-m33*m41; + double Tbt34C14 = m31*m44-m34*m41; + double Tbt34C23 = m32*m43-m33*m42; + double Tbt34C24 = m32*m44-m34*m42; + double Tbt34C34 = m33*m44-m34*m43; + double Tbt24C12 = m21*m42-m22*m41; // 2x2 subdeterminants + double Tbt24C13 = m21*m43-m23*m41; + double Tbt24C14 = m21*m44-m24*m41; + double Tbt24C23 = m22*m43-m23*m42; + double Tbt24C24 = m22*m44-m24*m42; + double Tbt24C34 = m23*m44-m24*m43; + double Tbt23C12 = m21*m32-m22*m31; // 2x2 subdeterminants + double Tbt23C13 = m21*m33-m23*m31; + double Tbt23C14 = m21*m34-m24*m31; + double Tbt23C23 = m22*m33-m23*m32; + double Tbt23C24 = m22*m34-m24*m32; + double Tbt23C34 = m23*m34-m24*m33; + + double sd11 = m22*Tbt34C34 - m23*Tbt34C24 + m24*Tbt34C23; // 3x3 subdeterminants + double sd12 = m21*Tbt34C34 - m23*Tbt34C14 + m24*Tbt34C13; + double sd13 = m21*Tbt34C24 - m22*Tbt34C14 + m24*Tbt34C12; + double sd14 = m21*Tbt34C23 - m22*Tbt34C13 + m23*Tbt34C12; + double sd21 = m12*Tbt34C34 - m13*Tbt34C24 + m14*Tbt34C23; // 3x3 subdeterminants + double sd22 = m11*Tbt34C34 - m13*Tbt34C14 + m14*Tbt34C13; + double sd23 = m11*Tbt34C24 - m12*Tbt34C14 + m14*Tbt34C12; + double sd24 = m11*Tbt34C23 - m12*Tbt34C13 + m13*Tbt34C12; + double sd31 = m12*Tbt24C34 - m13*Tbt24C24 + m14*Tbt24C23; // 3x3 subdeterminants + double sd32 = m11*Tbt24C34 - m13*Tbt24C14 + m14*Tbt24C13; + double sd33 = m11*Tbt24C24 - m12*Tbt24C14 + m14*Tbt24C12; + double sd34 = m11*Tbt24C23 - m12*Tbt24C13 + m13*Tbt24C12; + double sd41 = m12*Tbt23C34 - m13*Tbt23C24 + m14*Tbt23C23; // 3x3 subdeterminants + double sd42 = m11*Tbt23C34 - m13*Tbt23C14 + m14*Tbt23C13; + double sd43 = m11*Tbt23C24 - m12*Tbt23C14 + m14*Tbt23C12; + double sd44 = m11*Tbt23C23 - m12*Tbt23C13 + m13*Tbt23C12; + + register double detInv = 1.0/(m11*sd11 - m12*sd12 + m13*sd13 - m14*sd14); + + m11 = sd11*detInv; + m12 = -sd21*detInv; + m13 = sd31*detInv; + m14 = -sd41*detInv; + m21 = -sd12*detInv; + m22 = sd22*detInv; + m23 = -sd32*detInv; + m24 = sd42*detInv; + m31 = sd13*detInv; + m32 = -sd23*detInv; + m33 = sd33*detInv; + m34 = -sd43*detInv; + m41 = -sd14*detInv; + m42 = sd24*detInv; + m43 = -sd34*detInv; + m44 = sd44*detInv; + + return ( *this ); +} + +VectorR4 LinearMapR4::Solve(const VectorR4& u) const // Returns solution +{ + // Just uses Inverse() for now. + return ( Inverse()*u ); +} + +// ****************************************************** +// * RotationMapR4 class - math library functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + + +// *************************************************************** +// * 4-space vector and matrix utilities * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns u * v^T +LinearMapR4 TimesTranspose( const VectorR4& u, const VectorR4& v) +{ + LinearMapR4 result; + TimesTranspose( u, v, result ); + return result; +} + +// The following routines are use to obtain +// a righthanded orthonormal basis to complement vectors u,v,w. +// The vectors u,v,w must be unit and orthonormal. +// The value is returned in "rotmat" with the first column(s) of +// rotmat equal to u,v,w as appropriate. + +void GetOrtho( const VectorR4& u, RotationMapR4& rotmat ) +{ + rotmat.SetColumn1(u); + GetOrtho( 1, rotmat ); +} + +void GetOrtho( const VectorR4& u, const VectorR4& v, RotationMapR4& rotmat ) +{ + rotmat.SetColumn1(u); + rotmat.SetColumn2(v); + GetOrtho( 2, rotmat ); +} + +void GetOrtho( const VectorR4& u, const VectorR4& v, const VectorR4& s, + RotationMapR4& rotmat ) +{ + rotmat.SetColumn1(u); + rotmat.SetColumn2(v); + rotmat.SetColumn3(s); + GetOrtho( 3, rotmat ); +} + +// This final version of GetOrtho is mainly for internal use. +// It uses a Gram-Schmidt procedure to extend a partial orthonormal +// basis to a complete orthonormal basis. +// j = number of columns of rotmat that have already been set. +void GetOrtho( int j, RotationMapR4& rotmat) +{ + if ( j==0 ) { + rotmat.SetIdentity(); + return; + } + if ( j==1 ) { + rotmat.SetColumn2( -rotmat.m21, rotmat.m11, -rotmat.m41, rotmat.m31 ); + j = 2; + } + + assert ( rotmat.Column1().Norm()<1.0001 && 0.9999 -0.001 ); + + // 2x2 subdeterminants in first 2 columns + + double d12 = rotmat.m11*rotmat.m22-rotmat.m12*rotmat.m21; + double d13 = rotmat.m11*rotmat.m32-rotmat.m12*rotmat.m31; + double d14 = rotmat.m11*rotmat.m42-rotmat.m12*rotmat.m41; + double d23 = rotmat.m21*rotmat.m32-rotmat.m22*rotmat.m31; + double d24 = rotmat.m21*rotmat.m42-rotmat.m22*rotmat.m41; + double d34 = rotmat.m31*rotmat.m42-rotmat.m32*rotmat.m41; + VectorR4 vec3; + + if ( j==2 ) { + if ( d12>0.4 || d12<-0.4 || d13>0.4 || d13<-0.4 + || d23>0.4 || d23<-0.4 ) { + vec3.Set( d23, -d13, d12, 0.0); + } + else if ( d24>0.4 || d24<-0.4 || d14>0.4 || d14<-0.4 ) { + vec3.Set( d24, -d14, 0.0, d12 ); + } + else { + vec3.Set( d34, 0.0, -d14, d13 ); + } + vec3.Normalize(); + rotmat.SetColumn3(vec3); + } + + // Do the final column + + rotmat.SetColumn4 ( + -rotmat.m23*d34 + rotmat.m33*d24 - rotmat.m43*d23, + rotmat.m13*d34 - rotmat.m33*d14 + rotmat.m43*d13, + -rotmat.m13*d24 + rotmat.m23*d14 - rotmat.m43*d12, + rotmat.m13*d23 - rotmat.m23*d13 + rotmat.m33*d12 ); + + assert ( 0.99 < (((LinearMapR4)rotmat)).Determinant() + && (((LinearMapR4)rotmat)).Determinant() < 1.01 ); + +} + + + +// ********************************************************************* +// Rotation routines * +// ********************************************************************* + +// Rotate unit vector x in the direction of "dir": length of dir is rotation angle. +// x must be a unit vector. dir must be perpindicular to x. +VectorR4& VectorR4::RotateUnitInDirection ( const VectorR4& dir) +{ + assert ( this->Norm()<1.0001 && this->Norm()>0.9999 && + (dir^(*this))<0.0001 && (dir^(*this))>-0.0001 ); + + double theta = dir.NormSq(); + if ( theta==0.0 ) { + return *this; + } + else { + theta = sqrt(theta); + double costheta = cos(theta); + double sintheta = sin(theta); + VectorR4 dirUnit = dir/theta; + *this = costheta*(*this) + sintheta*dirUnit; + // this->NormalizeFast(); + return ( *this ); + } +} + +// RotateToMap returns a RotationMapR4 that rotates fromVec to toVec, +// leaving the orthogonal subspace fixed. +// fromVec and toVec should be unit vectors +RotationMapR4 RotateToMap( const VectorR4& fromVec, const VectorR4& toVec) +{ + LinearMapR4 result; + result.SetIdentity(); + LinearMapR4 temp; + VectorR4 vPerp = ProjectPerpUnitDiff( toVec, fromVec ); + double sintheta = vPerp.Norm(); // theta = angle between toVec and fromVec + VectorR4 vProj = toVec-vPerp; + double costheta = vProj^fromVec; + if ( sintheta == 0.0 ) { + // The vectors either coincide (return identity) or directly oppose + if ( costheta < 0.0 ) { + result = -result; // Vectors directly oppose: return -identity. + } + } + else { + vPerp /= sintheta; // Normalize + VectorProjectMap ( fromVec, temp ); // project in fromVec direction + temp *= (costheta-1.0); + result += temp; + VectorProjectMap ( vPerp, temp ); // Project in vPerp direction + temp *= (costheta-1.0); + result += temp; + TimesTranspose ( vPerp, fromVec, temp ); // temp = (vPerp)*(fromVec^T) + temp *= sintheta; + result += temp; + temp.MakeTranspose(); + result -= temp; // (-sintheta)*(fromVec)*(vPerp^T) + } + RotationMapR4 rotationResult; + rotationResult.Set(result); // Make explicitly a RotationMapR4 + return rotationResult; +} + + +// *************************************************************** +// Stream Output Routines * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +ostream& operator<< ( ostream& os, const VectorR4& u ) +{ + return (os << "<" << u.x << "," << u.y << "," << u.z << "," << u.w << ">"); +} + + diff --git a/examples/ThirdPartyLibs/BussIK/LinearR4.h b/examples/ThirdPartyLibs/BussIK/LinearR4.h new file mode 100644 index 000000000..ee995326c --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/LinearR4.h @@ -0,0 +1,1099 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +// +// Linear Algebra Classes over R4 +// +// +// A. Vector and Position classes +// +// A.1. VectorR4: a column vector of length 4 +// +// B. Matrix Classes +// +// B.1 LinearMapR4 - arbitrary linear map; 4x4 real matrix +// +// B.2 RotationMapR4 - orthonormal 4x4 matrix +// + +#ifndef LINEAR_R4_H +#define LINEAR_R4_H + +#include +#include +#include +#include "LinearR3.h" +using namespace std; + +class VectorR4; // R4 Vector +class LinearMapR4; // 4x4 real matrix +class RotationMapR4; // 4x4 rotation map + +// ************************************** +// VectorR4 class * +// * * * * * * * * * * * * * * * * * * ** + +class VectorR4 { + +public: + double x, y, z, w; // The x & y & z & w coordinates. + + static const VectorR4 Zero; + static const VectorR4 UnitX; + static const VectorR4 UnitY; + static const VectorR4 UnitZ; + static const VectorR4 UnitW; + static const VectorR4 NegUnitX; + static const VectorR4 NegUnitY; + static const VectorR4 NegUnitZ; + static const VectorR4 NegUnitW; + +public: + VectorR4( ) : x(0.0), y(0.0), z(0.0), w(0.0) {} + VectorR4( double xVal, double yVal, double zVal, double wVal ) + : x(xVal), y(yVal), z(zVal), w(wVal) {} + VectorR4( const Quaternion& q); // Definition with Quaternion routines + + VectorR4& SetZero() { x=0.0; y=0.0; z=0.0; w=0.0; return *this;} + VectorR4& Set( double xx, double yy, double zz, double ww ) + { x=xx; y=yy; z=zz; w=ww; return *this;} + VectorR4& Set ( const Quaternion& ); // Defined with Quaternion + VectorR4& Set ( const VectorHgR3& h ) {x=h.x; y=h.y; z=h.z; w=h.w; return *this; } + VectorR4& Load( const double* v ); + VectorR4& Load( const float* v ); + void Dump( double* v ) const; + void Dump( float* v ) const; + + VectorR4& operator+= ( const VectorR4& v ) + { x+=v.x; y+=v.y; z+=v.z; w+=v.w; return(*this); } + VectorR4& operator-= ( const VectorR4& v ) + { x-=v.x; y-=v.y; z-=v.z; w-=v.w; return(*this); } + VectorR4& operator*= ( double m ) + { x*=m; y*=m; z*=m; w*=m; return(*this); } + VectorR4& operator/= ( double m ) + { register double mInv = 1.0/m; + x*=mInv; y*=mInv; z*=mInv; w*=mInv; + return(*this); } + VectorR4 operator- () const { return ( VectorR4(-x, -y, -z, -w) ); } + VectorR4& ArrayProd(const VectorR4&); // Component-wise product + VectorR4& ArrayProd3(const VectorR3&); // Component-wise product + + VectorR4& AddScaled( const VectorR4& u, double s ); + + double Norm() const { return ( (double)sqrt( x*x + y*y + z*z +w*w) ); } + double NormSq() const { return ( x*x + y*y + z*z + w*w ); } + double Dist( const VectorR4& u ) const; // Distance from u + double DistSq( const VectorR4& u ) const; // Distance from u + double MaxAbs() const; + VectorR4& Normalize () { *this /= Norm(); return *this; } // No error checking + inline VectorR4& MakeUnit(); // Normalize() with error checking + inline VectorR4& ReNormalize(); + bool IsUnit( ) const + { register double norm = Norm(); + return ( 1.000001>=norm && norm>=0.999999 ); } + bool IsUnit( double tolerance ) const + { register double norm = Norm(); + return ( 1.0+tolerance>=norm && norm>=1.0-tolerance ); } + bool IsZero() const { return ( x==0.0 && y==0.0 && z==0.0 && w==0.0); } + bool NearZero(double tolerance) const { return( MaxAbs()<=tolerance );} + // tolerance should be non-negative + + VectorR4& RotateUnitInDirection ( const VectorR4& dir); // rotate in direction dir + +}; + +inline VectorR4 operator+( const VectorR4& u, const VectorR4& v ); +inline VectorR4 operator-( const VectorR4& u, const VectorR4& v ); +inline VectorR4 operator*( const VectorR4& u, double m); +inline VectorR4 operator*( double m, const VectorR4& u); +inline VectorR4 operator/( const VectorR4& u, double m); +inline int operator==( const VectorR4& u, const VectorR4& v ); + +inline double operator^ (const VectorR4& u, const VectorR4& v ); // Dot Product +inline VectorR4 ArrayProd(const VectorR4& u, const VectorR4& v ); + +inline double Mag(const VectorR4& u) { return u.Norm(); } +inline double Dist(const VectorR4& u, const VectorR4& v) { return u.Dist(v); } +inline double DistSq(const VectorR4& u, const VectorR4& v) { return u.DistSq(v); } +inline double NormalizeError (const VectorR4& u); + +// ******************************************************************** +// Matrix4x4 - base class for 4x4 matrices * +// * * * * * * * * * * * * * * * * * * * * * ************************** + +class Matrix4x4 { + +public: + double m11, m12, m13, m14, m21, m22, m23, m24, + m31, m32, m33, m34, m41, m42, m43, m44; + + // Implements a 4x4 matrix: m_i_j - row-i and column-j entry + + static const Matrix4x4 Identity; + + +public: + + Matrix4x4(); + Matrix4x4( const VectorR4&, const VectorR4&, + const VectorR4&, const VectorR4& ); // Sets by columns! + Matrix4x4( double, double, double, double, + double, double, double, double, + double, double, double, double, + double, double, double, double ); // Sets by columns + + inline void SetIdentity (); // Set to the identity map + inline void SetZero (); // Set to the zero map + inline void Set ( const Matrix4x4& ); // Set to the matrix. + inline void Set( const VectorR4&, const VectorR4&, + const VectorR4&, const VectorR4& ); + inline void Set( double, double, double, double, + double, double, double, double, + double, double, double, double, + double, double, double, double ); + inline void SetByRows( const VectorR4&, const VectorR4&, + const VectorR4&, const VectorR4& ); + inline void SetByRows( double, double, double, double, + double, double, double, double, + double, double, double, double, + double, double, double, double ); + inline void SetColumn1 ( double, double, double, double ); + inline void SetColumn2 ( double, double, double, double ); + inline void SetColumn3 ( double, double, double, double ); + inline void SetColumn4 ( double, double, double, double ); + inline void SetColumn1 ( const VectorR4& ); + inline void SetColumn2 ( const VectorR4& ); + inline void SetColumn3 ( const VectorR4& ); + inline void SetColumn4 ( const VectorR4& ); + inline VectorR4 Column1() const; + inline VectorR4 Column2() const; + inline VectorR4 Column3() const; + inline VectorR4 Column4() const; + + inline void SetDiagonal( double, double, double, double ); + inline void SetDiagonal( const VectorR4& ); + inline double Diagonal( int ); + + inline void MakeTranspose(); // Transposes it. + void Matrix4x4::operator*= (const Matrix4x4& B); // Matrix product + + Matrix4x4& ReNormalize(); +}; + +inline VectorR4 operator* ( const Matrix4x4&, const VectorR4& ); + +ostream& operator<< ( ostream& os, const Matrix4x4& A ); + + +// ***************************************** +// LinearMapR4 class * +// * * * * * * * * * * * * * * * * * * * * * + +class LinearMapR4 : public Matrix4x4 { + +public: + + LinearMapR4(); + LinearMapR4( const VectorR4&, const VectorR4&, + const VectorR4&, const VectorR4& ); // Sets by columns! + LinearMapR4( double, double, double, double, + double, double, double, double, + double, double, double, double, + double, double, double, double ); // Sets by columns + LinearMapR4 ( const Matrix4x4& ); + + inline LinearMapR4& operator+= (const LinearMapR4& ); + inline LinearMapR4& operator-= (const LinearMapR4& ); + inline LinearMapR4& operator*= (double); + inline LinearMapR4& operator/= (double); + inline LinearMapR4& operator*= (const Matrix4x4& ); // Matrix product + + inline LinearMapR4 Transpose() const; + double Determinant () const; // Returns the determinant + LinearMapR4 Inverse() const; // Returns inverse + LinearMapR4& Invert(); // Converts into inverse. + VectorR4 Solve(const VectorR4&) const; // Returns solution + LinearMapR4 PseudoInverse() const; // Returns pseudo-inverse TO DO + VectorR4 PseudoSolve(const VectorR4&); // Finds least squares solution TO DO +}; + +inline LinearMapR4 operator+ (const LinearMapR4&, const LinearMapR4&); +inline LinearMapR4 operator- (const LinearMapR4&); +inline LinearMapR4 operator- (const LinearMapR4&, const LinearMapR4&); +inline LinearMapR4 operator* ( const LinearMapR4&, double); +inline LinearMapR4 operator* ( double, const LinearMapR4& ); +inline LinearMapR4 operator/ ( const LinearMapR4&, double ); +inline LinearMapR4 operator* ( const Matrix4x4&, const LinearMapR4& ); +inline LinearMapR4 operator* ( const LinearMapR4&, const Matrix4x4& ); + // Matrix product (composition) + + +// ******************************************* +// RotationMapR4 class * +// * * * * * * * * * * * * * * * * * * * * * * + +class RotationMapR4 : public Matrix4x4 { + +public: + + RotationMapR4(); + RotationMapR4( const VectorR4&, const VectorR4&, + const VectorR4&, const VectorR4& ); // Sets by columns! + RotationMapR4( double, double, double, double, + double, double, double, double, + double, double, double, double, + double, double, double, double ); // Sets by columns! + + RotationMapR4& SetZero(); // IT IS AN ERROR TO USE THIS FUNCTION! + + inline RotationMapR4& operator*= (const RotationMapR4& ); // Matrix product + + inline RotationMapR4 Transpose() const; + inline RotationMapR4 Inverse() const { return Transpose(); }; // Returns the transpose + inline RotationMapR4& Invert() { MakeTranspose(); return *this; }; // Transposes it. + inline VectorR4 Invert(const VectorR4&) const; // Returns solution +}; + +inline RotationMapR4 operator* ( const RotationMapR4&, const RotationMapR4& ); + // Matrix product (composition) + + +// *************************************************************** +// * 4-space vector and matrix utilities (prototypes) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +// Returns the angle between vectors u and v. +// Use SolidAngleUnit if both vectors are unit vectors +inline double SolidAngle( const VectorR4& u, const VectorR4& v); +inline double SolidAngleUnit( const VectorR4 u, const VectorR4 v ); + +// Returns a righthanded orthonormal basis to complement vectors u,v,w. +// The vectors u,v,w must be unit and orthonormal. +void GetOrtho( const VectorR4& u, RotationMapR4& rotmap ); +void GetOrtho( const VectorR4& u, const VectorR4& v, RotationMapR4& rotmap ); +void GetOrtho( const VectorR4& u, const VectorR4& v, const VectorR4& w, + RotationMapR4& rotmap ); +void GetOrtho( int j, RotationMapR4& rotmap); // Mainly for internal use + +// Projections + +inline VectorR4 ProjectToUnit ( const VectorR4& u, const VectorR4& v); + // Project u onto v +inline VectorR4 ProjectPerpUnit ( const VectorR4& u, const VectorR4 & v); + // Project perp to v +inline VectorR4 ProjectPerpUnitDiff ( const VectorR4& u, const VectorR4& v); +// v must be a unit vector. + +// Returns the projection of u onto unit v +inline VectorR4 ProjectToUnit ( const VectorR4& u, const VectorR4& v) +{ + return (u^v)*v; +} + +// Returns the projection of u onto the plane perpindicular to the unit vector v +inline VectorR4 ProjectPerpUnit ( const VectorR4& u, const VectorR4& v) +{ + return ( u - ((u^v)*v) ); +} + +// Returns the projection of u onto the plane perpindicular to the unit vector v +// This one is more stable when u and v are nearly equal. +inline VectorR4 ProjectPerpUnitDiff ( const VectorR4& u, const VectorR4& v) +{ + VectorR4 ans = u; + ans -= v; + ans -= ((ans^v)*v); + return ans; // ans = (u-v) - ((u-v)^v)*v +} + + +// Projection maps (LinearMapR4's) + +// VectorProjectMap returns map projecting onto a given vector u. +// u should be a unit vector (otherwise the returned map is +// scaled according to the magnitude of u. +inline void VectorProjectMap( const VectorR4& u, LinearMapR4& M ) +{ + double a = u.x*u.y; + double b = u.x*u.z; + double c = u.x*u.w; + double d = u.y*u.z; + double e = u.y*u.w; + double f = u.z*u.w; + M.Set( u.x*u.x, a, b, c, + a, u.y*u.y, d, e, + b, d, u.z*u.z, f, + c, e, f, u.w*u.w ); +} + +inline LinearMapR4 VectorProjectMap( const VectorR4& u ) +{ + LinearMapR4 result; + VectorProjectMap( u, result ); + return result; +} + +inline LinearMapR4 PerpProjectMap ( const VectorR4& u ); +// u - must be unit vector. + +LinearMapR4 TimesTranspose( const VectorR4& u, const VectorR4& v); // u * v^T. +inline void TimesTranspose( const VectorR4& u, const VectorR4& v, LinearMapR4& M); + +// Rotation Maps + +RotationMapR4 RotateToMap( const VectorR4& fromVec, const VectorR4& toVec); +// fromVec and toVec should be unit vectors + + + +// *************************************************************** +// * Stream Output Routines (Prototypes) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +ostream& operator<< ( ostream& os, const VectorR4& u ); + + +// ***************************************************** +// * VectorR4 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * + +inline VectorR4& VectorR4::Load( const double* v ) +{ + x = *v; + y = *(v+1); + z = *(v+2); + w = *(v+3); + return *this; +} + +inline VectorR4& VectorR4::Load( const float* v ) +{ + x = *v; + y = *(v+1); + z = *(v+2); + w = *(v+3); + return *this; +} + +inline void VectorR4::Dump( double* v ) const +{ + *v = x; + *(v+1) = y; + *(v+2) = z; + *(v+3) = w; +} + +inline void VectorR4::Dump( float* v ) const +{ + *v = (float)x; + *(v+1) = (float)y; + *(v+2) = (float)z; + *(v+3) = (float)w; +} + +inline VectorR4& VectorR4::MakeUnit () // Convert to unit vector (or leave zero). +{ + double nSq = NormSq(); + if (nSq != 0.0) { + *this /= sqrt(nSq); + } + return *this; +} + +inline VectorR4 operator+( const VectorR4& u, const VectorR4& v ) +{ + return VectorR4(u.x+v.x, u.y+v.y, u.z+v.z, u.w+v.w ); +} +inline VectorR4 operator-( const VectorR4& u, const VectorR4& v ) +{ + return VectorR4(u.x-v.x, u.y-v.y, u.z-v.z, u.w-v.w); +} +inline VectorR4 operator*( const VectorR4& u, register double m) +{ + return VectorR4( u.x*m, u.y*m, u.z*m, u.w*m ); +} +inline VectorR4 operator*( register double m, const VectorR4& u) +{ + return VectorR4( u.x*m, u.y*m, u.z*m, u.w*m ); +} +inline VectorR4 operator/( const VectorR4& u, double m) +{ + register double mInv = 1.0/m; + return VectorR4( u.x*mInv, u.y*mInv, u.z*mInv, u.w*mInv ); +} + +inline int operator==( const VectorR4& u, const VectorR4& v ) +{ + return ( u.x==v.x && u.y==v.y && u.z==v.z && u.w==v.w ); +} + +inline double operator^ ( const VectorR4& u, const VectorR4& v ) // Dot Product +{ + return ( u.x*v.x + u.y*v.y + u.z*v.z + u.w*v.w ); +} + +inline VectorR4 ArrayProd ( const VectorR4& u, const VectorR4& v ) +{ + return ( VectorR4( u.x*v.x, u.y*v.y, u.z*v.z, u.w*v.w ) ); +} + +inline VectorR4& VectorR4::ArrayProd (const VectorR4& v) // Component-wise Product +{ + x *= v.x; + y *= v.y; + z *= v.z; + w *= v.w; + return ( *this ); +} + +inline VectorR4& VectorR4::ArrayProd3 (const VectorR3& v) // Component-wise Product +{ + x *= v.x; + y *= v.y; + z *= v.z; + return ( *this ); +} + +inline VectorR4& VectorR4::AddScaled( const VectorR4& u, double s ) +{ + x += s*u.x; + y += s*u.y; + z += s*u.z; + w += s*u.w; + return(*this); +} + +inline VectorR4& VectorR4::ReNormalize() // Convert near unit back to unit +{ + double nSq = NormSq(); + register double mFact = 1.0-0.5*(nSq-1.0); // Multiplicative factor + *this *= mFact; + return *this; +} + +inline double NormalizeError (const VectorR4& u) +{ + register double discrepancy; + discrepancy = u.x*u.x + u.y*u.y + u.z*u.z + u.w*u.w - 1.0; + if ( discrepancy < 0.0 ) { + discrepancy = -discrepancy; + } + return discrepancy; +} + +inline VectorR3& VectorR3::SetFromHg(const VectorR4& v) { + double wInv = 1.0/v.w; + x = v.x*wInv; + y = v.y*wInv; + z = v.z*wInv; + return *this; +} + +inline double VectorR4::Dist( const VectorR4& u ) const // Distance from u +{ + return sqrt( DistSq(u) ); +} + +inline double VectorR4::DistSq( const VectorR4& u ) const // Distance from u +{ + return ( (x-u.x)*(x-u.x) + (y-u.y)*(y-u.y) + (z-u.z)*(z-u.z) + (w-u.w)*(w-u.w) ); +} + + +// ********************************************************* +// * Matrix4x4 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ***** + +inline Matrix4x4::Matrix4x4() {} + +inline Matrix4x4::Matrix4x4( const VectorR4& u, const VectorR4& v, + const VectorR4& s, const VectorR4& t) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m41 = u.w; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m42 = v.w; + m13 = s.x; // Column 3 + m23 = s.y; + m33 = s.z; + m43 = s.w; + m14 = t.x; // Column 4 + m24 = t.y; + m34 = t.z; + m44 = t.w; +} + +inline Matrix4x4::Matrix4x4( double a11, double a21, double a31, double a41, + double a12, double a22, double a32, double a42, + double a13, double a23, double a33, double a43, + double a14, double a24, double a34, double a44) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; + m41 = a41; // Row 4 + m42 = a42; + m43 = a43; + m44 = a44; +} + +/* +inline Matrix4x4::Matrix4x4 ( const Matrix4x4& A) + : m11(A.m11), m12(A.m12), m13(A.m13), m14(A.m14), + m21(A.m21), m22(A.m22), m23(A.m23), m24(A.m24), + m31(A.m31), m32(A.m32), m33(A.m33), m34(A.m34), + m41(A.m41), m42(A.m42), m43(A.m43), m44(A.m44) {} */ + +inline void Matrix4x4::SetIdentity ( ) +{ + m11 = m22 = m33 = m44 = 1.0; + m12 = m13 = m14 = m21 = m23 = m24 = m13 = m23 = m41= m42 = m43 = 0.0; +} + +inline void Matrix4x4::Set( const VectorR4& u, const VectorR4& v, + const VectorR4& s, const VectorR4& t ) +{ + m11 = u.x; // Column 1 + m21 = u.y; + m31 = u.z; + m41 = u.w; + m12 = v.x; // Column 2 + m22 = v.y; + m32 = v.z; + m42 = v.w; + m13 = s.x; // Column 3 + m23 = s.y; + m33 = s.z; + m43 = s.w; + m14 = t.x; // Column 4 + m24 = t.y; + m34 = t.z; + m44 = t.w; +} + +inline void Matrix4x4::Set( double a11, double a21, double a31, double a41, + double a12, double a22, double a32, double a42, + double a13, double a23, double a33, double a43, + double a14, double a24, double a34, double a44) + // Values specified in column order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; + m41 = a41; // Row 4 + m42 = a42; + m43 = a43; + m44 = a44; +} + +inline void Matrix4x4::Set ( const Matrix4x4& M ) // Set to the matrix. +{ + m11 = M.m11; + m12 = M.m12; + m13 = M.m13; + m14 = M.m14; + m21 = M.m21; + m22 = M.m22; + m23 = M.m23; + m24 = M.m24; + m31 = M.m31; + m32 = M.m32; + m33 = M.m33; + m34 = M.m34; + m41 = M.m41; + m42 = M.m42; + m43 = M.m43; + m44 = M.m44; +} + +inline void Matrix4x4::SetZero( ) +{ + m11 = m12 = m13 = m14 = m21 = m22 = m23 = m24 + = m31 = m32 = m33 = m34 = m41 = m42 = m43 = m44 = 0.0; +} + +inline void Matrix4x4::SetByRows( const VectorR4& u, const VectorR4& v, + const VectorR4& s, const VectorR4& t ) +{ + m11 = u.x; // Row 1 + m12 = u.y; + m13 = u.z; + m14 = u.w; + m21 = v.x; // Row 2 + m22 = v.y; + m23 = v.z; + m24 = v.w; + m31 = s.x; // Row 3 + m32 = s.y; + m33 = s.z; + m34 = s.w; + m41 = t.x; // Row 4 + m42 = t.y; + m43 = t.z; + m44 = t.w; +} + +inline void Matrix4x4::SetByRows( double a11, double a12, double a13, double a14, + double a21, double a22, double a23, double a24, + double a31, double a32, double a33, double a34, + double a41, double a42, double a43, double a44 ) + // Values specified in row order!!! +{ + m11 = a11; // Row 1 + m12 = a12; + m13 = a13; + m14 = a14; + m21 = a21; // Row 2 + m22 = a22; + m23 = a23; + m24 = a24; + m31 = a31; // Row 3 + m32 = a32; + m33 = a33; + m34 = a34; + m41 = a41; // Row 4 + m42 = a42; + m43 = a43; + m44 = a44; +} + +inline void Matrix4x4::SetColumn1 ( double x, double y, double z, double w) +{ + m11 = x; m21 = y; m31= z; m41 = w; +} + +inline void Matrix4x4::SetColumn2 ( double x, double y, double z, double w) +{ + m12 = x; m22 = y; m32= z; m42 = w; +} + +inline void Matrix4x4::SetColumn3 ( double x, double y, double z, double w) +{ + m13 = x; m23 = y; m33= z; m43 = w; +} + +inline void Matrix4x4::SetColumn4 ( double x, double y, double z, double w) +{ + m14 = x; m24 = y; m34= z; m44 = w; +} + +inline void Matrix4x4::SetColumn1 ( const VectorR4& u ) +{ + m11 = u.x; m21 = u.y; m31 = u.z; m41 = u.w; +} + +inline void Matrix4x4::SetColumn2 ( const VectorR4& u ) +{ + m12 = u.x; m22 = u.y; m32 = u.z; m42 = u.w; +} + +inline void Matrix4x4::SetColumn3 ( const VectorR4& u ) +{ + m13 = u.x; m23 = u.y; m33 = u.z; m43 = u.w; +} + +inline void Matrix4x4::SetColumn4 ( const VectorR4& u ) +{ + m14 = u.x; m24 = u.y; m34 = u.z; m44 = u.w; +} + +VectorR4 Matrix4x4::Column1() const +{ + return ( VectorR4(m11, m21, m31, m41) ); +} + +VectorR4 Matrix4x4::Column2() const +{ + return ( VectorR4(m12, m22, m32, m42) ); +} + +VectorR4 Matrix4x4::Column3() const +{ + return ( VectorR4(m13, m23, m33, m43) ); +} + +VectorR4 Matrix4x4::Column4() const +{ + return ( VectorR4(m14, m24, m34, m44) ); +} + +inline void Matrix4x4::SetDiagonal( double x, double y, + double z, double w) +{ + m11 = x; + m22 = y; + m33 = z; + m44 = w; +} + +inline void Matrix4x4::SetDiagonal( const VectorR4& u ) +{ + SetDiagonal ( u.x, u.y, u.z, u.w ); +} + +inline double Matrix4x4::Diagonal( int i ) +{ + switch (i) { + case 0: + return m11; + case 1: + return m22; + case 2: + return m33; + case 3: + return m44; + default: + assert(0); + return 0.0; + } +} + +inline void Matrix4x4::MakeTranspose() // Transposes it. +{ + register double temp; + temp = m12; + m12 = m21; + m21=temp; + temp = m13; + m13 = m31; + m31 = temp; + temp = m14; + m14 = m41; + m41 = temp; + temp = m23; + m23 = m32; + m32 = temp; + temp = m24; + m24 = m42; + m42 = temp; + temp = m34; + m34 = m43; + m43 = temp; +} + +inline VectorR4 operator* ( const Matrix4x4& A, const VectorR4& u) +{ + VectorR4 ret; + ret.x = A.m11*u.x + A.m12*u.y + A.m13*u.z + A.m14*u.w; + ret.y = A.m21*u.x + A.m22*u.y + A.m23*u.z + A.m24*u.w; + ret.z = A.m31*u.x + A.m32*u.y + A.m33*u.z + A.m34*u.w; + ret.w = A.m41*u.x + A.m42*u.y + A.m43*u.z + A.m44*u.w; + return ret; +} + + +// ****************************************************** +// * LinearMapR4 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline LinearMapR4::LinearMapR4() +{ + SetZero(); + return; +} + +inline LinearMapR4::LinearMapR4( const VectorR4& u, const VectorR4& v, + const VectorR4& s, const VectorR4& t) +:Matrix4x4 ( u, v, s ,t ) +{ } + +inline LinearMapR4::LinearMapR4( + double a11, double a21, double a31, double a41, + double a12, double a22, double a32, double a42, + double a13, double a23, double a33, double a43, + double a14, double a24, double a34, double a44) + // Values specified in column order!!! +:Matrix4x4 ( a11, a21, a31, a41, a12, a22, a32, a42, + a13, a23, a33, a43, a14, a24, a34, a44 ) +{ } + +inline LinearMapR4::LinearMapR4 ( const Matrix4x4& A ) +: Matrix4x4 (A) +{} + + +inline LinearMapR4& LinearMapR4::operator+= (const LinearMapR4& B) +{ + m11 += B.m11; + m12 += B.m12; + m13 += B.m13; + m14 += B.m14; + m21 += B.m21; + m22 += B.m22; + m23 += B.m23; + m24 += B.m24; + m31 += B.m31; + m32 += B.m32; + m33 += B.m33; + m34 += B.m34; + m41 += B.m41; + m42 += B.m42; + m43 += B.m43; + m44 += B.m44; + return ( *this ); +} + +inline LinearMapR4& LinearMapR4::operator-= (const LinearMapR4& B) +{ + m11 -= B.m11; + m12 -= B.m12; + m13 -= B.m13; + m14 -= B.m14; + m21 -= B.m21; + m22 -= B.m22; + m23 -= B.m23; + m24 -= B.m24; + m31 -= B.m31; + m32 -= B.m32; + m33 -= B.m33; + m34 -= B.m34; + m41 -= B.m41; + m42 -= B.m42; + m43 -= B.m43; + m44 -= B.m44; + return( *this ); +} + +inline LinearMapR4 operator+ (const LinearMapR4& A, const LinearMapR4& B) +{ + return( LinearMapR4( A.m11+B.m11, A.m21+B.m21, A.m31+B.m31, A.m41+B.m41, + A.m12+B.m12, A.m22+B.m22, A.m32+B.m32, A.m42+B.m42, + A.m13+B.m13, A.m23+B.m23, A.m33+B.m33, A.m43+B.m43, + A.m14+B.m14, A.m24+B.m24, A.m34+B.m34, A.m44+B.m44) ); +} + +inline LinearMapR4 operator- (const LinearMapR4& A) +{ + return( LinearMapR4( -A.m11, -A.m21, -A.m31, -A.m41, + -A.m12, -A.m22, -A.m32, -A.m42, + -A.m13, -A.m23, -A.m33, -A.m43, + -A.m14, -A.m24, -A.m34, -A.m44 ) ); +} + +inline LinearMapR4 operator- (const LinearMapR4& A, const LinearMapR4& B) +{ + return( LinearMapR4( A.m11-B.m11, A.m21-B.m21, A.m31-B.m31, A.m41-B.m41, + A.m12-B.m12, A.m22-B.m22, A.m32-B.m32, A.m42-B.m42, + A.m13-B.m13, A.m23-B.m23, A.m33-B.m33, A.m43-B.m43, + A.m14-B.m14, A.m24-B.m24, A.m34-B.m34, A.m44-B.m44 ) ); +} + +inline LinearMapR4& LinearMapR4::operator*= (register double b) +{ + m11 *= b; + m12 *= b; + m13 *= b; + m14 *= b; + m21 *= b; + m22 *= b; + m23 *= b; + m24 *= b; + m31 *= b; + m32 *= b; + m33 *= b; + m34 *= b; + m41 *= b; + m42 *= b; + m43 *= b; + m44 *= b; + return ( *this); +} + +inline LinearMapR4 operator* ( const LinearMapR4& A, register double b) +{ + return( LinearMapR4( A.m11*b, A.m21*b, A.m31*b, A.m41*b, + A.m12*b, A.m22*b, A.m32*b, A.m42*b, + A.m13*b, A.m23*b, A.m33*b, A.m43*b, + A.m14*b, A.m24*b, A.m34*b, A.m44*b) ); +} + +inline LinearMapR4 operator* ( register double b, const LinearMapR4& A) +{ + return( LinearMapR4( A.m11*b, A.m21*b, A.m31*b, A.m41*b, + A.m12*b, A.m22*b, A.m32*b, A.m42*b, + A.m13*b, A.m23*b, A.m33*b, A.m43*b, + A.m14*b, A.m24*b, A.m34*b, A.m44*b ) ); +} + +inline LinearMapR4 operator/ ( const LinearMapR4& A, double b) +{ + register double bInv = 1.0/b; + return ( A*bInv ); +} + +inline LinearMapR4& LinearMapR4::operator/= (register double b) +{ + register double bInv = 1.0/b; + return ( *this *= bInv ); +} + +inline VectorR4 operator* ( const LinearMapR4& A, const VectorR4& u) +{ + return(VectorR4 ( A.m11*u.x + A.m12*u.y + A.m13*u.z + A.m14*u.w, + A.m21*u.x + A.m22*u.y + A.m23*u.z + A.m24*u.w, + A.m31*u.x + A.m32*u.y + A.m33*u.z + A.m34*u.w, + A.m41*u.x + A.m42*u.y + A.m43*u.z + A.m44*u.w ) ); +} + +inline LinearMapR4 LinearMapR4::Transpose() const // Returns the transpose +{ + return (LinearMapR4( m11, m12, m13, m14, + m21, m22, m23, m24, + m31, m32, m33, m34, + m41, m42, m43, m44 ) ); +} + +inline LinearMapR4& LinearMapR4::operator*= (const Matrix4x4& B) // Matrix product +{ + (*this).Matrix4x4::operator*=(B); + + return( *this ); +} + +inline LinearMapR4 operator* ( const LinearMapR4& A, const Matrix4x4& B) +{ + LinearMapR4 AA(A); + AA.Matrix4x4::operator*=(B); + return AA; +} + +inline LinearMapR4 operator* ( const Matrix4x4& A, const LinearMapR4& B) +{ + LinearMapR4 AA(A); + AA.Matrix4x4::operator*=(B); + return AA; +} + + + +// ****************************************************** +// * RotationMapR4 class - inlined functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * ** + +inline RotationMapR4::RotationMapR4() +{ + SetIdentity(); + return; +} + +inline RotationMapR4::RotationMapR4( const VectorR4& u, const VectorR4& v, + const VectorR4& s, const VectorR4& t) +:Matrix4x4 ( u, v, s ,t ) +{ } + +inline RotationMapR4::RotationMapR4( + double a11, double a21, double a31, double a41, + double a12, double a22, double a32, double a42, + double a13, double a23, double a33, double a43, + double a14, double a24, double a34, double a44) + // Values specified in column order!!! +:Matrix4x4 ( a11, a21, a31, a41, a12, a22, a32, a42, + a13, a23, a33, a43, a14, a24, a34, a44 ) +{ } + +inline RotationMapR4 RotationMapR4::Transpose() const // Returns the transpose +{ + return ( RotationMapR4( m11, m12, m13, m14, + m21, m22, m23, m24, + m31, m32, m33, m34, + m41, m42, m43, m44 ) ); +} + +inline VectorR4 RotationMapR4::Invert(const VectorR4& u) const // Returns solution +{ + return (VectorR4( m11*u.x + m21*u.y + m31*u.z + m41*u.w, + m12*u.x + m22*u.y + m32*u.z + m42*u.w, + m13*u.x + m23*u.y + m33*u.z + m43*u.w, + m14*u.x + m24*u.y + m34*u.z + m44*u.w ) ); +} + +inline RotationMapR4& RotationMapR4::operator*= (const RotationMapR4& B) // Matrix product +{ + (*this).Matrix4x4::operator*=(B); + + return( *this ); +} + +inline RotationMapR4 operator* ( const RotationMapR4& A, const RotationMapR4& B) +{ + RotationMapR4 AA(A); + AA.Matrix4x4::operator*=(B); + return AA; +} + + +// *************************************************************** +// * 4-space vector and matrix utilities (inlined functions) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +inline void TimesTranspose( const VectorR4& u, const VectorR4& v, LinearMapR4& M) +{ + M.Set ( v.x*u.x, v.x*u.y, v.x*u.z, v.x*u.w, // Set by columns! + v.y*u.x, v.y*u.y, v.y*u.z, v.y*u.w, + v.z*u.x, v.z*u.y, v.z*u.z, v.z*u.w, + v.w*u.x, v.w*u.y, v.w*u.z, v.w*u.w ) ; +} + +// Returns the solid angle between vectors u and v (not necessarily unit vectors) +inline double SolidAngle( const VectorR4& u, const VectorR4& v) +{ + double nSqU = u.NormSq(); + double nSqV = v.NormSq(); + if ( nSqU==0.0 && nSqV==0.0 ) { + return (0.0); + } + else { + return ( SolidAngleUnit( u/sqrt(nSqU), v/sqrt(nSqV) ) ); + } +} + +inline double SolidAngleUnit( const VectorR4 u, const VectorR4 v ) +{ + return ( atan2 ( ProjectPerpUnit(v,u).Norm(), u^v ) ); +} + + +#endif // LINEAR_R4_H diff --git a/examples/ThirdPartyLibs/BussIK/MathMisc.h b/examples/ThirdPartyLibs/BussIK/MathMisc.h new file mode 100644 index 000000000..1738753f8 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/MathMisc.h @@ -0,0 +1,384 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +#ifndef MATH_MISC_H +#define MATH_MISC_H + +#include + +// +// Commonly used constants +// + +const double PI = 3.1415926535897932384626433832795028841972; +const double PI2 = 2.0*PI; +const double PI4 = 4.0*PI; +const double PISq = PI*PI; +const double PIhalves = 0.5*PI; +const double PIthirds = PI/3.0; +const double PItwothirds = PI2/3.0; +const double PIfourths = 0.25*PI; +const double PIsixths = PI/6.0; +const double PIsixthsSq = PIsixths*PIsixths; +const double PItwelfths = PI/12.0; +const double PItwelfthsSq = PItwelfths*PItwelfths; +const double PIinv = 1.0/PI; +const double PI2inv = 0.5/PI; +const double PIhalfinv = 2.0/PI; + +const double RadiansToDegrees = 180.0/PI; +const double DegreesToRadians = PI/180; + +const double OneThird = 1.0/3.0; +const double TwoThirds = 2.0/3.0; +const double OneSixth = 1.0/6.0; +const double OneEighth = 1.0/8.0; +const double OneTwelfth = 1.0/12.0; + +const double Root2 = sqrt(2.0); +const double Root3 = sqrt(3.0); +const double Root2Inv = 1.0/Root2; // sqrt(2)/2 +const double HalfRoot3 = sqrtf(3)/2.0; + +const double LnTwo = log(2.0); +const double LnTwoInv = 1.0/log(2.0); + +// Special purpose constants +const double OnePlusEpsilon15 = 1.0+1.0e-15; +const double OneMinusEpsilon15 = 1.0-1.0e-15; + +inline double ZeroValue(const double& x) +{ + return 0.0; +} + +// +// Comparisons +// + +template inline T Min ( T x, T y ) +{ + return (x inline T Max ( T x, T y ) +{ + return (y inline T ClampRange ( T x, T min, T max) +{ + if ( xmax ) { + return max; + } + return x; +} + +template inline bool ClampRange ( T *x, T min, T max) +{ + if ( (*x)max ) { + (*x) = max; + return false; + } + else { + return true; + } +} + +template inline bool ClampMin ( T *x, T min) +{ + if ( (*x) inline bool ClampMax ( T *x, T max) +{ + if ( (*x)>max ) { + (*x) = max; + return false; + } + return true; +} + +template inline T& UpdateMin ( const T& x, T& y ) +{ + if ( x inline T& UpdateMax ( const T& x, T& y ) +{ + if ( x>y ) { + y = x; + } + return y; +} + + +template inline bool SameSignNonzero( T x, T y ) +{ + if ( x<0 ) { + return (y<0); + } + else if ( 0 +inline bool NearEqual( T a, T b, double tolerance ) { + a -= b; + return ( Mag(a)<=tolerance ); +} + +inline bool EqualZeroFuzzy( double x ) { + return ( fabs(x)<=1.0e-14 ); +} + +inline bool NearZero( double x, double tolerance ) { + return ( fabs(x)<=tolerance ); +} + +inline bool LessOrEqualFuzzy( double x, double y ) +{ + if ( x <= y ) { + return true; + } + + if ( y > 0.0 ) { + if ( x>0.0 ) { + return ( x*OneMinusEpsilon15 < y*OnePlusEpsilon15 ); + } + else { + return ( y<1.0e-15 ); // x==0 in this case + } + } + else if ( y < 0.0 ) { + if ( x<0.0 ) { + return ( x*OnePlusEpsilon15 < y*OneMinusEpsilon15 ); + } + else { + return ( y>-1.0e-15 ); // x==0 in this case + } + } + else { + return ( -1.0e-15 *maxabs ) { + *maxabs = updateval; + return true; + } + else if ( -updateval > *maxabs ) { + *maxabs = -updateval; + return true; + } + else { + return false; + } +} + +// ********************************************************** +// Combinations and averages. * +// ********************************************************** + +template +void averageOf ( const T& a, const T &b, T&c ) { + c = a; + c += b; + c *= 0.5; +} + +template +void Lerp( const T& a, const T&b, double alpha, T&c ) { + double beta = 1.0-alpha; + if ( beta>alpha ) { + c = b; + c *= alpha/beta; + c += a; + c *= beta; + } + else { + c = a; + c *= beta/alpha; + c += b; + c *= alpha; + } +} + +template +T Lerp( const T& a, const T&b, double alpha ) { + T ret; + Lerp( a, b, alpha, ret ); + return ret; +} + +// ********************************************************** +// Trigonometry * +// ********************************************************** + +// TimesCot(x) returns x*cot(x) +inline double TimesCot ( double x ) { + if ( -1.0e-5 < x && x < 1.0e-5 ) { + return 1.0+x*OneThird; + } + else { + return ( x*cos(x)/sin(x) ); + } +} + +// SineOver(x) returns sin(x)/x. +inline double SineOver( double x ) { + if ( -1.0e-5 < x && x < 1.0e-5 ) { + return 1.0-x*x*OneSixth; + } + else { + return sin(x)/x; + } +} +// OverSine(x) returns x/sin(x). +inline double OverSine( double x ) { + if ( -1.0e-5 < x && x < 1.0e-5 ) { + return 1.0+x*x*OneSixth; + } + else { + return x/sin(x); + } +} + +inline double SafeAsin( double x ) { + if ( x <= -1.0 ) { + return -PIhalves; + } + else if ( x >= 1.0 ) { + return PIhalves; + } + else { + return asin(x); + } +} + +inline double SafeAcos( double x ) { + if ( x <= -1.0 ) { + return PI; + } + else if ( x >= 1.0 ) { + return 0.0; + } + else { + return acos(x); + } +} + + +// ********************************************************************** +// Roots and powers * +// ********************************************************************** + +// Square(x) returns x*x, of course! + +template inline T Square ( T x ) +{ + return (x*x); +} + +// Cube(x) returns x*x*x, of course! + +template inline T Cube ( T x ) +{ + return (x*x*x); +} + +// SafeSqrt(x) = returns sqrt(max(x, 0.0)); + +inline double SafeSqrt( double x ) { + if ( x<=0.0 ) { + return 0.0; + } + else { + return sqrt(x); + } +} + + +// SignedSqrt(a, s) returns (sign(s)*sqrt(a)). +inline double SignedSqrt( double a, double sgn ) +{ + if ( sgn==0.0 ) { + return 0.0; + } + else { + return ( sgn>0.0 ? sqrt(a) : -sqrt(a) ); + } +} + + +// Template version of Sign function + +template inline int Sign( T x) +{ + if ( x<0 ) { + return -1; + } + else if ( x==0 ) { + return 0; + } + else { + return 1; + } +} + + +#endif // #ifndef MATH_MISC_H diff --git a/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp new file mode 100644 index 000000000..365d90f6c --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp @@ -0,0 +1,984 @@ + +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +// +// MatrixRmn.cpp: Matrix over reals (Variable dimensional vector) +// +// Not very sophisticated yet. Needs more functionality +// To do: better handling of resizing. +// + +#include "MatrixRmn.h" + +MatrixRmn MatrixRmn::WorkMatrix; // Temporary work matrix + +// Fill the diagonal entries with the value d. The rest of the matrix is unchanged. +void MatrixRmn::SetDiagonalEntries( double d ) +{ + long diagLen = Min( NumRows, NumCols ); + double* dPtr = x; + for ( ; diagLen>0; diagLen-- ) { + *dPtr = d; + dPtr += NumRows+1; + } +} + +// Fill the diagonal entries with values in vector d. The rest of the matrix is unchanged. +void MatrixRmn::SetDiagonalEntries( const VectorRn& d ) +{ + long diagLen = Min( NumRows, NumCols ); + assert ( d.length == diagLen ); + double* dPtr = x; + double* from = d.x; + for ( ; diagLen>0; diagLen-- ) { + *dPtr = *(from++); + dPtr += NumRows+1; + } +} + +// Fill the superdiagonal entries with the value d. The rest of the matrix is unchanged. +void MatrixRmn::SetSuperDiagonalEntries( double d ) +{ + long sDiagLen = Min( NumRows, (long)(NumCols-1) ); + double* to = x + NumRows; + for ( ; sDiagLen>0; sDiagLen-- ) { + *to = d; + to += NumRows+1; + } +} + +// Fill the superdiagonal entries with values in vector d. The rest of the matrix is unchanged. +void MatrixRmn::SetSuperDiagonalEntries( const VectorRn& d ) +{ + long sDiagLen = Min( (long)(NumRows-1), NumCols ); + assert ( sDiagLen == d.length ); + double* to = x + NumRows; + double* from = d.x; + for ( ; sDiagLen>0; sDiagLen-- ) { + *to = *(from++); + to += NumRows+1; + } +} + +// Fill the subdiagonal entries with the value d. The rest of the matrix is unchanged. +void MatrixRmn::SetSubDiagonalEntries( double d ) +{ + long sDiagLen = Min( NumRows, NumCols ) - 1; + double* to = x + 1; + for ( ; sDiagLen>0; sDiagLen-- ) { + *to = d; + to += NumRows+1; + } +} + +// Fill the subdiagonal entries with values in vector d. The rest of the matrix is unchanged. +void MatrixRmn::SetSubDiagonalEntries( const VectorRn& d ) +{ + long sDiagLen = Min( NumRows, NumCols ) - 1; + assert ( sDiagLen == d.length ); + double* to = x + 1; + double* from = d.x; + for ( ; sDiagLen>0; sDiagLen-- ) { + *to = *(from++); + to += NumRows+1; + } +} + +// Set the i-th column equal to d. +void MatrixRmn::SetColumn(long i, const VectorRn& d ) +{ + assert ( NumRows==d.GetLength() ); + double* to = x+i*NumRows; + const double* from = d.x; + for ( i=NumRows; i>0; i-- ) { + *(to++) = *(from++); + } +} + +// Set the i-th column equal to d. +void MatrixRmn::SetRow(long i, const VectorRn& d ) +{ + assert ( NumCols==d.GetLength() ); + double* to = x+i; + const double* from = d.x; + for ( i=NumRows; i>0; i-- ) { + *to = *(from++); + to += NumRows; + } +} + +// Sets a "linear" portion of the array with the values from a vector d +// The first row and column position are given by startRow, startCol. +// Successive positions are found by using the deltaRow, deltaCol values +// to increment the row and column indices. There is no wrapping around. +void MatrixRmn::SetSequence( const VectorRn& d, long startRow, long startCol, long deltaRow, long deltaCol ) +{ + long length = d.length; + assert( startRow>=0 && startRow=0 && startCol=0 && startRow+(length-1)*deltaRow=0 && startCol+(length-1)*deltaCol0; length-- ) { + *to = *(from++); + to += stride; + } +} + +// The matrix A is loaded, in into "this" matrix, based at (0,0). +// The size of "this" matrix must be large enough to accomodate A. +// The rest of "this" matrix is left unchanged. It is not filled with zeroes! + +void MatrixRmn::LoadAsSubmatrix( const MatrixRmn& A ) +{ + assert( A.NumRows<=NumRows && A.NumCols<=NumCols ); + int extraColStep = NumRows - A.NumRows; + double *to = x; + double *from = A.x; + for ( long i=A.NumCols; i>0; i-- ) { // Copy columns of A, one per time thru loop + for ( long j=A.NumRows; j>0; j-- ) { // Copy all elements of this column of A + *(to++) = *(from++); + } + to += extraColStep; + } +} + +// The matrix A is loaded, in transposed order into "this" matrix, based at (0,0). +// The size of "this" matrix must be large enough to accomodate A. +// The rest of "this" matrix is left unchanged. It is not filled with zeroes! +void MatrixRmn::LoadAsSubmatrixTranspose( const MatrixRmn& A ) +{ + assert( A.NumRows<=NumCols && A.NumCols<=NumRows ); + double* rowPtr = x; + double* from = A.x; + for ( long i=A.NumCols; i>0; i-- ) { // Copy columns of A, once per loop + double* to = rowPtr; + for ( long j=A.NumRows; j>0; j-- ) { // Loop copying values from the column of A + *to = *(from++); + to += NumRows; + } + rowPtr ++; + } +} + +// Calculate the Frobenius Norm (square root of sum of squares of entries of the matrix) +double MatrixRmn::FrobeniusNorm() const +{ + return sqrt( FrobeniusNormSq() ); +} + +// Multiply this matrix by column vector v. +// Result is column vector "result" +void MatrixRmn::Multiply( const VectorRn& v, VectorRn& result ) const +{ + assert ( v.GetLength()==NumCols && result.GetLength()==NumRows ); + double* out = result.GetPtr(); // Points to entry in result vector + const double* rowPtr = x; // Points to beginning of next row in matrix + for ( long j = NumRows; j>0; j-- ) { + const double* in = v.GetPtr(); + const double* m = rowPtr++; + *out = 0.0f; + for ( long i = NumCols; i>0; i-- ) { + *out += (*(in++)) * (*m); + m += NumRows; + } + out++; + } +} + +// Multiply transpose of this matrix by column vector v. +// Result is column vector "result" +// Equivalent to mult by row vector on left +void MatrixRmn::MultiplyTranspose( const VectorRn& v, VectorRn& result ) const +{ + assert ( v.GetLength()==NumRows && result.GetLength()==NumCols ); + double* out = result.GetPtr(); // Points to entry in result vector + const double* colPtr = x; // Points to beginning of next column in matrix + for ( long i=NumCols; i>0; i-- ) { + const double* in=v.GetPtr(); + *out = 0.0f; + for ( long j = NumRows; j>0; j-- ) { + *out += (*(in++)) * (*(colPtr++)); + } + out++; + } +} + +// Form the dot product of a vector v with the i-th column of the array +double MatrixRmn::DotProductColumn( const VectorRn& v, long colNum ) const +{ + assert ( v.GetLength()==NumRows ); + double* ptrC = x+colNum*NumRows; + double* ptrV = v.x; + double ret = 0.0; + for ( long i = NumRows; i>0; i-- ) { + ret += (*(ptrC++))*(*(ptrV++)); + } + return ret; +} + +// Add a constant to each entry on the diagonal +MatrixRmn& MatrixRmn::AddToDiagonal( double d ) // Adds d to each diagonal entry +{ + long diagLen = Min( NumRows, NumCols ); + double* dPtr = x; + for ( ; diagLen>0; diagLen-- ) { + *dPtr += d; + dPtr += NumRows+1; + } + return *this; +} + +// Multiply two MatrixRmn's +MatrixRmn& MatrixRmn::Multiply( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ) +{ + assert( A.NumCols == B.NumRows && A.NumRows == dst.NumRows && B.NumCols == dst.NumCols ); + long length = A.NumCols; + + double *bPtr = B.x; // Points to beginning of column in B + double *dPtr = dst.x; + for ( long i = dst.NumCols; i>0; i-- ) { + double *aPtr = A.x; // Points to beginning of row in A + for ( long j = dst.NumRows; j>0; j-- ) { + *dPtr = DotArray( length, aPtr, A.NumRows, bPtr, 1 ); + dPtr++; + aPtr++; + } + bPtr += B.NumRows; + } + + return dst; +} + +// Multiply two MatrixRmn's, Transpose the first matrix before multiplying +MatrixRmn& MatrixRmn::TransposeMultiply( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ) +{ + assert( A.NumRows == B.NumRows && A.NumCols == dst.NumRows && B.NumCols == dst.NumCols ); + long length = A.NumRows; + + double *bPtr = B.x; // bPtr Points to beginning of column in B + double *dPtr = dst.x; + for ( long i = dst.NumCols; i>0; i-- ) { // Loop over all columns of dst + double *aPtr = A.x; // aPtr Points to beginning of column in A + for ( long j = dst.NumRows; j>0; j-- ) { // Loop over all rows of dst + *dPtr = DotArray( length, aPtr, 1, bPtr, 1 ); + dPtr ++; + aPtr += A.NumRows; + } + bPtr += B.NumRows; + } + + return dst; +} + +// Multiply two MatrixRmn's. Transpose the second matrix before multiplying +MatrixRmn& MatrixRmn::MultiplyTranspose( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ) +{ + assert( A.NumCols == B.NumCols && A.NumRows == dst.NumRows && B.NumRows == dst.NumCols ); + long length = A.NumCols; + + double *bPtr = B.x; // Points to beginning of row in B + double *dPtr = dst.x; + for ( long i = dst.NumCols; i>0; i-- ) { + double *aPtr = A.x; // Points to beginning of row in A + for ( long j = dst.NumRows; j>0; j-- ) { + *dPtr = DotArray( length, aPtr, A.NumRows, bPtr, B.NumRows ); + dPtr++; + aPtr++; + } + bPtr++; + } + + return dst; +} + +// Solves the equation (*this)*xVec = b; +// Uses row operations. Assumes *this is square and invertible. +// No error checking for divide by zero or instability (except with asserts) +void MatrixRmn::Solve( const VectorRn& b, VectorRn* xVec ) const +{ + assert ( NumRows==NumCols && NumCols==xVec->GetLength() && NumRows==b.GetLength() ); + + // Copy this matrix and b into an Augmented Matrix + MatrixRmn& AugMat = GetWorkMatrix( NumRows, NumCols+1 ); + AugMat.LoadAsSubmatrix( *this ); + AugMat.SetColumn( NumRows, b ); + + // Put into row echelon form with row operations + AugMat.ConvertToRefNoFree(); + + // Solve for x vector values using back substitution + double* xLast = xVec->x+NumRows-1; // Last entry in xVec + double* endRow = AugMat.x+NumRows*NumCols-1; // Last entry in the current row of the coefficient part of Augmented Matrix + double* bPtr = endRow+NumRows; // Last entry in augmented matrix (end of last column, in augmented part) + for ( long i = NumRows; i>0; i-- ) { + double accum = *(bPtr--); + // Next loop computes back substitution terms + double* rowPtr = endRow; // Points to entries of the current row for back substitution. + double* xPtr = xLast; // Points to entries in the x vector (also for back substitution) + for ( long j=NumRows-i; j>0; j-- ) { + accum -= (*rowPtr)*(*(xPtr--)); + rowPtr -= NumCols; // Previous entry in the row + } + assert( *rowPtr != 0.0 ); // Are not supposed to be any free variables in this matrix + *xPtr = accum/(*rowPtr); + endRow--; + } +} + +// ConvertToRefNoFree +// Converts the matrix (in place) to row echelon form +// For us, row echelon form allows any non-zero values, not just 1's, in the +// position for a lead variable. +// The "NoFree" version operates on the assumption that no free variable will be found. +// Algorithm uses row operations and row pivoting (only). +// Augmented matrix is correctly accomodated. Only the first square part participates +// in the main work of row operations. +void MatrixRmn::ConvertToRefNoFree() +{ + // Loop over all columns (variables) + // Find row with most non-zero entry. + // Swap to the highest active row + // Subtract appropriately from all the lower rows (row op of type 3) + long numIters = Min(NumRows,NumCols); + double* rowPtr1 = x; + const long diagStep = NumRows+1; + long lenRowLeft = NumCols; + for ( ; numIters>1; numIters-- ) { + // Find row with most non-zero entry. + double* rowPtr2 = rowPtr1; + double maxAbs = fabs(*rowPtr1); + double *rowPivot = rowPtr1; + long i; + for ( i=numIters-1; i>0; i-- ) { + const double& newMax = *(++rowPivot); + if ( newMax > maxAbs ) { + maxAbs = *rowPivot; + rowPtr2 = rowPivot; + } + else if ( -newMax > maxAbs ) { + maxAbs = -newMax; + rowPtr2 = rowPivot; + } + } + // Pivot step: Swap the row with highest entry to the current row + if ( rowPtr1 != rowPtr2 ) { + double *to = rowPtr1; + for ( long i=lenRowLeft; i>0; i-- ) { + double temp = *to; + *to = *rowPtr2; + *rowPtr2 = temp; + to += NumRows; + rowPtr2 += NumRows; + } + } + // Subtract this row appropriately from all the lower rows (row operation of type 3) + rowPtr2 = rowPtr1; + for ( i=numIters-1; i>0; i-- ) { + rowPtr2++; + double* to = rowPtr2; + double* from = rowPtr1; + assert( *from != 0.0 ); + double alpha = (*to)/(*from); + *to = 0.0; + for ( long j=lenRowLeft-1; j>0; j-- ) { + to += NumRows; + from += NumRows; + *to -= (*from)*alpha; + } + } + // Update for next iteration of loop + rowPtr1 += diagStep; + lenRowLeft--; + } + +} + +// Calculate the c=cosine and s=sine values for a Givens transformation. +// The matrix M = ( (c, -s), (s, c) ) in row order transforms the +// column vector (a, b)^T to have y-coordinate zero. +void MatrixRmn::CalcGivensValues( double a, double b, double *c, double *s ) +{ + double denomInv = sqrt(a*a + b*b); + if ( denomInv==0.0 ) { + *c = 1.0; + *s = 0.0; + } + else { + denomInv = 1.0/denomInv; + *c = a*denomInv; + *s = -b*denomInv; + } +} + +// Applies Givens transform to columns i and i+1. +// Equivalent to postmultiplying by the matrix +// ( c -s ) +// ( s c ) +// with non-zero entries in rows i and i+1 and columns i and i+1 +void MatrixRmn::PostApplyGivens( double c, double s, long idx ) +{ + assert ( 0<=idx && idx0; i-- ) { + double temp = *colA; + *colA = (*colA)*c + (*colB)*s; + *colB = (*colB)*c - temp*s; + colA++; + colB++; + } +} + +// Applies Givens transform to columns idx1 and idx2. +// Equivalent to postmultiplying by the matrix +// ( c -s ) +// ( s c ) +// with non-zero entries in rows idx1 and idx2 and columns idx1 and idx2 +void MatrixRmn::PostApplyGivens( double c, double s, long idx1, long idx2 ) +{ + assert ( idx1!=idx2 && 0<=idx1 && idx10; i-- ) { + double temp = *colA; + *colA = (*colA)*c + (*colB)*s; + *colB = (*colB)*c - temp*s; + colA++; + colB++; + } +} + + +// ******************************************************************************************** +// Singular value decomposition. +// Return othogonal matrices U and V and diagonal matrix with diagonal w such that +// (this) = U * Diag(w) * V^T (V^T is V-transpose.) +// Diagonal entries have all non-zero entries before all zero entries, but are not +// necessarily sorted. (Someday, I will write ComputedSortedSVD that handles +// sorting the eigenvalues by magnitude.) +// ******************************************************************************************** +void MatrixRmn::ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const +{ + assert ( U.NumRows==NumRows && V.NumCols==NumCols + && U.NumRows==U.NumCols && V.NumRows==V.NumCols + && w.GetLength()==Min(NumRows,NumCols) ); + + double temp=0.0; + VectorRn& superDiag = VectorRn::GetWorkVector( w.GetLength()-1 ); // Some extra work space. Will get passed around. + + // Choose larger of U, V to hold intermediate results + // If U is larger than V, use U to store intermediate results + // Otherwise use V. In the latter case, we form the SVD of A transpose, + // (which is essentially identical to the SVD of A). + MatrixRmn* leftMatrix; + MatrixRmn* rightMatrix; + if ( NumRows >= NumCols ) { + U.LoadAsSubmatrix( *this ); // Copy A into U + leftMatrix = &U; + rightMatrix = &V; + } + else { + V.LoadAsSubmatrixTranspose( *this ); // Copy A-transpose into V + leftMatrix = &V; + rightMatrix = &U; + } + + // Do the actual work to calculate the SVD + // Now matrix has at least as many rows as columns + CalcBidiagonal( *leftMatrix, *rightMatrix, w, superDiag ); + ConvertBidiagToDiagonal( *leftMatrix, *rightMatrix, w, superDiag ); + +} + +// ************************************************ CalcBidiagonal ************************** +// Helper routine for SVD computation +// U is a matrix to be bidiagonalized. +// On return, U and V are orthonormal and w holds the new diagonal +// elements and superDiag holds the super diagonal elements. + +void MatrixRmn::CalcBidiagonal( MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag ) +{ + assert ( U.NumRows>=V.NumRows ); + + // The diagonal and superdiagonal entries of the bidiagonalized + // version of the U matrix + // are stored in the vectors w and superDiag (temporarily). + + // Apply Householder transformations to U. + // Householder transformations come in pairs. + // First, on the left, we map a portion of a column to zeros + // Second, on the right, we map a portion of a row to zeros + const long rowStep = U.NumCols; + const long diagStep = U.NumCols+1; + double *diagPtr = U.x; + double* wPtr = w.x; + double* superDiagPtr = superDiag.x; + long colLengthLeft = U.NumRows; + long rowLengthLeft = V.NumCols; + while (true) { + // Apply a Householder xform on left to zero part of a column + SvdHouseholder( diagPtr, colLengthLeft, rowLengthLeft, 1, rowStep, wPtr ); + + if ( rowLengthLeft==2 ) { + *superDiagPtr = *(diagPtr+rowStep); + break; + } + // Apply a Householder xform on the right to zero part of a row + SvdHouseholder( diagPtr+rowStep, rowLengthLeft-1, colLengthLeft, rowStep, 1, superDiagPtr ); + + rowLengthLeft--; + colLengthLeft--; + diagPtr += diagStep; + wPtr++; + superDiagPtr++; + } + + int extra = 0; + diagPtr += diagStep; + wPtr++; + if ( colLengthLeft > 2 ) { + extra = 1; + // Do one last Householder transformation when the matrix is not square + colLengthLeft--; + SvdHouseholder( diagPtr, colLengthLeft, 1, 1, 0, wPtr ); + } + else { + *wPtr = *diagPtr; + } + + // Form U and V from the Householder transformations + V.ExpandHouseholders( V.NumCols-2, 1, U.x+U.NumRows, U.NumRows, 1 ); + U.ExpandHouseholders( V.NumCols-1+extra, 0, U.x, 1, U.NumRows ); + + // Done with bidiagonalization + return; +} + +// Helper routine for CalcBidiagonal +// Performs a series of Householder transformations on a matrix +// Stores results compactly into the matrix: The Householder vector u (normalized) +// is stored into the first row/column being transformed. +// The leading term of that row (= plus/minus its magnitude is returned +// separately into "retFirstEntry" +void MatrixRmn::SvdHouseholder( double* basePt, + long colLength, long numCols, long colStride, long rowStride, + double* retFirstEntry ) +{ + + // Calc norm of vector u + double* cPtr = basePt; + double norm = 0.0; + long i; + for ( i=colLength; i>0 ; i-- ) { + norm += Square( *cPtr ); + cPtr += colStride; + } + norm = sqrt(norm); // Norm of vector to reflect to axis e_1 + + // Handle sign issues + double imageVal; // Choose sign to maximize distance + if ( (*basePt) < 0.0 ) { + imageVal = norm; + norm = 2.0*norm*(norm-(*basePt)); + } + else { + imageVal = -norm; + norm = 2.0*norm*(norm+(*basePt)); + } + norm = sqrt(norm); // Norm is norm of reflection vector + + if ( norm==0.0 ) { // If the vector being transformed is equal to zero + // Force to zero in case of roundoff errors + cPtr = basePt; + for ( i=colLength; i>0; i-- ) { + *cPtr = 0.0; + cPtr += colStride; + } + *retFirstEntry = 0.0; + return; + } + + *retFirstEntry = imageVal; + + // Set up the normalized Householder vector + *basePt -= imageVal; // First component changes. Rest stay the same. + // Normalize the vector + norm = 1.0/norm; // Now it is the inverse norm + cPtr = basePt; + for ( i=colLength; i>0 ; i-- ) { + *cPtr *= norm; + cPtr += colStride; + } + + // Transform the rest of the U matrix with the Householder transformation + double *rPtr = basePt; + for ( long j=numCols-1; j>0; j-- ) { + rPtr += rowStride; + // Calc dot product with Householder transformation vector + double dotP = DotArray( colLength, basePt, colStride, rPtr, colStride ); + // Transform with I - 2*dotP*(Householder vector) + AddArrayScale( colLength, basePt, colStride, rPtr, colStride, -2.0*dotP ); + } +} + +// ********************************* ExpandHouseholders ******************************************** +// The matrix will be square. +// numXforms = number of Householder transformations to concatenate +// Each Householder transformation is represented by a unit vector +// Each successive Householder transformation starts one position later +// and has one more implied leading zero +// basePt = beginning of the first Householder transform +// colStride, rowStride: Householder xforms are stored in "columns" +// numZerosSkipped is the number of implicit zeros on the front each +// Householder transformation vector (only values supported are 0 and 1). +void MatrixRmn::ExpandHouseholders( long numXforms, int numZerosSkipped, const double* basePt, long colStride, long rowStride ) +{ + // Number of applications of the last Householder transform + // (That are not trivial!) + long numToTransform = NumCols-numXforms+1-numZerosSkipped; + assert( numToTransform>0 ); + + if ( numXforms==0 ) { + SetIdentity(); + return; + } + + // Handle the first one separately as a special case, + // "this" matrix will be treated to simulate being preloaded with the identity + long hDiagStride = rowStride+colStride; + const double* hBase = basePt + hDiagStride*(numXforms-1); // Pointer to the last Householder vector + const double* hDiagPtr = hBase + colStride*(numToTransform-1); // Pointer to last entry in that vector + long i; + double* diagPtr = x+NumCols*NumRows-1; // Last entry in matrix (points to diagonal entry) + double* colPtr = diagPtr-(numToTransform-1); // Pointer to column in matrix + for ( i=numToTransform; i>0; i-- ) { + CopyArrayScale( numToTransform, hBase, colStride, colPtr, 1, -2.0*(*hDiagPtr) ); + *diagPtr += 1.0; // Add back in 1 to the diagonal entry (since xforming the identity) + diagPtr -= (NumRows+1); // Next diagonal entry in this matrix + colPtr -= NumRows; // Next column in this matrix + hDiagPtr -= colStride; + } + + // Now handle the general case + // A row of zeros must be in effect added to the top of each old column (in each loop) + double* colLastPtr = x + NumRows*NumCols - numToTransform - 1; + for ( i = numXforms-1; i>0; i-- ) { + numToTransform++; // Number of non-trivial applications of this Householder transformation + hBase -= hDiagStride; // Pointer to the beginning of the Householder transformation + colPtr = colLastPtr; + for ( long j = numToTransform-1; j>0; j-- ) { + // Get dot product + double dotProd2N = -2.0*DotArray( numToTransform-1, hBase+colStride, colStride, colPtr+1, 1 ); + *colPtr = dotProd2N*(*hBase); // Adding onto zero at initial point + AddArrayScale( numToTransform-1, hBase+colStride, colStride, colPtr+1, 1, dotProd2N ); + colPtr -= NumRows; + } + // Do last one as a special case (may overwrite the Householder vector) + CopyArrayScale( numToTransform, hBase, colStride, colPtr, 1, -2.0*(*hBase) ); + *colPtr += 1.0; // Add back one one as identity + // Done with this Householder transformation + colLastPtr --; + } + + if ( numZerosSkipped!=0 ) { + assert( numZerosSkipped==1 ); + // Fill first row and column with identity (More generally: first numZerosSkipped many rows and columns) + double* d = x; + *d = 1; + double* d2 = d; + for ( i=NumRows-1; i>0; i-- ) { + *(++d) = 0; + *(d2+=NumRows) = 0; + } + } +} + +// **************** ConvertBidiagToDiagonal *********************************************** +// Do the iterative transformation from bidiagonal form to diagonal form using +// Givens transformation. (Golub-Reinsch) +// U and V are square. Size of U less than or equal to that of U. +void MatrixRmn::ConvertBidiagToDiagonal( MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag ) const +{ + // These two index into the last bidiagonal block (last in the matrix, it will be + // first one handled. + long lastBidiagIdx = V.NumRows-1; + long firstBidiagIdx = 0; + double eps = 1.0e-15 * Max(w.MaxAbs(), superDiag.MaxAbs()); + + while ( true ) { + bool workLeft = UpdateBidiagIndices( &firstBidiagIdx, &lastBidiagIdx, w, superDiag, eps ); + if ( !workLeft ) { + break; + } + + // Get ready for first Givens rotation + // Push non-zero to M[2,1] with Givens transformation + double* wPtr = w.x+firstBidiagIdx; + double* sdPtr = superDiag.x+firstBidiagIdx; + double extraOffDiag=0.0; + if ( (*wPtr)==0.0 ) { + ClearRowWithDiagonalZero( firstBidiagIdx, lastBidiagIdx, U, wPtr, sdPtr, eps ); + if ( firstBidiagIdx>0 ) { + if ( NearZero( *(--sdPtr), eps ) ) { + *sdPtr = 0.0; + } + else { + ClearColumnWithDiagonalZero( firstBidiagIdx, V, wPtr, sdPtr, eps ); + } + } + continue; + } + + // Estimate an eigenvalue from bottom four entries of M + // This gives a lambda value which will shift the Givens rotations + // Last four entries of M^T * M are ( ( A, B ), ( B, C ) ). + double A; + A = (firstBidiagIdx C ) { + lambda = -lambda; + } + lambda += (A+C)*0.5; // Now lambda equals the estimate for the last eigenvalue + double t11 = Square(w[firstBidiagIdx]); + double t12 = w[firstBidiagIdx]*superDiag[firstBidiagIdx]; + + double c, s; + CalcGivensValues( t11-lambda, t12, &c, &s ); + ApplyGivensCBTD( c, s, wPtr, sdPtr, &extraOffDiag, wPtr+1 ); + V.PostApplyGivens( c, -s, firstBidiagIdx ); + long i; + for ( i=firstBidiagIdx; i 0 ) { + if ( NearZero( *wPtr, eps ) ) { // If this diagonal entry (near) zero + *wPtr = 0.0; + break; + } + if ( NearZero(*(--sdPtr), eps) ) { // If the entry above the diagonal entry is (near) zero + *sdPtr = 0.0; + break; + } + wPtr--; + firstIdx--; + } + *firstBidiagIdx = firstIdx; + return true; +} + + +// ******************************************DEBUG STUFFF + +bool MatrixRmn::DebugCheckSVD( const MatrixRmn& U, const VectorRn& w, const MatrixRmn& V ) const +{ + // Special SVD test code + + MatrixRmn IV( V.GetNumRows(), V.GetNumColumns() ); + IV.SetIdentity(); + MatrixRmn VTV( V.GetNumRows(), V.GetNumColumns() ); + MatrixRmn::TransposeMultiply( V, V, VTV ); + IV -= VTV; + double error = IV.FrobeniusNorm(); + + MatrixRmn IU( U.GetNumRows(), U.GetNumColumns() ); + IU.SetIdentity(); + MatrixRmn UTU( U.GetNumRows(), U.GetNumColumns() ); + MatrixRmn::TransposeMultiply( U, U, UTU ); + IU -= UTU; + error += IU.FrobeniusNorm(); + + MatrixRmn Diag( U.GetNumRows(), V.GetNumRows() ); + Diag.SetZero(); + Diag.SetDiagonalEntries( w ); + MatrixRmn B(U.GetNumRows(), V.GetNumRows() ); + MatrixRmn C(U.GetNumRows(), V.GetNumRows() ); + MatrixRmn::Multiply( U, Diag, B ); + MatrixRmn::MultiplyTranspose( B, V, C ); + C -= *this; + error += C.FrobeniusNorm(); + + bool ret = ( fabs(error)<=1.0e-13*w.MaxAbs() ); + assert ( ret ); + return ret; +} + +bool MatrixRmn::DebugCalcBidiagCheck( const MatrixRmn& U, const VectorRn& w, const VectorRn& superDiag, const MatrixRmn& V ) const +{ + // Special SVD test code + + MatrixRmn IV( V.GetNumRows(), V.GetNumColumns() ); + IV.SetIdentity(); + MatrixRmn VTV( V.GetNumRows(), V.GetNumColumns() ); + MatrixRmn::TransposeMultiply( V, V, VTV ); + IV -= VTV; + double error = IV.FrobeniusNorm(); + + MatrixRmn IU( U.GetNumRows(), U.GetNumColumns() ); + IU.SetIdentity(); + MatrixRmn UTU( U.GetNumRows(), U.GetNumColumns() ); + MatrixRmn::TransposeMultiply( U, U, UTU ); + IU -= UTU; + error += IU.FrobeniusNorm(); + + MatrixRmn DiagAndSuper( U.GetNumRows(), V.GetNumRows() ); + DiagAndSuper.SetZero(); + DiagAndSuper.SetDiagonalEntries( w ); + if ( this->GetNumRows()>=this->GetNumColumns() ) { + DiagAndSuper.SetSequence( superDiag, 0, 1, 1, 1 ); + } + else { + DiagAndSuper.SetSequence( superDiag, 1, 0, 1, 1 ); + } + MatrixRmn B(U.GetNumRows(), V.GetNumRows() ); + MatrixRmn C(U.GetNumRows(), V.GetNumRows() ); + MatrixRmn::Multiply( U, DiagAndSuper, B ); + MatrixRmn::MultiplyTranspose( B, V, C ); + C -= *this; + error += C.FrobeniusNorm(); + + bool ret = ( fabs(error)<1.0e-13*Max(w.MaxAbs(),superDiag.MaxAbs()) ); + assert ( ret ); + return ret; +} + diff --git a/examples/ThirdPartyLibs/BussIK/MatrixRmn.h b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h new file mode 100644 index 000000000..544dd921e --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h @@ -0,0 +1,402 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +// +// MatrixRmn: Matrix over reals (Variable dimensional vector) +// +// Not very sophisticated yet. Needs more functionality +// To do: better handling of resizing. +// + +#ifndef MATRIX_RMN_H +#define MATRIX_RMN_H + +#include +#include +#include "LinearR3.h" +#include "VectorRn.h" + +class MatrixRmn { + +public: + MatrixRmn(); // Null constructor + MatrixRmn( long numRows, long numCols ); // Constructor with length + ~MatrixRmn(); // Destructor + + void SetSize( long numRows, long numCols ); + long GetNumRows() const { return NumRows; } + long GetNumColumns() const { return NumCols; } + void SetZero(); + + // Return entry in row i and column j. + double Get( long i, long j ) const; + void GetTriple( long i, long j, VectorR3 *retValue ) const; + + // Use GetPtr to get pointer into the array (efficient) + // Is friendly in that anyone can change the array contents (be careful!) + // The entries are in column order!!! + // Use this with care. You may call GetRowStride and GetColStride to navigate + // within the matrix. I do not expect these values to ever change. + const double* GetPtr() const; + double* GetPtr(); + const double* GetPtr( long i, long j ) const; + double* GetPtr( long i, long j ); + const double* GetColumnPtr( long j ) const; + double* GetColumnPtr( long j ); + const double* GetRowPtr( long i ) const; + double* GetRowPtr( long i ); + long GetRowStride() const { return NumRows; } // Step size (stride) along a row + long GetColStride() const { return 1; } // Step size (stide) along a column + + void Set( long i, long j, double val ); + void SetTriple( long i, long c, const VectorR3& u ); + + void SetIdentity(); + void SetDiagonalEntries( double d ); + void SetDiagonalEntries( const VectorRn& d ); + void SetSuperDiagonalEntries( double d ); + void SetSuperDiagonalEntries( const VectorRn& d ); + void SetSubDiagonalEntries( double d ); + void SetSubDiagonalEntries( const VectorRn& d ); + void SetColumn(long i, const VectorRn& d ); + void SetRow(long i, const VectorRn& d ); + void SetSequence( const VectorRn& d, long startRow, long startCol, long deltaRow, long deltaCol ); + + // Loads matrix in as a sub-matrix. (i,j) is the base point. Defaults to (0,0). + // The "Tranpose" versions load the transpose of A. + void LoadAsSubmatrix( const MatrixRmn& A ); + void LoadAsSubmatrix( long i, long j, const MatrixRmn& A ); + void LoadAsSubmatrixTranspose( const MatrixRmn& A ); + void LoadAsSubmatrixTranspose( long i, long j, const MatrixRmn& A ); + + // Norms + double FrobeniusNormSq() const; + double FrobeniusNorm() const; + + // Operations on VectorRn's + void Multiply( const VectorRn& v, VectorRn& result ) const; // result = (this)*(v) + void MultiplyTranspose( const VectorRn& v, VectorRn& result ) const; // Equivalent to mult by row vector on left + double DotProductColumn( const VectorRn& v, long colNum ) const; // Returns dot product of v with i-th column + + // Operations on MatrixRmn's + MatrixRmn& operator*=( double ); + MatrixRmn& operator/=( double d ) { assert(d!=0.0); *this *= (1.0/d); return *this; } + MatrixRmn& AddScaled( const MatrixRmn& B, double factor ); + MatrixRmn& operator+=( const MatrixRmn& B ); + MatrixRmn& operator-=( const MatrixRmn& B ); + static MatrixRmn& Multiply( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ); // Sets dst = A*B. + static MatrixRmn& MultiplyTranspose( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ); // Sets dst = A*(B-tranpose). + static MatrixRmn& TransposeMultiply( const MatrixRmn& A, const MatrixRmn& B, MatrixRmn& dst ); // Sets dst = (A-transpose)*B. + + // Miscellaneous operation + MatrixRmn& AddToDiagonal( double d ); // Adds d to each diagonal + + // Solving systems of linear equations + void Solve( const VectorRn& b, VectorRn* x ) const; // Solves the equation (*this)*x = b; Uses row operations. Assumes *this is invertible. + + // Row Echelon Form and Reduced Row Echelon Form routines + // Row echelon form here allows non-negative entries (instead of 1's) in the positions of lead variables. + void ConvertToRefNoFree(); // Converts the matrix in place to row echelon form -- assumption is no free variables will be found + void ConvertToRef( int numVars); // Converts the matrix in place to row echelon form -- numVars is number of columns to work with. + void ConvertToRef( int numVars, double eps); // Same, but eps is the measure of closeness to zero + + // Givens transformation + static void CalcGivensValues( double a, double b, double *c, double *s ); + void PostApplyGivens( double c, double s, long idx ); // Applies Givens transform to columns idx and idx+1. + void PostApplyGivens( double c, double s, long idx1, long idx2 ); // Applies Givens transform to columns idx1 and idx2. + + // Singular value decomposition + void ComputeSVD( MatrixRmn& U, VectorRn& w, MatrixRmn& V ) const; + // Good for debugging SVD computations (I recommend this be used for any new application to check for bugs/instability). + bool DebugCheckSVD( const MatrixRmn& U, const VectorRn& w, const MatrixRmn& V ) const; + + // Some useful routines for experts who understand the inner workings of these classes. + inline static double DotArray( long length, const double* ptrA, long strideA, const double* ptrB, long strideB ); + inline static void CopyArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale ); + inline static void AddArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale ); + +private: + long NumRows; // Number of rows + long NumCols; // Number of columns + double *x; // Array of vector entries - stored in column order + long AllocSize; // Allocated size of the x array + + static MatrixRmn WorkMatrix; // Temporary work matrix + static MatrixRmn& GetWorkMatrix() { return WorkMatrix; } + static MatrixRmn& GetWorkMatrix(long numRows, long numCols) { WorkMatrix.SetSize( numRows, numCols ); return WorkMatrix; } + + // Internal helper routines for SVD calculations + static void CalcBidiagonal( MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag ); + void ConvertBidiagToDiagonal( MatrixRmn& U, MatrixRmn& V, VectorRn& w, VectorRn& superDiag ) const; + static void SvdHouseholder( double* basePt, + long colLength, long numCols, long colStride, long rowStride, + double* retFirstEntry ); + void ExpandHouseholders( long numXforms, int numZerosSkipped, const double* basePt, long colStride, long rowStride ); + static bool UpdateBidiagIndices( long *firstDiagIdx, long *lastBidiagIdx, VectorRn& w, VectorRn& superDiag, double eps ); + static void ApplyGivensCBTD( double cosine, double sine, double *a, double *b, double *c, double *d ); + static void ApplyGivensCBTD( double cosine, double sine, double *a, double *b, double *c, + double d, double *e, double *f ); + static void ClearRowWithDiagonalZero( long firstBidiagIdx, long lastBidiagIdx, + MatrixRmn& U, double *wPtr, double *sdPtr, double eps ); + static void ClearColumnWithDiagonalZero( long endIdx, MatrixRmn& V, double *wPtr, double *sdPtr, double eps ); + bool DebugCalcBidiagCheck( const MatrixRmn& U, const VectorRn& w, const VectorRn& superDiag, const MatrixRmn& V ) const; +}; + +inline MatrixRmn::MatrixRmn() +{ + NumRows = 0; + NumCols = 0; + x = 0; + AllocSize = 0; +} + +inline MatrixRmn::MatrixRmn( long numRows, long numCols ) +{ + NumRows = 0; + NumCols = 0; + x = 0; + AllocSize = 0; + SetSize( numRows, numCols ); +} + +inline MatrixRmn::~MatrixRmn() +{ + delete x; +} + +// Resize. +// If the array space is decreased, the information about the allocated length is lost. +inline void MatrixRmn::SetSize( long numRows, long numCols ) +{ + assert ( numRows>0 && numCols>0 ); + long newLength = numRows*numCols; + if ( newLength>AllocSize ) { + delete x; + AllocSize = Max(newLength, AllocSize<<1); + x = new double[AllocSize]; + } + NumRows = numRows; + NumCols = numCols; +} + +// Zero out the entire vector +inline void MatrixRmn::SetZero() +{ + double* target = x; + for ( long i=NumRows*NumCols; i>0; i-- ) { + *(target++) = 0.0; + } +} + +// Return entry in row i and column j. +inline double MatrixRmn::Get( long i, long j ) const { + assert ( iLoad( x+j*NumRows + ii ); +} + +// Get a pointer to the (0,0) entry. +// The entries are in column order. +// This version gives read-only pointer +inline const double* MatrixRmn::GetPtr( ) const +{ + return x; +} + +// Get a pointer to the (0,0) entry. +// The entries are in column order. +inline double* MatrixRmn::GetPtr( ) +{ + return x; +} + +// Get a pointer to the (i,j) entry. +// The entries are in column order. +// This version gives read-only pointer +inline const double* MatrixRmn::GetPtr( long i, long j ) const +{ + assert ( 0<=i && i0; i-- ) { + (*(aPtr++)) *= mult; + } + return (*this); +} + +inline MatrixRmn& MatrixRmn::AddScaled( const MatrixRmn& B, double factor ) +{ + assert (NumRows==B.NumRows && NumCols==B.NumCols); + double* aPtr = x; + double* bPtr = B.x; + for ( long i=NumRows*NumCols; i>0; i-- ) { + (*(aPtr++)) += (*(bPtr++))*factor; + } + return (*this); +} + +inline MatrixRmn& MatrixRmn::operator+=( const MatrixRmn& B ) +{ + assert (NumRows==B.NumRows && NumCols==B.NumCols); + double* aPtr = x; + double* bPtr = B.x; + for ( long i=NumRows*NumCols; i>0; i-- ) { + (*(aPtr++)) += *(bPtr++); + } + return (*this); +} + +inline MatrixRmn& MatrixRmn::operator-=( const MatrixRmn& B ) +{ + assert (NumRows==B.NumRows && NumCols==B.NumCols); + double* aPtr = x; + double* bPtr = B.x; + for ( long i=NumRows*NumCols; i>0; i-- ) { + (*(aPtr++)) -= *(bPtr++); + } + return (*this); +} + +inline double MatrixRmn::FrobeniusNormSq() const +{ + double* aPtr = x; + double result = 0.0; + for ( long i=NumRows*NumCols; i>0; i-- ) { + result += Square( *(aPtr++) ); + } + return result; +} + +// Helper routine to calculate dot product +inline double MatrixRmn::DotArray( long length, const double* ptrA, long strideA, const double* ptrB, long strideB ) +{ + double result = 0.0; + for ( ; length>0 ; length-- ) { + result += (*ptrA)*(*ptrB); + ptrA += strideA; + ptrB += strideB; + } + return result; +} + +// Helper routine: copies and scales an array (src and dest may be equal, or overlap) +inline void MatrixRmn::CopyArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale ) +{ + for ( ; length>0; length-- ) { + *to = (*from)*scale; + from += fromStride; + to += toStride; + } +} + +// Helper routine: adds a scaled array +// fromArray = toArray*scale. +inline void MatrixRmn::AddArrayScale( long length, const double* from, long fromStride, double *to, long toStride, double scale ) +{ + for ( ; length>0; length-- ) { + *to += (*from)*scale; + from += fromStride; + to += toStride; + } +} + + + +#endif MATRIX_RMN_H \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/Misc.cpp b/examples/ThirdPartyLibs/BussIK/Misc.cpp new file mode 100644 index 000000000..03f34812b --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Misc.cpp @@ -0,0 +1,346 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +#include +#include "LinearR3.h" + +#include "../OpenGLWindow/OpenGLInclude.h" + +/**************************************************************** + Axes +*****************************************************************/ +static float xx[] = { + 0., 1., 0., 1. + }; + +static float xy[] = { + -.5, .5, .5, -.5 + }; + +static int xorder[] = { + 1, 2, -3, 4 + }; + + +static float yx[] = { + 0., 0., -.5, .5 + }; + +static float yy[] = { + 0.f, .6f, 1.f, 1.f + }; + +static int yorder[] = { + 1, 2, 3, -2, 4 + }; + + +static float zx[] = { + 1., 0., 1., 0., .25, .75 + }; + +static float zy[] = { + .5, .5, -.5, -.5, 0., 0. + }; + +static int zorder[] = { + 1, 2, 3, 4, -5, 6 + }; + +#define LENFRAC 0.10 +#define BASEFRAC 1.10 + +void Axes( float length ) +{ + int i, j; /* counters */ + float fact; /* character scale factor */ + float base; /* character start location */ + + glBegin( GL_LINE_STRIP ); + glVertex3f( length, 0., 0. ); + glVertex3f( 0., 0., 0. ); + glVertex3f( 0., length, 0. ); + glEnd(); + glBegin( GL_LINE_STRIP ); + glVertex3f( 0., 0., 0. ); + glVertex3f( 0., 0., length ); + glEnd(); + + fact = LENFRAC * length; + base = BASEFRAC * length; + + glBegin( GL_LINE_STRIP ); + for( i = 0; i < 4; i++ ) + { + j = xorder[i]; + if( j < 0 ) + { + + glEnd(); + glBegin( GL_LINE_STRIP ); + j = -j; + } + j--; + glVertex3f( base + fact*xx[j], fact*xy[j], 0.0 ); + } + glEnd(); + + glBegin( GL_LINE_STRIP ); + for( i = 0; i < 5; i++ ) + { + j = yorder[i]; + if( j < 0 ) + { + + glEnd(); + glBegin( GL_LINE_STRIP ); + j = -j; + } + j--; + glVertex3f( fact*yx[j], base + fact*yy[j], 0.0 ); + } + glEnd(); + + glBegin( GL_LINE_STRIP ); + for( i = 0; i < 6; i++ ) + { + j = zorder[i]; + if( j < 0 ) + { + + glEnd(); + glBegin( GL_LINE_STRIP ); + j = -j; + } + j--; + glVertex3f( 0.0, fact*zy[j], base + fact*zx[j] ); + } + glEnd(); + +} + + +/**************************************************************** + Arrow +*****************************************************************/ + +/* size of wings as fraction of length: */ + +#define WINGS 0.10 + + +/* axes: */ + +#define X 1 +#define Y 2 +#define Z 3 + + +/* x, y, z, axes: */ + +static float axx[3] = { 1., 0., 0. }; +static float ayy[3] = { 0., 1., 0. }; +static float azz[3] = { 0., 0., 1. }; + + + +/* function declarations: */ +void Arrow( float tail[3], float head[3] ); +void Arrow( const VectorR3& tail, const VectorR3& head ); +void cross( float [3], float [3], float [3] ); +float dot( float [3], float [3] ); +float unit( float [3], float [3] ); + + +void Arrow( const VectorR3& tail, const VectorR3& head ) +{ + float t[3]; + float h[3]; + tail.Dump( t ); + head.Dump( h ); + Arrow( t, h ); +} + + +void Arrow( float tail[3], float head[3] ) +{ + float u[3], v[3], w[3]; /* arrow coordinate system */ + float d; /* wing distance */ + float x, y, z; /* point to plot */ + float mag; /* magnitude of major direction */ + float f; /* fabs of magnitude */ + int axis; /* which axis is the major */ + + + /* set w direction in u-v-w coordinate system: */ + + w[0] = head[0] - tail[0]; + w[1] = head[1] - tail[1]; + w[2] = head[2] - tail[2]; + + + /* determine major direction: */ + + axis = X; + mag = fabs( w[0] ); + if( (f=fabs(w[1])) > mag ) + { + axis = Y; + mag = f; + } + if( (f=fabs(w[2])) > mag ) + { + axis = Z; + mag = f; + } + + + /* set size of wings and turn w into a unit vector: */ + + d = WINGS * unit( w, w ); + + + /* draw the shaft of the arrow: */ + + glBegin( GL_LINE_STRIP ); + glVertex3fv( tail ); + glVertex3fv( head ); + glEnd(); + + /* draw two sets of wings in the non-major directions: */ + + if( axis != X ) + { + cross( w, axx, v ); + (void) unit( v, v ); + cross( v, w, u ); + x = head[0] + d * ( u[0] - w[0] ); + y = head[1] + d * ( u[1] - w[1] ); + z = head[2] + d * ( u[2] - w[2] ); + glBegin( GL_LINE_STRIP ); + glVertex3fv( head ); + glVertex3f( x, y, z ); + glEnd(); + x = head[0] + d * ( -u[0] - w[0] ); + y = head[1] + d * ( -u[1] - w[1] ); + z = head[2] + d * ( -u[2] - w[2] ); + glBegin( GL_LINE_STRIP ); + glVertex3fv( head ); + glVertex3f( x, y, z ); + glEnd(); + } + + + if( axis != Y ) + { + cross( w, ayy, v ); + (void) unit( v, v ); + cross( v, w, u ); + x = head[0] + d * ( u[0] - w[0] ); + y = head[1] + d * ( u[1] - w[1] ); + z = head[2] + d * ( u[2] - w[2] ); + glBegin( GL_LINE_STRIP ); + glVertex3fv( head ); + glVertex3f( x, y, z ); + glEnd(); + x = head[0] + d * ( -u[0] - w[0] ); + y = head[1] + d * ( -u[1] - w[1] ); + z = head[2] + d * ( -u[2] - w[2] ); + glBegin( GL_LINE_STRIP ); + glVertex3fv( head ); + glVertex3f( x, y, z ); + glEnd(); + } + + if( axis != Z ) + { + cross( w, azz, v ); + (void) unit( v, v ); + cross( v, w, u ); + x = head[0] + d * ( u[0] - w[0] ); + y = head[1] + d * ( u[1] - w[1] ); + z = head[2] + d * ( u[2] - w[2] ); + glBegin( GL_LINE_STRIP ); + glVertex3fv( head ); + glVertex3f( x, y, z ); + glEnd(); + x = head[0] + d * ( -u[0] - w[0] ); + y = head[1] + d * ( -u[1] - w[1] ); + z = head[2] + d * ( -u[2] - w[2] ); + glBegin( GL_LINE_STRIP ); + glVertex3fv( head ); + glVertex3f( x, y, z ); + glEnd(); + } + + + /* done: */ + +} + +float dot( float v1[3], float v2[3] ) +{ + return( v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2] ); +} + + + +void +cross( float v1[3], float v2[3], float vout[3] ) +{ + float tmp[3]; + + tmp[0] = v1[1]*v2[2] - v2[1]*v1[2]; + tmp[1] = v2[0]*v1[2] - v1[0]*v2[2]; + tmp[2] = v1[0]*v2[1] - v2[0]*v1[1]; + + vout[0] = tmp[0]; + vout[1] = tmp[1]; + vout[2] = tmp[2]; +} + + + +float +unit( float vin[3], float vout[3] ) +{ + float dist, f ; + + dist = vin[0]*vin[0] + vin[1]*vin[1] + vin[2]*vin[2]; + + if( dist > 0.0 ) + { + dist = sqrt( dist ); + f = 1. / dist; + vout[0] = f * vin[0]; + vout[1] = f * vin[1]; + vout[2] = f * vin[2]; + } + else + { + vout[0] = vin[0]; + vout[1] = vin[1]; + vout[2] = vin[2]; + } + + return( dist ); +} diff --git a/examples/ThirdPartyLibs/BussIK/Node.cpp b/examples/ThirdPartyLibs/BussIK/Node.cpp new file mode 100644 index 000000000..612cc42d7 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Node.cpp @@ -0,0 +1,90 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +#include + + +#include "LinearR3.h" +#include "MathMisc.h" +#include "Node.h" + +extern int RotAxesOn; + +Node::Node(const VectorR3& attach, const VectorR3& v, double size, Purpose purpose, double minTheta, double maxTheta, double restAngle) +{ + Node::freezed = false; + Node::size = size; + Node::purpose = purpose; + seqNumJoint = -1; + seqNumEffector = -1; + Node::attach = attach; // Global attachment point when joints are at zero angle + r.Set(0.0, 0.0, 0.0); // r will be updated when this node is inserted into tree + Node::v = v; // Rotation axis when joints at zero angles + theta = 0.0; + Node::minTheta = minTheta; + Node::maxTheta = maxTheta; + Node::restAngle = restAngle; + left = right = realparent = 0; +} + +// Compute the global position of a single node +void Node::ComputeS(void) +{ + Node* y = this->realparent; + Node* w = this; + s = r; // Initialize to local (relative) position + while ( y ) { + s.Rotate( y->theta, y->v ); + y = y->realparent; + w = w->realparent; + s += w->r; + } +} + +// Compute the global rotation axis of a single node +void Node::ComputeW(void) +{ + Node* y = this->realparent; + w = v; // Initialize to local rotation axis + while (y) { + w.Rotate(y->theta, y->v); + y = y->realparent; + } +} + + + +void Node::PrintNode() +{ + cerr << "Attach : (" << attach << ")\n"; + cerr << "r : (" << r << ")\n"; + cerr << "s : (" << s << ")\n"; + cerr << "w : (" << w << ")\n"; + cerr << "realparent : " << realparent->seqNumJoint << "\n"; +} + + +void Node::InitNode() +{ + theta = 0.0; +} \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/Node.h b/examples/ThirdPartyLibs/BussIK/Node.h new file mode 100644 index 000000000..5a49d278a --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Node.h @@ -0,0 +1,101 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +#ifndef _CLASS_NODE +#define _CLASS_NODE + +#include "LinearR3.h" + +enum Purpose {JOINT, EFFECTOR}; + +class VectorR3; + +class Node { + + friend class Tree; + +public: + Node(const VectorR3&, const VectorR3&, double, Purpose, double minTheta=-PI, double maxTheta=PI, double restAngle=0.); + + + void PrintNode(); + void InitNode(); + + const VectorR3& GetAttach() const { return attach; } + + double GetTheta() const { return theta; } + double AddToTheta( double& delta ) { + double orgTheta = theta; + theta += delta; +#if 0 + if (theta < minTheta) + theta = minTheta; + if (theta > maxTheta) + theta = maxTheta; + double actualDelta = theta - orgTheta; + delta = actualDelta; +#endif + return theta; } + + const VectorR3& GetS() const { return s; } + const VectorR3& GetW() const { return w; } + + double GetMinTheta() const { return minTheta; } + double GetMaxTheta() const { return maxTheta; } + double GetRestAngle() const { return restAngle; } ; + void SetTheta(double newTheta) { theta = newTheta; } + void ComputeS(void); + void ComputeW(void); + + bool IsEffector() const { return purpose==EFFECTOR; } + bool IsJoint() const { return purpose==JOINT; } + int GetEffectorNum() const { return seqNumEffector; } + int GetJointNum() const { return seqNumJoint; } + + bool IsFrozen() const { return freezed; } + void Freeze() { freezed = true; } + void UnFreeze() { freezed = false; } + +//private: + bool freezed; // Is this node frozen? + int seqNumJoint; // sequence number if this node is a joint + int seqNumEffector; // sequence number if this node is an effector + double size; // size + Purpose purpose; // joint / effector / both + VectorR3 attach; // attachment point + VectorR3 r; // relative position vector + VectorR3 v; // rotation axis + double theta; // joint angle (radian) + double minTheta; // lower limit of joint angle + double maxTheta; // upper limit of joint angle + double restAngle; // rest position angle + VectorR3 s; // GLobal Position + VectorR3 w; // Global rotation axis + Node* left; // left child + Node* right; // right sibling + Node* realparent; // pointer to real parent + + +}; + +#endif \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/Spherical.h b/examples/ThirdPartyLibs/BussIK/Spherical.h new file mode 100644 index 000000000..5db1862d3 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Spherical.h @@ -0,0 +1,298 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + + +// +// Spherical Operations Classes +// +// +// B. SphericalInterpolator +// +// OrientationR3 +// +// A. Quaternion +// +// B. RotationMapR3 // Elsewhere +// +// C. EulerAnglesR3 // TO DO +// +// +// Functions for spherical operations +// A. Many routines for rotation and averaging on a sphere +// + +#ifndef SPHERICAL_H +#define SPHERICAL_H + +#include "LinearR3.h" +#include "LinearR4.h" +#include "MathMisc.h" + +class SphericalInterpolator; // Spherical linear interpolation of vectors +class SphericalBSpInterpolator; // Spherical Bspline interpolation of vector +class Quaternion; // Quaternion (x,y,z,w) values. +class EulerAnglesR3; // Euler Angles + +// ***************************************************** +// SphericalInterpolator class * +// - Does linear interpolation (slerp-ing) * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * + + +class SphericalInterpolator { + +private: + VectorR3 startDir, endDir; // Unit vectors (starting and ending) + double startLen, endLen; // Magnitudes of the vectors + double rotRate; // Angle between start and end vectors + +public: + SphericalInterpolator( const VectorR3& u, const VectorR3& v ); + + VectorR3 InterValue ( double frac ) const; +}; + + +// *************************************************************** +// * Quaternion class - prototypes * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +class Quaternion { + +public: + double x, y, z, w; + +public: + Quaternion() :x(0.0), y(0.0), z(0.0), w(1.0) {}; + Quaternion( double, double, double, double ); + + inline Quaternion& Set( double xx, double yy, double zz, double ww ); + inline Quaternion& Set( const VectorR4& ); + Quaternion& Set( const EulerAnglesR3& ); + Quaternion& Set( const RotationMapR3& ); + Quaternion& SetRotate( const VectorR3& ); + + Quaternion& SetIdentity(); // Set to the identity map + Quaternion Inverse() const; // Return the Inverse + Quaternion& Invert(); // Invert this quaternion + + double Angle(); // Angle of rotation + double Norm(); // Norm of x,y,z component + + Quaternion& operator*=(const Quaternion&); + +}; + +Quaternion operator*(const Quaternion&, const Quaternion&); + +inline Quaternion ToQuat( const VectorR4& v) +{ + return Quaternion(v.x,v.y,v.z,v.w); +} + +inline double Quaternion::Norm() +{ + return sqrt( x*x + y*y + z*z ); +} + +inline double Quaternion::Angle () +{ + double halfAngle = asin(Norm()); + return halfAngle+halfAngle; +} + + +// **************************************************************** +// Solid Geometry Routines * +// **************************************************************** + +// Compute the angle formed by two geodesics on the unit sphere. +// Three unit vectors u,v,w specify the geodesics u-v and v-w which +// meet at vertex uv. The angle from v-w to v-u is returned. This +// is always in the range [0, 2PI). +double SphereAngle( const VectorR3& u, const VectorR3& v, const VectorR3& w ); + +// Compute the area of a triangle on the unit sphere. Three unit vectors +// specify the corners of the triangle in COUNTERCLOCKWISE order. +inline double SphericalTriangleArea( + const VectorR3& u, const VectorR3& v, const VectorR3& w ) +{ + double AngleA = SphereAngle( u,v,w ); + double AngleB = SphereAngle( v,w,u ); + double AngleC = SphereAngle( w,u,v ); + return ( AngleA+AngleB+AngleC - PI ); +} + + +// **************************************************************** +// Spherical Mean routines * +// **************************************************************** + +// Weighted sum of vectors +VectorR3 WeightedSum( long Num, const VectorR3 vv[], const double weights[] ); +VectorR4 WeightedSum( long Num, const VectorR4 vv[], const double weights[] ); + +// Weighted average of vectors on the sphere. +// Sum of weights should equal one (but no checking is done) +VectorR3 ComputeMeanSphere( long Num, const VectorR3 vv[], const double weights[], + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); +VectorR3 ComputeMeanSphere( long Num, const VectorR3 vv[], const double weights[], + const VectorR3& InitialVec, + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); +VectorR4 ComputeMeanSphere( long Num, const VectorR4 vv[], const double weights[], + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); +Quaternion ComputeMeanQuat( long Num, const Quaternion qq[], const double weights[], + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); + +// Next functions mostly for internal use. +// It takes an initial estimate InitialVec (and a flag for +// indicating quaternions). +VectorR4 ComputeMeanSphere( long Num, const VectorR4 vv[], const double weights[], + const VectorR4& InitialVec, int QuatFlag=0, + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); +const int SPHERICAL_NOTQUAT=0; +const int SPHERICAL_QUAT=1; + +// Slow version, mostly for testing +VectorR3 ComputeMeanSphereSlow( long Num, const VectorR3 vv[], const double weights[], + double tolerance = 1.0e-16, double bkuptolerance = 5.0e-16 ); +VectorR4 ComputeMeanSphereSlow( long Num, const VectorR4 vv[], const double weights[], + double tolerance = 1.0e-16, double bkuptolerance = 5.0e-16 ); +VectorR3 ComputeMeanSphereOld( long Num, const VectorR3 vv[], const double weights[], + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); +VectorR4 ComputeMeanSphereOld( long Num, const VectorR4 vv[], const double weights[], + const VectorR4& InitialVec, int QuatFlag, + double tolerance = 1.0e-15, double bkuptolerance = 1.0e-13 ); + +// Solves a system of spherical-mean equalities, where the system is +// given as a tridiagonal matrix. +void SolveTriDiagSphere ( int numPoints, + const double* tridiagvalues, const VectorR3* c, + VectorR3* p, + double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 ); +void SolveTriDiagSphere ( int numPoints, + const double* tridiagvalues, const VectorR4* c, + VectorR4* p, + double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 ); + +// The "Slow" version uses a simpler but slower iteration with a linear rate of +// convergence. The base version uses a Newton iteration with a quadratic +// rate of convergence. +void SolveTriDiagSphereSlow ( int numPoints, + const double* tridiagvalues, const VectorR3* c, + VectorR3* p, + double accuracy=1.0e-15, double bkupaccuracy=5.0e-15 ); +void SolveTriDiagSphereSlow ( int numPoints, + const double* tridiagvalues, const VectorR4* c, + VectorR4* p, + double accuracy=1.0e-15, double bkupaccuracy=5.0e-15 ); + +// The "Unstable" version probably shouldn't be used except for very short sequences +// of knots. Mostly it's used for testing purposes now. +void SolveTriDiagSphereUnstable ( int numPoints, + const double* tridiagvalues, const VectorR3* c, + VectorR3* p, + double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 ); +void SolveTriDiagSphereHelperUnstable ( int numPoints, + const double* tridiagvalues, const VectorR3 *c, + const VectorR3& p0value, + VectorR3 *p, + double accuracy=1.0e-15, double bkupaccuracy=1.0e-13 ); + + + +// *************************************************************** +// * Quaternion class - inlined member functions * +// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * + +inline VectorR4::VectorR4 ( const Quaternion& q ) +: x(q.x), y(q.y), z(q.z), w(q.w) +{} + +inline VectorR4& VectorR4::Set ( const Quaternion& q ) +{ + x = q.x; y = q.y; z = q.z; w = q.w; + return *this; +} + +inline Quaternion::Quaternion( double xx, double yy, double zz, double ww) +: x(xx), y(yy), z(zz), w(ww) +{} + +inline Quaternion& Quaternion::Set( double xx, double yy, double zz, double ww ) +{ + x = xx; + y = yy; + z = zz; + w = ww; + return *this; +} + +inline Quaternion& Quaternion::Set( const VectorR4& u) +{ + x = u.x; + y = u.y; + z = u.z; + w = u.w; + return *this; +} + +inline Quaternion& Quaternion::SetIdentity() +{ + x = y = z = 0.0; + w = 1.0; + return *this; +} + +inline Quaternion operator*(const Quaternion& q1, const Quaternion& q2) +{ + Quaternion q(q1); + q *= q2; + return q; +} + +inline Quaternion& Quaternion::operator*=( const Quaternion& q ) +{ + double wnew = w*q.w - (x*q.x + y*q.y + z*q.z); + double xnew = w*q.x + q.w*x + (y*q.z - z*q.y); + double ynew = w*q.y + q.w*y + (z*q.x - x*q.z); + z = w*q.z + q.w*z + (x*q.y - y*q.x); + w = wnew; + x = xnew; + y = ynew; + return *this; +} + +inline Quaternion Quaternion::Inverse() const // Return the Inverse +{ + return ( Quaternion( x, y, z, -w ) ); +} + +inline Quaternion& Quaternion::Invert() // Invert this quaternion +{ + w = -w; + return *this; +} + + +#endif // SPHERICAL_H diff --git a/examples/ThirdPartyLibs/BussIK/Tree.cpp b/examples/ThirdPartyLibs/BussIK/Tree.cpp new file mode 100644 index 000000000..a82e7f1d7 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Tree.cpp @@ -0,0 +1,217 @@ +/* +* +* Inverse Kinematics software, with several solvers including +* Selectively Damped Least Squares Method +* Damped Least Squares Method +* Pure Pseudoinverse Method +* Jacobian Transpose Method +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +// +// VectorRn: Vector over Rn (Variable length vector) +// + +#include +using namespace std; + + + + +#include "LinearR3.h" +#include "Tree.h" +#include "Node.h" + +Tree::Tree() +{ + root = 0; + nNode = nEffector = nJoint = 0; +} + +void Tree::SetSeqNum(Node* node) +{ + switch (node->purpose) { + case JOINT: + node->seqNumJoint = nJoint++; + node->seqNumEffector = -1; + break; + case EFFECTOR: + node->seqNumJoint = -1; + node->seqNumEffector = nEffector++; + break; + } +} + +void Tree::InsertRoot(Node* root) +{ + assert( nNode==0 ); + nNode++; + Tree::root = root; + root->r = root->attach; + assert( !(root->left || root->right) ); + SetSeqNum(root); +} + +void Tree::InsertLeftChild(Node* parent, Node* child) +{ + assert(parent); + nNode++; + parent->left = child; + child->realparent = parent; + child->r = child->attach - child->realparent->attach; + assert( !(child->left || child->right) ); + SetSeqNum(child); +} + +void Tree::InsertRightSibling(Node* parent, Node* child) +{ + assert(parent); + nNode++; + parent->right = child; + child->realparent = parent->realparent; + child->r = child->attach - child->realparent->attach; + assert( !(child->left || child->right) ); + SetSeqNum(child); +} + +// Search recursively below "node" for the node with index value. +Node* Tree::SearchJoint(Node* node, int index) +{ + Node* ret; + if (node != 0) { + if (node->seqNumJoint == index) { + return node; + } else { + if (ret = SearchJoint(node->left, index)) { + return ret; + } + if (ret = SearchJoint(node->right, index)) { + return ret; + } + return NULL; + } + } + else { + return NULL; + } +} + + +// Get the joint with the index value +Node* Tree::GetJoint(int index) +{ + return SearchJoint(root, index); +} + +// Search recursively below node for the end effector with the index value +Node* Tree::SearchEffector(Node* node, int index) +{ + Node* ret; + if (node != 0) { + if (node->seqNumEffector == index) { + return node; + } else { + if (ret = SearchEffector(node->left, index)) { + return ret; + } + if (ret = SearchEffector(node->right, index)) { + return ret; + } + return NULL; + } + } else { + return NULL; + } +} + + +// Get the end effector for the index value +Node* Tree::GetEffector(int index) +{ + return SearchEffector(root, index); +} + +// Returns the global position of the effector. +const VectorR3& Tree::GetEffectorPosition(int index) +{ + Node* effector = GetEffector(index); + assert(effector); + return (effector->s); +} + +void Tree::ComputeTree(Node* node) +{ + if (node != 0) { + node->ComputeS(); + node->ComputeW(); + ComputeTree(node->left); + ComputeTree(node->right); + } +} + +void Tree::Compute(void) +{ + ComputeTree(root); +} + + +void Tree::PrintTree(Node* node) +{ + if (node != 0) { + node->PrintNode(); + PrintTree(node->left); + PrintTree(node->right); + } +} + +void Tree::Print(void) +{ + PrintTree(root); + cout << "\n"; +} + +// Recursively initialize tree below the node +void Tree::InitTree(Node* node) +{ + if (node != 0) { + node->InitNode(); + InitTree(node->left); + InitTree(node->right); + } +} + +// Initialize all nodes in the tree +void Tree::Init(void) +{ + InitTree(root); +} + +void Tree::UnFreezeTree(Node* node) +{ + if (node != 0) { + node->UnFreeze(); + UnFreezeTree(node->left); + UnFreezeTree(node->right); + } +} + +void Tree::UnFreeze(void) +{ + UnFreezeTree(root); +} \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/Tree.h b/examples/ThirdPartyLibs/BussIK/Tree.h new file mode 100644 index 000000000..208176817 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/Tree.h @@ -0,0 +1,92 @@ +/* +* +* Inverse Kinematics software, with several solvers including +* Selectively Damped Least Squares Method +* Damped Least Squares Method +* Pure Pseudoinverse Method +* Jacobian Transpose Method +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +#include "LinearR3.h" +#include "Node.h" + +#ifndef _CLASS_TREE +#define _CLASS_TREE + +class Tree { + +public: + Tree(); + + int GetNumNode() const { return nNode; } + int GetNumEffector() const { return nEffector; } + int GetNumJoint() const { return nJoint; } + void InsertRoot(Node*); + void InsertLeftChild(Node* parent, Node* child); + void InsertRightSibling(Node* parent, Node* child); + + // Accessors based on node numbers + Node* GetJoint(int); + Node* GetEffector(int); + const VectorR3& GetEffectorPosition(int); + + // Accessors for tree traversal + Node* GetRoot() const { return root; } + Node* GetSuccessor ( const Node* ) const; + Node* GetParent( const Node* node ) const { return node->realparent; } + + void Compute(); + + void Print(); + void Init(); + void UnFreeze(); + +private: + Node* root; + int nNode; // nNode = nEffector + nJoint + int nEffector; + int nJoint; + void SetSeqNum(Node*); + Node* SearchJoint(Node*, int); + Node* SearchEffector(Node*, int); + void ComputeTree(Node*); + + void PrintTree(Node*); + void InitTree(Node*); + void UnFreezeTree(Node*); +}; + +inline Node* Tree::GetSuccessor ( const Node* node ) const +{ + if ( node->left ) { + return node->left; + } + while ( true ) { + if ( node->right ) { + return ( node->right ); + } + node = node->realparent; + if ( !node ) { + return 0; // Back to root, finished traversal + } + } +} + +#endif \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/VectorRn.cpp b/examples/ThirdPartyLibs/BussIK/VectorRn.cpp new file mode 100644 index 000000000..5d2b563e9 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/VectorRn.cpp @@ -0,0 +1,46 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + + +// +// VectorRn: Vector over Rn (Variable length vector) +// + +#include "VectorRn.h" + +VectorRn VectorRn::WorkVector; + +double VectorRn::MaxAbs () const +{ + double result = 0.0; + double* t = x; + for ( long i = length; i>0; i-- ) { + if ( (*t) > result ) { + result = *t; + } + else if ( -(*t) > result ) { + result = -(*t); + } + t++; + } + return result; +} \ No newline at end of file diff --git a/examples/ThirdPartyLibs/BussIK/VectorRn.h b/examples/ThirdPartyLibs/BussIK/VectorRn.h new file mode 100644 index 000000000..8357f9997 --- /dev/null +++ b/examples/ThirdPartyLibs/BussIK/VectorRn.h @@ -0,0 +1,238 @@ +/* +* +* Mathematics Subpackage (VrMath) +* +* +* Author: Samuel R. Buss, sbuss@ucsd.edu. +* Web page: http://math.ucsd.edu/~sbuss/MathCG +* +* +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +* +* +*/ + +// +// VectorRn: Vector over Rn (Variable length vector) +// +// Not very sophisticated yet. Needs more functionality +// To do: better handling of resizing. +// + +#ifndef VECTOR_RN_H +#define VECTOR_RN_H + +#include +#include +#include "LinearR3.h" + +class VectorRn { + friend class MatrixRmn; + +public: + VectorRn(); // Null constructor + VectorRn( long length ); // Constructor with length + ~VectorRn(); // Destructor + + void SetLength( long newLength ); + long GetLength() const { return length; } + + void SetZero(); + void Fill( double d ); + void Load( const double* d ); + void LoadScaled( const double* d, double scaleFactor ); + void Set ( const VectorRn& src ); + + // Two access methods identical in functionality + // Subscripts are ZERO-BASED!! + const double& operator[]( long i ) const { assert ( 0<=i && i0 ); + if ( newLength>AllocLength ) { + delete x; + AllocLength = Max( newLength, AllocLength<<1 ); + x = new double[AllocLength]; + } + length = newLength; +} + +// Zero out the entire vector +inline void VectorRn::SetZero() +{ + double* target = x; + for ( long i=length; i>0; i-- ) { + *(target++) = 0.0; + } +} + +// Set the value of the i-th triple of entries in the vector +inline void VectorRn::SetTriple( long i, const VectorR3& u ) +{ + long j = 3*i; + assert ( 0<=j && j+2 < length ); + u.Dump( x+j ); +} + +inline void VectorRn::Fill( double d ) +{ + double *to = x; + for ( long i=length; i>0; i-- ) { + *(to++) = d; + } +} + +inline void VectorRn::Load( const double* d ) +{ + double *to = x; + for ( long i=length; i>0; i-- ) { + *(to++) = *(d++); + } +} + +inline void VectorRn::LoadScaled( const double* d, double scaleFactor ) +{ + double *to = x; + for ( long i=length; i>0; i-- ) { + *(to++) = (*(d++))*scaleFactor; + } +} + +inline void VectorRn::Set( const VectorRn& src ) +{ + assert ( src.length == this->length ); + double* to = x; + double* from = src.x; + for ( long i=length; i>0; i-- ) { + *(to++) = *(from++); + } +} + +inline VectorRn& VectorRn::operator+=( const VectorRn& src ) +{ + assert ( src.length == this->length ); + double* to = x; + double* from = src.x; + for ( long i=length; i>0; i-- ) { + *(to++) += *(from++); + } + return *this; +} + +inline VectorRn& VectorRn::operator-=( const VectorRn& src ) +{ + assert ( src.length == this->length ); + double* to = x; + double* from = src.x; + for ( long i=length; i>0; i-- ) { + *(to++) -= *(from++); + } + return *this; +} + +inline void VectorRn::AddScaled (const VectorRn& src, double scaleFactor ) +{ + assert ( src.length == this->length ); + double* to = x; + double* from = src.x; + for ( long i=length; i>0; i-- ) { + *(to++) += (*(from++))*scaleFactor; + } +} + +inline VectorRn& VectorRn::operator*=( double f ) +{ + double* target = x; + for ( long i=length; i>0; i-- ) { + *(target++) *= f; + } + return *this; +} + +inline double VectorRn::NormSq() const +{ + double* target = x; + double res = 0.0; + for ( long i=length; i>0; i-- ) { + res += (*target)*(*target); + target++; + } + return res; +} + +inline double Dot( const VectorRn& u, const VectorRn& v ) +{ + assert ( u.GetLength() == v.GetLength() ); + double res = 0.0; + const double* p = u.GetPtr(); + const double* q = v.GetPtr(); + for ( long i = u.GetLength(); i>0; i-- ) { + res += (*(p++))*(*(q++)); + } + return res; +} + +#endif VECTOR_RN_H \ No newline at end of file diff --git a/examples/TinyRenderer/tgaimage.h b/examples/TinyRenderer/tgaimage.h index 7a4dbfae9..9e2cbf877 100644 --- a/examples/TinyRenderer/tgaimage.h +++ b/examples/TinyRenderer/tgaimage.h @@ -24,8 +24,10 @@ struct TGAColor { unsigned char bgra[4]; unsigned char bytespp; - TGAColor() : bgra(), bytespp(1) { - for (int i=0; i<4; i++) bgra[i] = 0; + TGAColor() : bytespp(1) + { + for (int i=0; i<4; i++) + bgra[i] = 0; } TGAColor(unsigned char R, unsigned char G, unsigned char B, unsigned char A=255) : bgra(), bytespp(4) { diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 86c7d3a74..ebc1042b4 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -23,9 +23,9 @@ subject to the following restrictions: btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), - m_desiredVelocity(desiredVelocity), - m_desiredPosition(0), - m_kd(1.), + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(1.), m_kp(0) { @@ -54,10 +54,10 @@ void btMultiBodyJointMotor::finalizeMultiDof() btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse) //:btMultiBodyConstraint(body,0,link,-1,1,true), :btMultiBodyConstraint(body,body,link,body->getLink(link).m_parent,1,true), - m_desiredVelocity(desiredVelocity), - m_desiredPosition(0), - m_kd(1.), - m_kp(0) + m_desiredVelocity(desiredVelocity), + m_desiredPosition(0), + m_kd(1.), + m_kp(0) { btAssert(linkDoF < body->getLink(link).m_dofCount); @@ -119,14 +119,14 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con for (int row=0;rowgetJointPosMultiDof(m_linkA)[dof]; - btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; - btScalar positionStabiliationTerm = (m_desiredPosition-currentPosition)/infoGlobal.m_timeStep; - btScalar velocityError = (m_desiredVelocity - currentVelocity); - btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError; - + btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof]; + btScalar positionStabiliationTerm = (m_desiredPosition-currentPosition)/infoGlobal.m_timeStep; + btScalar velocityError = (m_desiredVelocity - currentVelocity); + btScalar rhs = m_kp * positionStabiliationTerm + currentVelocity+m_kd * velocityError; + fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,rhs); constraintRow.m_orgConstraint = this; From 53fa57bdc4ee17891659c6ac7700e69f4dd9d04a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 24 Jul 2016 23:50:18 -0700 Subject: [PATCH 104/115] make IK compile on Mac OSX --- examples/ExampleBrowser/ExampleEntries.cpp | 4 + .../InverseKinematicsExample.cpp | 3 + .../InverseKinematicsExample.h | 2 +- examples/ThirdPartyLibs/BussIK/Jacobian.cpp | 31 +-- examples/ThirdPartyLibs/BussIK/Jacobian.h | 3 +- examples/ThirdPartyLibs/BussIK/LinearR4.h | 2 +- examples/ThirdPartyLibs/BussIK/Misc.cpp | 195 +----------------- examples/ThirdPartyLibs/BussIK/Tree.cpp | 2 +- examples/ThirdPartyLibs/BussIK/Tree.h | 2 +- 9 files changed, 14 insertions(+), 230 deletions(-) diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index a6abd4fd7..bf4ac2233 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -136,6 +136,10 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(0, "Inverse Kinematics"), ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS), ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS), + ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD), + + + ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS), ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO), diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp index ae1ed8f17..8f902b008 100644 --- a/examples/InverseKinematics/InverseKinematicsExample.cpp +++ b/examples/InverseKinematics/InverseKinematicsExample.cpp @@ -113,6 +113,9 @@ void DoUpdateStep(double Tstep, Tree & treeY, Jacobian *jacob, int ikMethod) { case IK_DLS: jacob->CalcDeltaThetasDLS(); // Damped least squares method break; + case IK_DLS_SVD: + jacob->CalcDeltaThetasDLSwithSVD(); + break; case IK_PURE_PSEUDO: jacob->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method break; diff --git a/examples/InverseKinematics/InverseKinematicsExample.h b/examples/InverseKinematics/InverseKinematicsExample.h index ca0d1e3b5..845925ef6 100644 --- a/examples/InverseKinematics/InverseKinematicsExample.h +++ b/examples/InverseKinematics/InverseKinematicsExample.h @@ -1,7 +1,7 @@ #ifndef INVERSE_KINEMATICSEXAMPLE_H #define INVERSE_KINEMATICSEXAMPLE_H -enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS }; +enum Method {IK_JACOB_TRANS=0, IK_PURE_PSEUDO, IK_DLS, IK_SDLS , IK_DLS_SVD}; class CommonExampleInterface* InverseKinematicsExampleCreateFunc(struct CommonExampleOptions& options); diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp index 646513b86..2b0454ea8 100644 --- a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp +++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp @@ -8,7 +8,7 @@ * * * Author: Samuel R. Buss, sbuss@ucsd.edu. -* Web page: http://math.ucsd.edu/~sbuss/MathCG +* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html * * This software is provided 'as-is', without any express or implied warranty. @@ -30,7 +30,6 @@ subject to the following restrictions: #include using namespace std; -#include "../OpenGLWindow/OpenGLInclude.h" #include "Jacobian.h" @@ -468,35 +467,7 @@ void Jacobian::UpdatedSClampValue() } } -void Jacobian::DrawEigenVectors() const -{ - int i, j; - VectorR3 tail; - VectorR3 head; - Node *node; - for (i=0; iGetEffector(j); - tail = node->GetS(); - U.GetTriple( j, i, &head ); - head += tail; - glDisable(GL_LIGHTING); - glColor3f(1.0f, 0.2f, 0.0f); - glLineWidth(2.0); - glBegin(GL_LINES); - glVertex3f(tail.x, tail.y, tail.z); - glVertex3f(head.x, head.y, tail.z); - glEnd(); - Arrow(tail, head); - glLineWidth(1.0); - glEnable(GL_LIGHTING); - } - } -} void Jacobian::CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 ) { diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.h b/examples/ThirdPartyLibs/BussIK/Jacobian.h index 1c0bc4572..b1c683f8a 100644 --- a/examples/ThirdPartyLibs/BussIK/Jacobian.h +++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h @@ -9,7 +9,7 @@ * * * Author: Samuel R. Buss, sbuss@ucsd.edu. -* Web page: http://math.ucsd.edu/~sbuss/MathCG +* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html * * This software is provided 'as-is', without any express or implied warranty. @@ -72,7 +72,6 @@ public: double UpdateErrorArray(); // Returns sum of errors const VectorRn& GetErrorArray() const { return errorArray; } void UpdatedSClampValue(); - void DrawEigenVectors() const; void SetCurrentMode( UpdateMode mode ) { CurrentUpdateMode = mode; } UpdateMode GetCurrentMode() const { return CurrentUpdateMode; } diff --git a/examples/ThirdPartyLibs/BussIK/LinearR4.h b/examples/ThirdPartyLibs/BussIK/LinearR4.h index ee995326c..51f57a666 100644 --- a/examples/ThirdPartyLibs/BussIK/LinearR4.h +++ b/examples/ThirdPartyLibs/BussIK/LinearR4.h @@ -195,7 +195,7 @@ public: inline double Diagonal( int ); inline void MakeTranspose(); // Transposes it. - void Matrix4x4::operator*= (const Matrix4x4& B); // Matrix product + void operator*= (const Matrix4x4& B); // Matrix product Matrix4x4& ReNormalize(); }; diff --git a/examples/ThirdPartyLibs/BussIK/Misc.cpp b/examples/ThirdPartyLibs/BussIK/Misc.cpp index 03f34812b..6aa696d55 100644 --- a/examples/ThirdPartyLibs/BussIK/Misc.cpp +++ b/examples/ThirdPartyLibs/BussIK/Misc.cpp @@ -69,75 +69,6 @@ static int zorder[] = { #define LENFRAC 0.10 #define BASEFRAC 1.10 -void Axes( float length ) -{ - int i, j; /* counters */ - float fact; /* character scale factor */ - float base; /* character start location */ - - glBegin( GL_LINE_STRIP ); - glVertex3f( length, 0., 0. ); - glVertex3f( 0., 0., 0. ); - glVertex3f( 0., length, 0. ); - glEnd(); - glBegin( GL_LINE_STRIP ); - glVertex3f( 0., 0., 0. ); - glVertex3f( 0., 0., length ); - glEnd(); - - fact = LENFRAC * length; - base = BASEFRAC * length; - - glBegin( GL_LINE_STRIP ); - for( i = 0; i < 4; i++ ) - { - j = xorder[i]; - if( j < 0 ) - { - - glEnd(); - glBegin( GL_LINE_STRIP ); - j = -j; - } - j--; - glVertex3f( base + fact*xx[j], fact*xy[j], 0.0 ); - } - glEnd(); - - glBegin( GL_LINE_STRIP ); - for( i = 0; i < 5; i++ ) - { - j = yorder[i]; - if( j < 0 ) - { - - glEnd(); - glBegin( GL_LINE_STRIP ); - j = -j; - } - j--; - glVertex3f( fact*yx[j], base + fact*yy[j], 0.0 ); - } - glEnd(); - - glBegin( GL_LINE_STRIP ); - for( i = 0; i < 6; i++ ) - { - j = zorder[i]; - if( j < 0 ) - { - - glEnd(); - glBegin( GL_LINE_STRIP ); - j = -j; - } - j--; - glVertex3f( 0.0, fact*zy[j], base + fact*zx[j] ); - } - glEnd(); - -} - /**************************************************************** Arrow @@ -164,138 +95,14 @@ static float azz[3] = { 0., 0., 1. }; /* function declarations: */ -void Arrow( float tail[3], float head[3] ); -void Arrow( const VectorR3& tail, const VectorR3& head ); + void cross( float [3], float [3], float [3] ); float dot( float [3], float [3] ); float unit( float [3], float [3] ); -void Arrow( const VectorR3& tail, const VectorR3& head ) -{ - float t[3]; - float h[3]; - tail.Dump( t ); - head.Dump( h ); - Arrow( t, h ); -} -void Arrow( float tail[3], float head[3] ) -{ - float u[3], v[3], w[3]; /* arrow coordinate system */ - float d; /* wing distance */ - float x, y, z; /* point to plot */ - float mag; /* magnitude of major direction */ - float f; /* fabs of magnitude */ - int axis; /* which axis is the major */ - - - /* set w direction in u-v-w coordinate system: */ - - w[0] = head[0] - tail[0]; - w[1] = head[1] - tail[1]; - w[2] = head[2] - tail[2]; - - - /* determine major direction: */ - - axis = X; - mag = fabs( w[0] ); - if( (f=fabs(w[1])) > mag ) - { - axis = Y; - mag = f; - } - if( (f=fabs(w[2])) > mag ) - { - axis = Z; - mag = f; - } - - - /* set size of wings and turn w into a unit vector: */ - - d = WINGS * unit( w, w ); - - - /* draw the shaft of the arrow: */ - - glBegin( GL_LINE_STRIP ); - glVertex3fv( tail ); - glVertex3fv( head ); - glEnd(); - - /* draw two sets of wings in the non-major directions: */ - - if( axis != X ) - { - cross( w, axx, v ); - (void) unit( v, v ); - cross( v, w, u ); - x = head[0] + d * ( u[0] - w[0] ); - y = head[1] + d * ( u[1] - w[1] ); - z = head[2] + d * ( u[2] - w[2] ); - glBegin( GL_LINE_STRIP ); - glVertex3fv( head ); - glVertex3f( x, y, z ); - glEnd(); - x = head[0] + d * ( -u[0] - w[0] ); - y = head[1] + d * ( -u[1] - w[1] ); - z = head[2] + d * ( -u[2] - w[2] ); - glBegin( GL_LINE_STRIP ); - glVertex3fv( head ); - glVertex3f( x, y, z ); - glEnd(); - } - - - if( axis != Y ) - { - cross( w, ayy, v ); - (void) unit( v, v ); - cross( v, w, u ); - x = head[0] + d * ( u[0] - w[0] ); - y = head[1] + d * ( u[1] - w[1] ); - z = head[2] + d * ( u[2] - w[2] ); - glBegin( GL_LINE_STRIP ); - glVertex3fv( head ); - glVertex3f( x, y, z ); - glEnd(); - x = head[0] + d * ( -u[0] - w[0] ); - y = head[1] + d * ( -u[1] - w[1] ); - z = head[2] + d * ( -u[2] - w[2] ); - glBegin( GL_LINE_STRIP ); - glVertex3fv( head ); - glVertex3f( x, y, z ); - glEnd(); - } - - if( axis != Z ) - { - cross( w, azz, v ); - (void) unit( v, v ); - cross( v, w, u ); - x = head[0] + d * ( u[0] - w[0] ); - y = head[1] + d * ( u[1] - w[1] ); - z = head[2] + d * ( u[2] - w[2] ); - glBegin( GL_LINE_STRIP ); - glVertex3fv( head ); - glVertex3f( x, y, z ); - glEnd(); - x = head[0] + d * ( -u[0] - w[0] ); - y = head[1] + d * ( -u[1] - w[1] ); - z = head[2] + d * ( -u[2] - w[2] ); - glBegin( GL_LINE_STRIP ); - glVertex3fv( head ); - glVertex3f( x, y, z ); - glEnd(); - } - - - /* done: */ - -} float dot( float v1[3], float v2[3] ) { diff --git a/examples/ThirdPartyLibs/BussIK/Tree.cpp b/examples/ThirdPartyLibs/BussIK/Tree.cpp index a82e7f1d7..6891f0601 100644 --- a/examples/ThirdPartyLibs/BussIK/Tree.cpp +++ b/examples/ThirdPartyLibs/BussIK/Tree.cpp @@ -8,7 +8,7 @@ * * * Author: Samuel R. Buss, sbuss@ucsd.edu. -* Web page: http://math.ucsd.edu/~sbuss/MathCG +* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html * * This software is provided 'as-is', without any express or implied warranty. diff --git a/examples/ThirdPartyLibs/BussIK/Tree.h b/examples/ThirdPartyLibs/BussIK/Tree.h index 208176817..673f41c9e 100644 --- a/examples/ThirdPartyLibs/BussIK/Tree.h +++ b/examples/ThirdPartyLibs/BussIK/Tree.h @@ -8,7 +8,7 @@ * * * Author: Samuel R. Buss, sbuss@ucsd.edu. -* Web page: http://math.ucsd.edu/~sbuss/MathCG +* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html * * This software is provided 'as-is', without any express or implied warranty. From a6216f4f24693fdd4e178b92db9af223e9771fe1 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 25 Jul 2016 11:48:44 -0700 Subject: [PATCH 105/115] add robotics learning grasp contact example add wsg50 gripper with modified r2d2 gripper tip expose a fudge factor to scale inertia, to make grasping more stable (until we have better grasping contact model/implementation) --- data/cube_small.urdf | 33 ++ data/gripper/meshes/GUIDE_WSG50_110.stl | Bin 0 -> 23884 bytes data/gripper/meshes/WSG-FMF.stl | Bin 0 -> 108184 bytes data/gripper/meshes/WSG50_110.stl | Bin 0 -> 20684 bytes data/gripper/meshes/l_gripper_tip_scaled.stl | Bin 0 -> 49984 bytes data/gripper/wsg50_with_r2d2_gripper.sdf | 298 ++++++++++++++++++ examples/ExampleBrowser/ExampleEntries.cpp | 1 + .../ExampleBrowser/OpenGLExampleBrowser.cpp | 2 + .../Importers/ImportURDFDemo/URDF2Bullet.cpp | 7 + .../Importers/ImportURDFDemo/URDFJointTypes.h | 5 +- .../Importers/ImportURDFDemo/UrdfParser.cpp | 23 ++ .../RoboticsLearning/R2D2GraspExample.cpp | 235 ++++++++++---- examples/RoboticsLearning/R2D2GraspExample.h | 1 + examples/RoboticsLearning/b3RobotSimAPI.cpp | 2 + examples/RoboticsLearning/b3RobotSimAPI.h | 2 +- .../PhysicsServerCommandProcessor.cpp | 21 +- 16 files changed, 558 insertions(+), 72 deletions(-) create mode 100644 data/cube_small.urdf create mode 100644 data/gripper/meshes/GUIDE_WSG50_110.stl create mode 100644 data/gripper/meshes/WSG-FMF.stl create mode 100644 data/gripper/meshes/WSG50_110.stl create mode 100644 data/gripper/meshes/l_gripper_tip_scaled.stl create mode 100644 data/gripper/wsg50_with_r2d2_gripper.sdf diff --git a/data/cube_small.urdf b/data/cube_small.urdf new file mode 100644 index 000000000..804f7f0b1 --- /dev/null +++ b/data/cube_small.urdf @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/gripper/meshes/GUIDE_WSG50_110.stl b/data/gripper/meshes/GUIDE_WSG50_110.stl new file mode 100644 index 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x93Z22k-(ZH>1!twdCzV^_m|z3u>{XS!kP?K*t6ZD>({C3{8Uv#D;yb|_zxVm7n}e9 literal 0 HcmV?d00001 diff --git a/data/gripper/wsg50_with_r2d2_gripper.sdf b/data/gripper/wsg50_with_r2d2_gripper.sdf new file mode 100644 index 000000000..b022faf00 --- /dev/null +++ b/data/gripper/wsg50_with_r2d2_gripper.sdf @@ -0,0 +1,298 @@ + + + + + 0 0 0.27 3.14 0 0 + + + + + + world + base_link + + 0 0 1 + + -0.5 + 10 + 1 + 1 + + + 100 + 100 + 0 + 0 + + + + + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 1.2 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + 0 0 0 0 -0 0 + + + 0.2 0.05 0.05 + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/WSG50_110.stl + + + + + + + 1 + + 0 + + + + -0.055 0 0 0 -0 0 + + 0 0 0.0115 0 -0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 0 0 -0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 0.023 0 -0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + 0 0 0 0 -0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 0.023 0 -0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + + gripper_left + base_link + + 1 0 0 + + -0.001 + 0.055 + 1 + 1 + + + 100 + 100 + 0 + 0 + + + + + + 0.055 0 0 0 -0 3.14159 + + 0 0 0.0115 0 -0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 0 0 -0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 0.023 0 -0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + 0 0 0 0 -0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 0.023 0 -0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + + gripper_right + base_link + + -1 0 0 + + -0.055 + 0.001 + 1 + 1 + + + 100 + 100 + 0 + 0 + + + + + + 0.062 0 0.145 0 0 1.5708 + + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 0.042 0 0 0 + + + 0.02 0.02 0.15 + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/l_gripper_tip_scaled.stl + + + + + + + gripper_right + finger_right + + + + -0.062 0 0.145 0 0 4.71239 + + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 0.042 0 0 0 + + + 0.02 0.02 0.15 + + + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/l_gripper_tip_scaled.stl + + + + + + + gripper_left + finger_left + + + + diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index c5901ca34..977687da3 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -249,6 +249,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP), ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT), + ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_GRASP_CONTACT), diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index e06d5f205..68626554c 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -519,6 +519,8 @@ void MyStatusBarError(const char* msg) gui2->textOutput(msg); gui2->forceUpdateScrollBars(); } + btAssert(0); + } struct MyMenuItemHander :public Gwen::Event::Handler diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp index a64bf44f5..597f1a4d9 100644 --- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp +++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp @@ -232,6 +232,13 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat if (mass) { compoundShape->calculateLocalInertia(mass, localInertiaDiagonal); + URDFLinkContactInfo contactInfo; + u2b.getLinkContactInfo(urdfLinkIndex,contactInfo); + //temporary inertia scaling until we load inertia from URDF + if (contactInfo.m_flags & URDF_CONTACT_HAS_INERTIA_SCALING) + { + localInertiaDiagonal*=contactInfo.m_inertiaScaling; + } } btRigidBody* linkRigidBody = 0; diff --git a/examples/Importers/ImportURDFDemo/URDFJointTypes.h b/examples/Importers/ImportURDFDemo/URDFJointTypes.h index 65d615ee3..2a6bdfef4 100644 --- a/examples/Importers/ImportURDFDemo/URDFJointTypes.h +++ b/examples/Importers/ImportURDFDemo/URDFJointTypes.h @@ -17,7 +17,8 @@ enum URDF_LinkContactFlags { URDF_CONTACT_HAS_LATERAL_FRICTION=1, URDF_CONTACT_HAS_ROLLING_FRICTION=2, - URDF_CONTACT_HAS_CONTACT_CFM=4, + URDF_CONTACT_HAS_INERTIA_SCALING=2, + URDF_CONTACT_HAS_CONTACT_CFM=4, URDF_CONTACT_HAS_CONTACT_ERP=8 }; @@ -25,6 +26,7 @@ struct URDFLinkContactInfo { btScalar m_lateralFriction; btScalar m_rollingFriction; + btScalar m_inertiaScaling; btScalar m_contactCfm; btScalar m_contactErp; int m_flags; @@ -32,6 +34,7 @@ struct URDFLinkContactInfo URDFLinkContactInfo() :m_lateralFriction(0.5), m_rollingFriction(0), + m_inertiaScaling(1), m_contactCfm(0), m_contactErp(0) { diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index a6a5e256e..3cccbfd35 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -606,6 +606,28 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi TiXmlElement* ci = config->FirstChildElement("contact"); if (ci) { + + TiXmlElement *damping_xml = ci->FirstChildElement("inertia_scaling"); + if (damping_xml) + { + if (m_parseSDF) + { + link.m_contactInfo.m_inertiaScaling = urdfLexicalCast(damping_xml->GetText()); + link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING; + } else + { + if (!damping_xml->Attribute("value")) + { + logger->reportError("Link/contact: damping element must have value attribute"); + return false; + } + + link.m_contactInfo.m_inertiaScaling = urdfLexicalCast(damping_xml->Attribute("value")); + link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_INERTIA_SCALING; + + } + } + { TiXmlElement *friction_xml = ci->FirstChildElement("lateral_friction"); if (friction_xml) { @@ -623,6 +645,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi link.m_contactInfo.m_lateralFriction = urdfLexicalCast(friction_xml->Attribute("value")); } } + } } } diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp index 4da5cc22a..f1fc2cbfd 100644 --- a/examples/RoboticsLearning/R2D2GraspExample.cpp +++ b/examples/RoboticsLearning/R2D2GraspExample.cpp @@ -9,11 +9,15 @@ #include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "../SharedMemory/PhysicsServerSharedMemory.h" #include "../SharedMemory/PhysicsClientC_API.h" +#include "../CommonInterfaces/CommonParameterInterface.h" #include #include "b3RobotSimAPI.h" #include "../Utils/b3Clock.h" +static btScalar sGripperVerticalVelocity = -0.2f; +static btScalar sGripperClosingTargetVelocity = 0.5f; + ///quick demo showing the right-handed coordinate system and positive rotations around each axis class R2D2GraspExample : public CommonExampleInterface { @@ -22,7 +26,8 @@ class R2D2GraspExample : public CommonExampleInterface b3RobotSimAPI m_robotSim; int m_options; int m_r2d2Index; - + int m_gripperIndex; + float m_x; float m_y; float m_z; @@ -39,6 +44,7 @@ public: m_guiHelper(helper), m_options(options), m_r2d2Index(-1), + m_gripperIndex(-1), m_x(0), m_y(0), m_z(0) @@ -61,36 +67,9 @@ public: b3Printf("robotSim connected = %d",connected); - if ((m_options & eROBOTIC_LEARN_GRASP)!=0) + if (m_options == eROBOTIC_LEARN_GRASP) { - { - b3RobotSimLoadFileArgs args(""); - args.m_fileName = "r2d2.urdf"; - args.m_startPosition.setValue(0,0,.5); - b3RobotSimLoadFileResults results; - if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1) - { - int m_r2d2Index = results.m_uniqueObjectIds[0]; - int numJoints = m_robotSim.getNumJoints(m_r2d2Index); - b3Printf("numJoints = %d",numJoints); - - for (int i=0;igetParameterInterface()->registerSliderFloatParameter(slider); + } + + { + SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity + ); + slider.m_minVal=-1; + slider.m_maxVal=1; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + + { + b3RobotSimLoadFileArgs args(""); + args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf"; + args.m_fileType = B3_SDF_FILE; + b3RobotSimLoadFileResults results; + + if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1) + { + + m_gripperIndex = results.m_uniqueObjectIds[0]; + int numJoints = m_robotSim.getNumJoints(m_gripperIndex); + b3Printf("numJoints = %d",numJoints); + + for (int i=0;i=0)) + { + int fingerJointIndices[3]={0,1,3}; + double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity + ,-sGripperClosingTargetVelocity + }; + double maxTorqueValues[3]={40.0,50.0,50.0}; + for (int i=0;i<3;i++) + { + b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); + controlArgs.m_targetVelocity = fingerTargetVelocities[i]; + controlArgs.m_maxTorqueValue = maxTorqueValues[i]; + controlArgs.m_kd = 1.; + m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs); + } + } m_robotSim.stepSimulation(); } virtual void renderScene() @@ -179,9 +290,9 @@ public: virtual void resetCamera() { - float dist = 3; - float pitch = -75; - float yaw = 30; + float dist = 1.5; + float pitch = 12; + float yaw = -10; float targetPos[3]={-0.2,0.8,0.3}; if (m_app->m_renderer && m_app->m_renderer->getActiveCamera()) { diff --git a/examples/RoboticsLearning/R2D2GraspExample.h b/examples/RoboticsLearning/R2D2GraspExample.h index 353f684e5..10d419269 100644 --- a/examples/RoboticsLearning/R2D2GraspExample.h +++ b/examples/RoboticsLearning/R2D2GraspExample.h @@ -20,6 +20,7 @@ enum RobotLearningExampleOptions { eROBOTIC_LEARN_GRASP=1, eROBOTIC_LEARN_COMPLIANT_CONTACT=2, + eROBOTIC_LEARN_GRASP_CONTACT=3, }; class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options); diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp index b29e0e429..ce9f032b7 100644 --- a/examples/RoboticsLearning/b3RobotSimAPI.cpp +++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp @@ -560,6 +560,7 @@ void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3JointInfo jointInfo; b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo); int uIndex = jointInfo.m_uIndex; + b3JointControlSetKd(command,uIndex,args.m_kd); b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity); b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue); statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command); @@ -627,6 +628,7 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS } statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command); statusType = b3GetStatusType(statusHandle); + b3Assert(statusType==CMD_URDF_LOADING_COMPLETED); robotUniqueId = b3GetStatusBodyIndex(statusHandle); results.m_uniqueObjectIds.push_back(robotUniqueId); diff --git a/examples/RoboticsLearning/b3RobotSimAPI.h b/examples/RoboticsLearning/b3RobotSimAPI.h index 98c7e1fa0..3666700d2 100644 --- a/examples/RoboticsLearning/b3RobotSimAPI.h +++ b/examples/RoboticsLearning/b3RobotSimAPI.h @@ -61,7 +61,7 @@ struct b3JointMotorArgs m_targetPosition(0), m_kp(0.1), m_targetVelocity(0), - m_kd(0.1), + m_kd(0.9), m_maxTorqueValue(1000) { } diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 420fe37b6..469c178f8 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1216,16 +1216,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes); - - //serverStatusOut.m_type = CMD_SDF_LOADING_FAILED; - serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size(); - int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies); - for (int i=0;im_sdfRecentLoadedBodies[i]; - } + //serverStatusOut.m_type = CMD_SDF_LOADING_FAILED; + serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size(); + int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies); + for (int i=0;im_sdfRecentLoadedBodies[i]; + } - serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED; + serverStatusOut.m_type = CMD_SDF_LOADING_COMPLETED; + } else + { + serverStatusOut.m_type = CMD_SDF_LOADING_FAILED; + } hasStatus = true; break; } From 8270096fad4edbcee9e07742ba239cb271bbac09 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 25 Jul 2016 12:30:47 -0700 Subject: [PATCH 106/115] add GripperGraspExample, separate from R2D2GraspExample --- examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 3 +- .../RoboticsLearning/GripperGraspExample.cpp | 231 +++++++++++++++++ .../RoboticsLearning/GripperGraspExample.h | 23 ++ .../RoboticsLearning/R2D2GraspExample.cpp | 235 +++++------------- examples/RoboticsLearning/R2D2GraspExample.h | 1 - 6 files changed, 320 insertions(+), 175 deletions(-) create mode 100644 examples/RoboticsLearning/GripperGraspExample.cpp create mode 100644 examples/RoboticsLearning/GripperGraspExample.h diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 0678eaf4a..38e4175b3 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -210,6 +210,8 @@ SET(BulletExampleBrowser_SRCS ../RenderingExamples/TimeSeriesCanvas.h ../RenderingExamples/TimeSeriesFontData.cpp ../RenderingExamples/TimeSeriesFontData.h + ../RoboticsLearning/GripperGraspExample.cpp + ../RoboticsLearning/GripperGraspExample.h ../RoboticsLearning/b3RobotSimAPI.cpp ../RoboticsLearning/b3RobotSimAPI.h ../RoboticsLearning/R2D2GraspExample.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index cac015d61..60c62c43a 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -46,6 +46,7 @@ #include "../MultiThreading/MultiThreadingExample.h" #include "../InverseDynamics/InverseDynamicsExample.h" #include "../RoboticsLearning/R2D2GraspExample.h" +#include "../RoboticsLearning/GripperGraspExample.h" #include "../InverseKinematics/InverseKinematicsExample.h" #ifdef ENABLE_LUA @@ -260,7 +261,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP), ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT), - ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_GRASP_CONTACT), + ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", GripperGraspExampleCreateFunc), diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp new file mode 100644 index 000000000..ebdc39acb --- /dev/null +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -0,0 +1,231 @@ + +#include "GripperGraspExample.h" + +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "Bullet3Common/b3Quaternion.h" +#include "Bullet3Common/b3AlignedObjectArray.h" +#include "../CommonInterfaces/CommonRenderInterface.h" +#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "../SharedMemory/PhysicsServerSharedMemory.h" +#include "../SharedMemory/PhysicsClientC_API.h" +#include "../CommonInterfaces/CommonParameterInterface.h" +#include + +#include "b3RobotSimAPI.h" +#include "../Utils/b3Clock.h" + +static btScalar sGripperVerticalVelocity = -0.2f; +static btScalar sGripperClosingTargetVelocity = 0.5f; + +class GripperGraspExample : public CommonExampleInterface +{ + CommonGraphicsApp* m_app; + GUIHelperInterface* m_guiHelper; + b3RobotSimAPI m_robotSim; + int m_options; + int m_r2d2Index; + int m_gripperIndex; + + float m_x; + float m_y; + float m_z; + b3AlignedObjectArray m_movingInstances; + enum + { + numCubesX = 20, + numCubesY = 20 + }; +public: + + GripperGraspExample(GUIHelperInterface* helper, int options) + :m_app(helper->getAppInterface()), + m_guiHelper(helper), + m_options(options), + m_r2d2Index(-1), + m_gripperIndex(-1), + m_x(0), + m_y(0), + m_z(0) + { + m_app->setUpAxis(2); + } + virtual ~GripperGraspExample() + { + m_app->m_renderer->enableBlend(false); + } + + + virtual void physicsDebugDraw(int debugDrawMode) + { + + } + virtual void initPhysics() + { + bool connected = m_robotSim.connect(m_guiHelper); + b3Printf("robotSim connected = %d",connected); + + { + + { + SliderParams slider("Vertical velocity",&sGripperVerticalVelocity); + slider.m_minVal=-2; + slider.m_maxVal=2; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + { + SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity + ); + slider.m_minVal=-1; + slider.m_maxVal=1; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + + { + b3RobotSimLoadFileArgs args(""); + args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf"; + args.m_fileType = B3_SDF_FILE; + b3RobotSimLoadFileResults results; + + if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1) + { + + m_gripperIndex = results.m_uniqueObjectIds[0]; + int numJoints = m_robotSim.getNumJoints(m_gripperIndex); + b3Printf("numJoints = %d",numJoints); + + for (int i=0;i=0)) + { + int fingerJointIndices[3]={0,1,3}; + double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity + ,-sGripperClosingTargetVelocity + }; + double maxTorqueValues[3]={40.0,50.0,50.0}; + for (int i=0;i<3;i++) + { + b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); + controlArgs.m_targetVelocity = fingerTargetVelocities[i]; + controlArgs.m_maxTorqueValue = maxTorqueValues[i]; + controlArgs.m_kd = 1.; + m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs); + } + } + m_robotSim.stepSimulation(); + } + virtual void renderScene() + { + m_robotSim.renderScene(); + + //m_app->m_renderer->renderScene(); + } + + + virtual void physicsDebugDraw() + { + + } + virtual bool mouseMoveCallback(float x,float y) + { + return false; + } + virtual bool mouseButtonCallback(int button, int state, float x, float y) + { + return false; + } + virtual bool keyboardCallback(int key, int state) + { + return false; + } + + virtual void resetCamera() + { + float dist = 1.5; + float pitch = 12; + float yaw = -10; + float targetPos[3]={-0.2,0.8,0.3}; + if (m_app->m_renderer && m_app->m_renderer->getActiveCamera()) + { + m_app->m_renderer->getActiveCamera()->setCameraDistance(dist); + m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch); + m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw); + m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]); + } + } + +}; + + +class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options) +{ + return new GripperGraspExample(options.m_guiHelper, options.m_option); +} + + + diff --git a/examples/RoboticsLearning/GripperGraspExample.h b/examples/RoboticsLearning/GripperGraspExample.h new file mode 100644 index 000000000..1088efffb --- /dev/null +++ b/examples/RoboticsLearning/GripperGraspExample.h @@ -0,0 +1,23 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2016 Google Inc. http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef GRIPPER_GRASP_EXAMPLE_H +#define GRIPPER_GRASP_EXAMPLE_H + + +class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options); + + +#endif //GRIPPER_GRASP_EXAMPLE_H diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp index f1fc2cbfd..4da5cc22a 100644 --- a/examples/RoboticsLearning/R2D2GraspExample.cpp +++ b/examples/RoboticsLearning/R2D2GraspExample.cpp @@ -9,15 +9,11 @@ #include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "../SharedMemory/PhysicsServerSharedMemory.h" #include "../SharedMemory/PhysicsClientC_API.h" -#include "../CommonInterfaces/CommonParameterInterface.h" #include #include "b3RobotSimAPI.h" #include "../Utils/b3Clock.h" -static btScalar sGripperVerticalVelocity = -0.2f; -static btScalar sGripperClosingTargetVelocity = 0.5f; - ///quick demo showing the right-handed coordinate system and positive rotations around each axis class R2D2GraspExample : public CommonExampleInterface { @@ -26,8 +22,7 @@ class R2D2GraspExample : public CommonExampleInterface b3RobotSimAPI m_robotSim; int m_options; int m_r2d2Index; - int m_gripperIndex; - + float m_x; float m_y; float m_z; @@ -44,7 +39,6 @@ public: m_guiHelper(helper), m_options(options), m_r2d2Index(-1), - m_gripperIndex(-1), m_x(0), m_y(0), m_z(0) @@ -67,9 +61,36 @@ public: b3Printf("robotSim connected = %d",connected); - if (m_options == eROBOTIC_LEARN_GRASP) + if ((m_options & eROBOTIC_LEARN_GRASP)!=0) { - + { + b3RobotSimLoadFileArgs args(""); + args.m_fileName = "r2d2.urdf"; + args.m_startPosition.setValue(0,0,.5); + b3RobotSimLoadFileResults results; + if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1) + { + int m_r2d2Index = results.m_uniqueObjectIds[0]; + int numJoints = m_robotSim.getNumJoints(m_r2d2Index); + b3Printf("numJoints = %d",numJoints); + + for (int i=0;igetParameterInterface()->registerSliderFloatParameter(slider); - } - - { - SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity - ); - slider.m_minVal=-1; - slider.m_maxVal=1; - m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); - } - - - { - b3RobotSimLoadFileArgs args(""); - args.m_fileName = "gripper/wsg50_with_r2d2_gripper.sdf"; - args.m_fileType = B3_SDF_FILE; - b3RobotSimLoadFileResults results; - - if (m_robotSim.loadFile(args, results) && results.m_uniqueObjectIds.size()==1) - { - - m_gripperIndex = results.m_uniqueObjectIds[0]; - int numJoints = m_robotSim.getNumJoints(m_gripperIndex); - b3Printf("numJoints = %d",numJoints); - - for (int i=0;i=0)) - { - int fingerJointIndices[3]={0,1,3}; - double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity - ,-sGripperClosingTargetVelocity - }; - double maxTorqueValues[3]={40.0,50.0,50.0}; - for (int i=0;i<3;i++) - { - b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); - controlArgs.m_targetVelocity = fingerTargetVelocities[i]; - controlArgs.m_maxTorqueValue = maxTorqueValues[i]; - controlArgs.m_kd = 1.; - m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs); - } - } m_robotSim.stepSimulation(); } virtual void renderScene() @@ -290,9 +179,9 @@ public: virtual void resetCamera() { - float dist = 1.5; - float pitch = 12; - float yaw = -10; + float dist = 3; + float pitch = -75; + float yaw = 30; float targetPos[3]={-0.2,0.8,0.3}; if (m_app->m_renderer && m_app->m_renderer->getActiveCamera()) { diff --git a/examples/RoboticsLearning/R2D2GraspExample.h b/examples/RoboticsLearning/R2D2GraspExample.h index 10d419269..353f684e5 100644 --- a/examples/RoboticsLearning/R2D2GraspExample.h +++ b/examples/RoboticsLearning/R2D2GraspExample.h @@ -20,7 +20,6 @@ enum RobotLearningExampleOptions { eROBOTIC_LEARN_GRASP=1, eROBOTIC_LEARN_COMPLIANT_CONTACT=2, - eROBOTIC_LEARN_GRASP_CONTACT=3, }; class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options); From b221d2ad18bfec48efeccbe24302aac206948d7f Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Tue, 26 Jul 2016 11:09:12 -0700 Subject: [PATCH 107/115] add targetPosition, targetValue, kp & kd to pybullet_setJointMotorControl --- examples/pybullet/pybullet.c | 72 +++++++++++++++++++++--------------- 1 file changed, 42 insertions(+), 30 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index be5994c16..2bd48e963 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -294,27 +294,29 @@ pybullet_resetSimulation(PyObject* self, PyObject* args) static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) { - //todo(erwincoumans): set max forces, kp, kd + //TODO(matkelcey): should this just be three methods? int size; int bodyIndex, jointIndex, controlMode; double targetValue=0; + double targetPosition=0; + double targetVelocity=0; double maxForce=100000; - double gains=0.1; + double kp=0.1; + double kd=0.1; int valid = 0; - - + if (0==sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - + size= PySequence_Size(args); - if (size==4) { - + // for CONTROL_MODE_VELOCITY targetValue -> velocity + // for CONTROL_MODE_TORQUE targetValue -> force torque if (!PyArg_ParseTuple(args, "iiid", &bodyIndex, &jointIndex, &controlMode, &targetValue)) { PyErr_SetString(SpamError, "Error parsing arguments"); @@ -324,7 +326,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) } if (size==5) { - + // for CONTROL_MODE_VELOCITY targetValue -> velocity + // for CONTROL_MODE_TORQUE targetValue -> force torque if (!PyArg_ParseTuple(args, "iiidd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce)) { PyErr_SetString(SpamError, "Error parsing arguments"); @@ -332,20 +335,31 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) } valid = 1; } - if (size==6) + if (size==8) { - - if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &gains)) + // only applicable for CONTROL_MODE_POSITION_VELOCITY_PD. + if (!PyArg_ParseTuple(args, "iiiddddd", &bodyIndex, &jointIndex, &controlMode, &targetPosition, &targetVelocity, &maxForce, &kp, &kd)) { PyErr_SetString(SpamError, "Error parsing arguments"); return NULL; } valid = 1; } - - + + if (size==8 && controlMode!=CONTROL_MODE_POSITION_VELOCITY_PD) + { + PyErr_SetString(SpamError, "8 argument call only applicable for control mode CONTROL_MODE_POSITION_VELOCITY_PD"); + return NULL; + } + if (controlMode==CONTROL_MODE_POSITION_VELOCITY_PD && size!=8) + { + PyErr_SetString(SpamError, "For CONTROL_MODE_POSITION_VELOCITY_PD please call with explicit targetPosition & targetVelocity"); + return NULL; + } + if (valid) { + int numJoints; b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; @@ -357,7 +371,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) PyErr_SetString(SpamError, "Joint index out-of-range."); return NULL; } - + if ((controlMode != CONTROL_MODE_VELOCITY) && (controlMode != CONTROL_MODE_TORQUE) && (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)) @@ -365,19 +379,18 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) PyErr_SetString(SpamError, "Illegral control mode."); return NULL; } - + commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode); - + b3GetJointInfo(sm, bodyIndex, jointIndex, &info); - + switch (controlMode) { case CONTROL_MODE_VELOCITY: { - double kd = gains; b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue); - b3JointControlSetKd(commandHandle,info.m_uIndex,kd); - b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce); + b3JointControlSetKd(commandHandle, info.m_uIndex, kd); + b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, maxForce); break; } @@ -386,31 +399,30 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) b3JointControlSetDesiredForceTorque(commandHandle, info.m_uIndex, targetValue); break; } - + case CONTROL_MODE_POSITION_VELOCITY_PD: { - double kp = gains; - b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue); - b3JointControlSetKp(commandHandle,info.m_uIndex,kp); - b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce); + b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex, targetPosition); + b3JointControlSetKp(commandHandle, info.m_uIndex, kp); + b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetVelocity); + b3JointControlSetKd(commandHandle, info.m_uIndex, kd); + b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, maxForce); break; } default: { } }; - + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); - + Py_INCREF(Py_None); return Py_None; } - PyErr_SetString(SpamError, "error in setJointControl."); + PyErr_SetString(SpamError, "Invalid number of args passed to setJointControl."); return NULL; } - - static PyObject * pybullet_setRealTimeSimulation(PyObject* self, PyObject* args) { From 4b75c5d9d0a95763152f0f9f8bc2d0d4876d7cb2 Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Tue, 26 Jul 2016 11:36:34 -0700 Subject: [PATCH 108/115] add another combo of args to allow kd to be configured in the CONTROL_MODE_VELOCITY case --- examples/pybullet/pybullet.c | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 2bd48e963..0a1a205bb 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -335,6 +335,15 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) } valid = 1; } + if (size==6) + { + if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &kd)) + { + PyErr_SetString(SpamError, "Error parsing arguments"); + return NULL; + } + valid = 1; + } if (size==8) { // only applicable for CONTROL_MODE_POSITION_VELOCITY_PD. From 98c6181ba85aa90cd98a5c8a87f40b9cfc922766 Mon Sep 17 00:00:00 2001 From: "Erwin Coumans (Google)" Date: Tue, 26 Jul 2016 15:36:21 -0700 Subject: [PATCH 109/115] fix screen width/height issue on Intel/Linux add command-line option to set png_skip_frames when taking screenshot series --- .../ExampleBrowser/OpenGLExampleBrowser.cpp | 40 ++++++++++--------- .../InverseKinematicsExample.cpp | 2 +- examples/OpenGLWindow/SimpleOpenGL3App.cpp | 6 ++- examples/OpenGLWindow/X11OpenGLWindow.cpp | 3 ++ 4 files changed, 29 insertions(+), 22 deletions(-) diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index 577d24c85..d0fae2254 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -157,6 +157,7 @@ void deleteDemo() } const char* gPngFileName = 0; +int gPngSkipFrames = 0; @@ -763,7 +764,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[]) loadCurrentSettings(startFileName, args); args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep); - + args.GetCmdLineArgument("png_skip_frames", gPngSkipFrames); ///The OpenCL rigid body pipeline is experimental and ///most OpenCL drivers and OpenCL compilers have issues with our kernels. ///If you have a high-end desktop GPU such as AMD 7970 or better, or NVIDIA GTX 680 with up-to-date drivers @@ -1101,24 +1102,6 @@ void OpenGLExampleBrowser::update(float deltaTime) //printf("---------------------------------------------------\n"); //printf("Framecount = %d\n",frameCount); - if (gPngFileName) - { - - static int skip = 0; - skip++; - if (skip>4) - { - skip=0; - //printf("gPngFileName=%s\n",gPngFileName); - static int s_frameCount = 100; - - sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++); - //b3Printf("Made screenshot %s",staticPngFileName); - s_app->dumpNextFrameToPng(staticPngFileName); - glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); - } - } - if (gFixedTimeStep>0) { @@ -1153,6 +1136,25 @@ void OpenGLExampleBrowser::update(float deltaTime) } } + if (gPngFileName) + { + + static int skip = 0; + skip--; + if (skip<0) + { + skip=gPngSkipFrames; + //printf("gPngFileName=%s\n",gPngFileName); + static int s_frameCount = 100; + + sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++); + //b3Printf("Made screenshot %s",staticPngFileName); + s_app->dumpNextFrameToPng(staticPngFileName); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + } + } + + { if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera()) diff --git a/examples/InverseKinematics/InverseKinematicsExample.cpp b/examples/InverseKinematics/InverseKinematicsExample.cpp index 8f902b008..4c36037a6 100644 --- a/examples/InverseKinematics/InverseKinematicsExample.cpp +++ b/examples/InverseKinematics/InverseKinematicsExample.cpp @@ -84,7 +84,7 @@ void Reset(Tree &tree, Jacobian* m_ikJacobian) // Update target positions void UpdateTargets( double T2, Tree & treeY) { - double T = T2 / 20.; + double T = T2 / 5.; target1[0].Set(0.6*b3Sin(0), 0.6*b3Cos(0), 0.5+0.4*b3Sin(3 * T)); } diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index 1423f2841..971df3734 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -753,8 +753,10 @@ void SimpleOpenGL3App::swapBuffer() m_window->endRendering(); if (m_data->m_frameDumpPngFileName) { - writeTextureToFile((int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(), - (int) m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(),m_data->m_frameDumpPngFileName, + int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(); + int height = (int) m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(); + writeTextureToFile(width, + height,m_data->m_frameDumpPngFileName, m_data->m_ffmpegFile); m_data->m_renderTexture->disable(); if (m_data->m_ffmpegFile==0) diff --git a/examples/OpenGLWindow/X11OpenGLWindow.cpp b/examples/OpenGLWindow/X11OpenGLWindow.cpp index 68aa22720..789be7803 100644 --- a/examples/OpenGLWindow/X11OpenGLWindow.cpp +++ b/examples/OpenGLWindow/X11OpenGLWindow.cpp @@ -516,6 +516,9 @@ void X11OpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) m_data->m_dpy = MyXOpenDisplay(NULL); + m_data->m_glWidth = ci.m_width; + m_data->m_glHeight = ci.m_height; + if(m_data->m_dpy == NULL) { printf("\n\tcannot connect to X server\n\n"); exit(0); From b4cfee87453f22b82647d1563aff34a3f59ee4ec Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Tue, 26 Jul 2016 16:15:08 -0700 Subject: [PATCH 110/115] set dft for kd to be 1.0. note: this is only applicable to CONTROL_MODE_VELOCITY --- examples/pybullet/pybullet.c | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0a1a205bb..d2b7a496c 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -294,8 +294,6 @@ pybullet_resetSimulation(PyObject* self, PyObject* args) static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) { - //TODO(matkelcey): should this just be three methods? - int size; int bodyIndex, jointIndex, controlMode; double targetValue=0; @@ -303,7 +301,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args) double targetVelocity=0; double maxForce=100000; double kp=0.1; - double kd=0.1; + double kd=1.0; int valid = 0; if (0==sm) From daf91de77878858611c601ed89ff14651eb3fb44 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 27 Jul 2016 09:11:08 -0700 Subject: [PATCH 111/115] fix ffmpeg stream to create quicktime compatible videos --- examples/OpenGLWindow/SimpleOpenGL3App.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index 971df3734..7cfc75652 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -750,7 +750,7 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char* void SimpleOpenGL3App::swapBuffer() { - m_window->endRendering(); + if (m_data->m_frameDumpPngFileName) { int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(); @@ -764,7 +764,8 @@ void SimpleOpenGL3App::swapBuffer() m_data->m_frameDumpPngFileName = 0; } } - m_window->startRendering(); + m_window->endRendering(); + m_window->startRendering(); } // see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/ @@ -780,7 +781,7 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName) #else sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " - "-threads 0 -y -crf 0 -b 50000k -vf vflip %s", width, height, mp4FileName); + "-threads 0 -y -b 50000k -t 20 -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", width, height, mp4FileName); #endif //sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " From 626a913866158e5956cfa2ae7f5f6350e99d783e Mon Sep 17 00:00:00 2001 From: MiCroN3000 Date: Thu, 28 Jul 2016 20:15:38 +0200 Subject: [PATCH 112/115] The kinematic character controller with various fixes and a few new features like, being able to set any vector for gravity/up, jumping in a certain direction, possibility to use collision masks, angular & linear velocity, angular & linear damping. --- .../btCharacterControllerInterface.h | 2 +- .../btKinematicCharacterController.cpp | 461 +++++++++++++----- .../btKinematicCharacterController.h | 60 ++- 3 files changed, 395 insertions(+), 128 deletions(-) diff --git a/src/BulletDynamics/Character/btCharacterControllerInterface.h b/src/BulletDynamics/Character/btCharacterControllerInterface.h index dffb06dfe..c3a3ac6c8 100644 --- a/src/BulletDynamics/Character/btCharacterControllerInterface.h +++ b/src/BulletDynamics/Character/btCharacterControllerInterface.h @@ -37,7 +37,7 @@ public: virtual void preStep ( btCollisionWorld* collisionWorld) = 0; virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0; virtual bool canJump () const = 0; - virtual void jump () = 0; + virtual void jump(const btVector3& dir = btVector3()) = 0; virtual bool onGround () const = 0; virtual void setUpInterpolate (bool value) = 0; diff --git a/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/src/BulletDynamics/Character/btKinematicCharacterController.cpp index 31faf1df5..60e49b750 100644 --- a/src/BulletDynamics/Character/btKinematicCharacterController.cpp +++ b/src/BulletDynamics/Character/btKinematicCharacterController.cpp @@ -132,30 +132,37 @@ btVector3 btKinematicCharacterController::perpindicularComponent (const btVector return direction - parallelComponent(direction, normal); } -btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis) +btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up) { - m_upAxis = upAxis; + m_up.setValue(0.0f, 0.0f, 1.0f); + m_jumpAxis.setValue(0.0f, 0.0f, 1.0f); + setUp(up); + setStepHeight(stepHeight); m_addedMargin = 0.02; - m_walkDirection.setValue(0,0,0); + m_walkDirection.setValue(0.0,0.0,0.0); + m_AngVel.setValue(0.0, 0.0, 0.0); m_useGhostObjectSweepTest = true; m_ghostObject = ghostObject; - m_stepHeight = stepHeight; m_turnAngle = btScalar(0.0); m_convexShape=convexShape; m_useWalkDirection = true; // use walk direction by default, legacy behavior m_velocityTimeInterval = 0.0; m_verticalVelocity = 0.0; m_verticalOffset = 0.0; - m_gravity = 9.8 * 3 ; // 3G acceleration. + m_gravity = 9.8 * 3.0 ; // 3G acceleration. m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s. m_jumpSpeed = 10.0; // ? + m_SetjumpSpeed = m_jumpSpeed; m_wasOnGround = false; m_wasJumping = false; m_interpolateUp = true; setMaxSlope(btRadians(45.0)); - m_currentStepOffset = 0; + m_currentStepOffset = 0.0; + m_maxPenetrationDepth = 0.2; full_drop = false; bounce_fix = false; + m_linearDamping = btScalar(0.0); + m_angularDamping = btScalar(0.0); } btKinematicCharacterController::~btKinematicCharacterController () @@ -190,7 +197,7 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* m_currentPosition = m_ghostObject->getWorldTransform().getOrigin(); - btScalar maxPen = btScalar(0.0); +// btScalar maxPen = btScalar(0.0); for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++) { m_manifoldArray.resize(0); @@ -198,10 +205,13 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i]; btCollisionObject* obj0 = static_cast(collisionPair->m_pProxy0->m_clientObject); - btCollisionObject* obj1 = static_cast(collisionPair->m_pProxy1->m_clientObject); + btCollisionObject* obj1 = static_cast(collisionPair->m_pProxy1->m_clientObject); if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse())) continue; + + if (!needsCollision(obj0, obj1)) + continue; if (collisionPair->m_algorithm) collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray); @@ -217,14 +227,15 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* btScalar dist = pt.getDistance(); - if (dist < 0.0) + if (dist < -m_maxPenetrationDepth) { - if (dist < maxPen) - { - maxPen = dist; - m_touchingNormal = pt.m_normalWorldOnB * directionSign;//?? + // TODO: cause problems on slopes, not sure if it is needed + //if (dist < maxPen) + //{ + // maxPen = dist; + // m_touchingNormal = pt.m_normalWorldOnB * directionSign;//?? - } + //} m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2); penetration = true; } else { @@ -244,18 +255,28 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* void btKinematicCharacterController::stepUp ( btCollisionWorld* world) { + btScalar stepHeight = 0.0f; + if (m_verticalVelocity < 0.0) + stepHeight = m_stepHeight; + // phase 1: up btTransform start, end; - m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f)); start.setIdentity (); end.setIdentity (); /* FIXME: Handle penetration properly */ - start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin)); + start.setOrigin(m_currentPosition); + + m_targetPosition = m_currentPosition + m_up * (stepHeight) + m_jumpAxis * ((m_verticalOffset > 0.f ? m_verticalOffset : 0.f)); + m_currentPosition = m_targetPosition; + end.setOrigin (m_targetPosition); - btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071)); + start.setRotation(m_currentOrientation); + end.setRotation(m_targetOrientation); + + btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, -m_up, m_maxSlopeCosine); callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; @@ -265,29 +286,61 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world) } else { - world->convexSweepTest (m_convexShape, start, end, callback); + world->convexSweepTest(m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration); } - - if (callback.hasHit()) + + if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) { // Only modify the position if the hit was a slope and not a wall or ceiling. - if(callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > 0.0) + if (callback.m_hitNormalWorld.dot(m_up) > 0.0) { // we moved up only a fraction of the step height - m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction; + m_currentStepOffset = stepHeight * callback.m_closestHitFraction; if (m_interpolateUp == true) m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); else m_currentPosition = m_targetPosition; } - m_verticalVelocity = 0.0; - m_verticalOffset = 0.0; + + btTransform& xform = m_ghostObject->getWorldTransform(); + xform.setOrigin(m_currentPosition); + m_ghostObject->setWorldTransform(xform); + + // fix penetration if we hit a ceiling for example + int numPenetrationLoops = 0; + m_touchingContact = false; + while (recoverFromPenetration(world)) + { + numPenetrationLoops++; + m_touchingContact = true; + if (numPenetrationLoops > 4) + { + //printf("character could not recover from penetration = %d\n", numPenetrationLoops); + break; + } + } + m_targetPosition = m_ghostObject->getWorldTransform().getOrigin(); + m_currentPosition = m_targetPosition; + + if (m_verticalOffset > 0) + { + m_verticalOffset = 0.0; + m_verticalVelocity = 0.0; + m_currentStepOffset = m_stepHeight; + } } else { - m_currentStepOffset = m_stepHeight; + m_currentStepOffset = stepHeight; m_currentPosition = m_targetPosition; } } +bool btKinematicCharacterController::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1) +{ + bool collides = (body0->getBroadphaseHandle()->m_collisionFilterGroup & body1->getBroadphaseHandle()->m_collisionFilterMask) != 0; + collides = collides && (body1->getBroadphaseHandle()->m_collisionFilterGroup & body0->getBroadphaseHandle()->m_collisionFilterMask); + return collides; +} + void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag) { btVector3 movementDirection = m_targetPosition - m_currentPosition; @@ -330,6 +383,7 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co // m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]); // phase 2: forward and strafe btTransform start, end; + m_targetPosition = m_currentPosition + walkMove; start.setIdentity (); @@ -339,15 +393,6 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co btScalar distance2 = (m_currentPosition-m_targetPosition).length2(); // printf("distance2=%f\n",distance2); - if (m_touchingContact) - { - if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0)) - { - //interferes with step movement - //updateTargetPositionBasedOnCollision (m_touchingNormal); - } - } - int maxIter = 10; while (fraction > btScalar(0.01) && maxIter-- > 0) @@ -356,6 +401,9 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co end.setOrigin (m_targetPosition); btVector3 sweepDirNegative(m_currentPosition - m_targetPosition); + start.setRotation(m_currentOrientation); + end.setRotation(m_targetOrientation); + btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0)); callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; @@ -364,21 +412,23 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co btScalar margin = m_convexShape->getMargin(); m_convexShape->setMargin(margin + m_addedMargin); - - if (m_useGhostObjectSweepTest) + if (!(start == end)) { - m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); - } else - { - collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + if (m_useGhostObjectSweepTest) + { + m_ghostObject->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } + else + { + collisionWorld->convexSweepTest(m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } } - m_convexShape->setMargin(margin); fraction -= callback.m_closestHitFraction; - if (callback.hasHit()) + if (callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) { // we moved only a fraction //btScalar hitDistance; @@ -404,9 +454,11 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co } } else { - // we moved whole way - m_currentPosition = m_targetPosition; +// if (!m_wasJumping) + // we moved whole way + m_currentPosition = m_targetPosition; } + m_currentPosition = m_targetPosition; // if (callback.m_closestHitFraction == 0.f) // break; @@ -421,27 +473,30 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld // phase 3: down /*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0; - btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep); + btVector3 step_drop = m_up * (m_currentStepOffset + additionalDownStep); btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt; - btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity; + btVector3 gravity_drop = m_up * downVelocity; m_targetPosition -= (step_drop + gravity_drop);*/ btVector3 orig_position = m_targetPosition; btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; + if (m_verticalVelocity > 0.0) + return; + if(downVelocity > 0.0 && downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping)) downVelocity = m_fallSpeed; - btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity); m_targetPosition -= step_drop; - btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); + btKinematicClosestNotMeConvexResultCallback callback(m_ghostObject, m_up, m_maxSlopeCosine); callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; - btKinematicClosestNotMeConvexResultCallback callback2 (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); + btKinematicClosestNotMeConvexResultCallback callback2(m_ghostObject, m_up, m_maxSlopeCosine); callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; @@ -455,6 +510,9 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld start.setOrigin (m_currentPosition); end.setOrigin (m_targetPosition); + start.setRotation(m_currentOrientation); + end.setRotation(m_targetOrientation); + //set double test for 2x the step drop, to check for a large drop vs small drop end_double.setOrigin (m_targetPosition - step_drop); @@ -462,7 +520,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld { m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); - if (!callback.hasHit()) + if (!callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) { //test a double fall height, to see if the character should interpolate it's fall (full) or not (partial) m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); @@ -471,30 +529,34 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld { collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); - if (!callback.hasHit()) - { - //test a double fall height, to see if the character should interpolate it's fall (large) or not (small) - collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); - } + if (!callback.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) + { + //test a double fall height, to see if the character should interpolate it's fall (large) or not (small) + collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } } btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; bool has_hit = false; if (bounce_fix == true) - has_hit = callback.hasHit() || callback2.hasHit(); + has_hit = (callback.hasHit() || callback2.hasHit()) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject); else - has_hit = callback2.hasHit(); + has_hit = callback2.hasHit() && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject); - if(downVelocity2 > 0.0 && downVelocity2 < m_stepHeight && has_hit == true && runonce == false + btScalar stepHeight = 0.0f; + if (m_verticalVelocity < 0.0) + stepHeight = m_stepHeight; + + if (downVelocity2 > 0.0 && downVelocity2 < stepHeight && has_hit == true && runonce == false && (m_wasOnGround || !m_wasJumping)) { //redo the velocity calculation when falling a small amount, for fast stairs motion //for larger falls, use the smoother/slower interpolated movement by not touching the target position m_targetPosition = orig_position; - downVelocity = m_stepHeight; + downVelocity = stepHeight; - btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + btVector3 step_drop = m_up * (m_currentStepOffset + downVelocity); m_targetPosition -= step_drop; runonce = true; continue; //re-run previous tests @@ -502,10 +564,9 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld break; } - if (callback.hasHit() || runonce == true) + if ((callback.hasHit() || runonce == true) && m_ghostObject->hasContactResponse() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) { // we dropped a fraction of the height -> hit floor - btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2; //printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY()); @@ -513,10 +574,10 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld if (bounce_fix == true) { if (full_drop == true) - m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); - else - //due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually - m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction); + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + else + //due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction); } else m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); @@ -528,7 +589,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld m_wasJumping = false; } else { // we dropped the full height - + full_drop = true; if (bounce_fix == true) @@ -538,7 +599,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld { m_targetPosition += step_drop; //undo previous target change downVelocity = m_fallSpeed; - step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + step_drop = m_up * (m_currentStepOffset + downVelocity); m_targetPosition -= step_drop; } } @@ -579,21 +640,63 @@ btScalar timeInterval m_velocityTimeInterval += timeInterval; } +void btKinematicCharacterController::setAngularVelocity(const btVector3& velocity) +{ + m_AngVel = velocity; +} + +const btVector3& btKinematicCharacterController::getAngularVelocity() const +{ + return m_AngVel; +} + +void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity) +{ + m_walkDirection = velocity; + + // HACK: if we are moving in the direction of the up, treat it as a jump :( + if (m_walkDirection.length2() > 0) + { + btVector3 w = velocity.normalized(); + btScalar c = w.dot(m_up); + if (c != 0) + { + //there is a component in walkdirection for vertical velocity + btVector3 upComponent = m_up * (sinf(SIMD_HALF_PI - acosf(c)) * m_walkDirection.length()); + m_walkDirection -= upComponent; + m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length(); + + if (c > 0.0f) + { + m_wasJumping = true; + m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin(); + } + } + } + else + m_verticalVelocity = 0.0f; +} + +btVector3 btKinematicCharacterController::getLinearVelocity() const +{ + return m_walkDirection + (m_verticalVelocity * m_up); +} + void btKinematicCharacterController::reset ( btCollisionWorld* collisionWorld ) { - m_verticalVelocity = 0.0; - m_verticalOffset = 0.0; - m_wasOnGround = false; - m_wasJumping = false; - m_walkDirection.setValue(0,0,0); - m_velocityTimeInterval = 0.0; + m_verticalVelocity = 0.0; + m_verticalOffset = 0.0; + m_wasOnGround = false; + m_wasJumping = false; + m_walkDirection.setValue(0,0,0); + m_velocityTimeInterval = 0.0; - //clear pair cache - btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache(); - while (cache->getOverlappingPairArray().size() > 0) - { - cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher()); - } + //clear pair cache + btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache(); + while (cache->getOverlappingPairArray().size() > 0) + { + cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher()); + } } void btKinematicCharacterController::warp (const btVector3& origin) @@ -607,62 +710,99 @@ void btKinematicCharacterController::warp (const btVector3& origin) void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld) { - - int numPenetrationLoops = 0; - m_touchingContact = false; - while (recoverFromPenetration (collisionWorld)) - { - numPenetrationLoops++; - m_touchingContact = true; - if (numPenetrationLoops > 4) - { - //printf("character could not recover from penetration = %d\n", numPenetrationLoops); - break; - } - } - m_currentPosition = m_ghostObject->getWorldTransform().getOrigin(); m_targetPosition = m_currentPosition; + + m_currentOrientation = m_ghostObject->getWorldTransform().getRotation(); + m_targetOrientation = m_currentOrientation; // printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]); - - } -#include - void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt) { // printf("playerStep(): "); // printf(" dt = %f", dt); + if (m_AngVel.length2() > 0.0f) + { + m_AngVel *= btPow(btScalar(1) - m_angularDamping, dt); + } + + // integrate for angular velocity + if (m_AngVel.length2() > 0.0f) + { + btTransform xform; + xform = m_ghostObject->getWorldTransform(); + + btQuaternion rot(m_AngVel.normalized(), m_AngVel.length() * dt); + + btQuaternion orn = rot * xform.getRotation(); + + xform.setRotation(orn); + m_ghostObject->setWorldTransform(xform); + + m_currentPosition = m_ghostObject->getWorldTransform().getOrigin(); + m_targetPosition = m_currentPosition; + m_currentOrientation = m_ghostObject->getWorldTransform().getRotation(); + m_targetOrientation = m_currentOrientation; + } + // quick check... - if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0 || m_walkDirection.fuzzyZero())) { + if (!m_useWalkDirection && (m_velocityTimeInterval <= 0.0)) { // printf("\n"); return; // no motion } m_wasOnGround = onGround(); + //btVector3 lvel = m_walkDirection; + btScalar c = 0.0f; + + if (m_walkDirection.length2() > 0) + { + // apply damping + m_walkDirection *= btPow(btScalar(1) - m_linearDamping, dt); + } + + m_verticalVelocity *= btPow(btScalar(1) - m_linearDamping, dt); + // Update fall velocity. m_verticalVelocity -= m_gravity * dt; - if(m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed) + if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed) { m_verticalVelocity = m_jumpSpeed; } - if(m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed)) + if (m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed)) { m_verticalVelocity = -btFabs(m_fallSpeed); } m_verticalOffset = m_verticalVelocity * dt; - btTransform xform; - xform = m_ghostObject->getWorldTransform (); + xform = m_ghostObject->getWorldTransform(); // printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]); // printf("walkSpeed=%f\n",walkSpeed); - stepUp (collisionWorld); + stepUp(collisionWorld); + //todo: Experimenting with behavior of controller when it hits a ceiling.. + //bool hitUp = stepUp (collisionWorld); + //if (hitUp) + //{ + // m_verticalVelocity -= m_gravity * dt; + // if (m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed) + // { + // m_verticalVelocity = m_jumpSpeed; + // } + // if (m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed)) + // { + // m_verticalVelocity = -btFabs(m_fallSpeed); + // } + // m_verticalOffset = m_verticalVelocity * dt; + + // xform = m_ghostObject->getWorldTransform(); + //} + if (m_useWalkDirection) { stepForwardAndStrafe (collisionWorld, m_walkDirection); } else { @@ -682,10 +822,38 @@ void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWo } stepDown (collisionWorld, dt); + //todo: Experimenting with max jump height + //if (m_wasJumping) + //{ + // btScalar ds = m_currentPosition[m_upAxis] - m_jumpPosition[m_upAxis]; + // if (ds > m_maxJumpHeight) + // { + // // substract the overshoot + // m_currentPosition[m_upAxis] -= ds - m_maxJumpHeight; + + // // max height was reached, so potential energy is at max + // // and kinematic energy is 0, thus velocity is 0. + // if (m_verticalVelocity > 0.0) + // m_verticalVelocity = 0.0; + // } + //} // printf("\n"); xform.setOrigin (m_currentPosition); m_ghostObject->setWorldTransform (xform); + + int numPenetrationLoops = 0; + m_touchingContact = false; + while (recoverFromPenetration(collisionWorld)) + { + numPenetrationLoops++; + m_touchingContact = true; + if (numPenetrationLoops > 4) + { + //printf("character could not recover from penetration = %d\n", numPenetrationLoops); + break; + } + } } void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed) @@ -696,6 +864,7 @@ void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed) void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed) { m_jumpSpeed = jumpSpeed; + m_SetjumpSpeed = m_jumpSpeed; } void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight) @@ -708,14 +877,16 @@ bool btKinematicCharacterController::canJump () const return onGround(); } -void btKinematicCharacterController::jump () +void btKinematicCharacterController::jump(const btVector3& v) { - if (!canJump()) - return; - + m_jumpSpeed = v.length2() == 0 ? m_SetjumpSpeed : v.length(); m_verticalVelocity = m_jumpSpeed; m_wasJumping = true; + m_jumpAxis = v.length2() == 0 ? m_up : v.normalized(); + + m_jumpPosition = m_ghostObject->getWorldTransform().getOrigin(); + #if 0 currently no jumping. btTransform xform; @@ -727,14 +898,16 @@ void btKinematicCharacterController::jump () #endif } -void btKinematicCharacterController::setGravity(btScalar gravity) +void btKinematicCharacterController::setGravity(const btVector3& gravity) { - m_gravity = gravity; + if (gravity.length2() > 0) setUpVector(-gravity); + + m_gravity = gravity.length(); } -btScalar btKinematicCharacterController::getGravity() const +btVector3 btKinematicCharacterController::getGravity() const { - return m_gravity; + return -m_gravity * m_up; } void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians) @@ -748,11 +921,25 @@ btScalar btKinematicCharacterController::getMaxSlope() const return m_maxSlopeRadians; } -bool btKinematicCharacterController::onGround () const +void btKinematicCharacterController::setMaxPenetrationDepth(btScalar d) { - return m_verticalVelocity == 0.0 && m_verticalOffset == 0.0; + m_maxPenetrationDepth = d; } +btScalar btKinematicCharacterController::getMaxPenetrationDepth() const +{ + return m_maxPenetrationDepth; +} + +bool btKinematicCharacterController::onGround () const +{ + return (fabs(m_verticalVelocity) < SIMD_EPSILON) && (fabs(m_verticalOffset) < SIMD_EPSILON); +} + +void btKinematicCharacterController::setStepHeight(btScalar h) +{ + m_stepHeight = h; +} btVector3* btKinematicCharacterController::getUpAxisDirections() { @@ -769,3 +956,49 @@ void btKinematicCharacterController::setUpInterpolate(bool value) { m_interpolateUp = value; } + +void btKinematicCharacterController::setUp(const btVector3& up) +{ + if (up.length2() > 0 && m_gravity > 0.0f) + { + setGravity(-m_gravity * up.normalized()); + return; + } + + setUpVector(up); +} + +void btKinematicCharacterController::setUpVector(const btVector3& up) +{ + if (m_up == up) + return; + + btVector3 u = m_up; + + if (up.length2() > 0) + m_up = up.normalized(); + else + m_up = btVector3(0.0, 0.0, 0.0); + + if (!m_ghostObject) return; + btQuaternion rot = getRotation(m_up, u); + + //set orientation with new up + btTransform xform; + xform = m_ghostObject->getWorldTransform(); + btQuaternion orn = rot.inverse() * xform.getRotation(); + xform.setRotation(orn); + m_ghostObject->setWorldTransform(xform); +} + +btQuaternion btKinematicCharacterController::getRotation(btVector3& v0, btVector3& v1) const +{ + if (v0.length2() == 0.0f || v1.length2() == 0.0f) + { + btQuaternion q; + return q; + } + + return shortestArcQuatNormalize2(v0, v1); +} + diff --git a/src/BulletDynamics/Character/btKinematicCharacterController.h b/src/BulletDynamics/Character/btKinematicCharacterController.h index add6f30a6..3d677e647 100644 --- a/src/BulletDynamics/Character/btKinematicCharacterController.h +++ b/src/BulletDynamics/Character/btKinematicCharacterController.h @@ -43,10 +43,12 @@ protected: btPairCachingGhostObject* m_ghostObject; btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast + btScalar m_maxPenetrationDepth; btScalar m_verticalVelocity; btScalar m_verticalOffset; btScalar m_fallSpeed; btScalar m_jumpSpeed; + btScalar m_SetjumpSpeed; btScalar m_maxJumpHeight; btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value) btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization) @@ -61,24 +63,34 @@ protected: ///this is the desired walk direction, set by the user btVector3 m_walkDirection; btVector3 m_normalizedDirection; + btVector3 m_AngVel; + + btVector3 m_jumpPosition; //some internal variables btVector3 m_currentPosition; btScalar m_currentStepOffset; btVector3 m_targetPosition; + btQuaternion m_currentOrientation; + btQuaternion m_targetOrientation; + ///keep track of the contact manifolds btManifoldArray m_manifoldArray; bool m_touchingContact; btVector3 m_touchingNormal; + btScalar m_linearDamping; + btScalar m_angularDamping; + bool m_wasOnGround; bool m_wasJumping; bool m_useGhostObjectSweepTest; bool m_useWalkDirection; btScalar m_velocityTimeInterval; - int m_upAxis; + btVector3 m_up; + btVector3 m_jumpAxis; static btVector3* getUpAxisDirections(); bool m_interpolateUp; @@ -94,11 +106,18 @@ protected: void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0)); void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove); void stepDown (btCollisionWorld* collisionWorld, btScalar dt); + + virtual bool needsCollision(const btCollisionObject* body0, const btCollisionObject* body1); + + void setUpVector(const btVector3& up); + + btQuaternion getRotation(btVector3& v0, btVector3& v1) const; + public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1); + btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, const btVector3& up = btVector3(1.0,0.0,0.0)); ~btKinematicCharacterController (); @@ -112,14 +131,9 @@ public: ///btActionInterface interface void debugDraw(btIDebugDraw* debugDrawer); - void setUpAxis (int axis) - { - if (axis < 0) - axis = 0; - if (axis > 2) - axis = 2; - m_upAxis = axis; - } + void setUp(const btVector3& up); + + const btVector3& getUp() { return m_up; } /// This should probably be called setPositionIncrementPerSimulatorStep. /// This is neither a direction nor a velocity, but the amount to @@ -136,27 +150,47 @@ public: virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval); + virtual void setAngularVelocity(const btVector3& velocity); + virtual const btVector3& getAngularVelocity() const; + + virtual void setLinearVelocity(const btVector3& velocity); + virtual btVector3 getLinearVelocity() const; + + void setLinearDamping(btScalar d) { m_linearDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); } + btScalar getLinearDamping() const { return m_linearDamping; } + void setAngularDamping(btScalar d) { m_angularDamping = btClamped(d, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); } + btScalar getAngularDamping() const { return m_angularDamping; } + void reset ( btCollisionWorld* collisionWorld ); void warp (const btVector3& origin); void preStep ( btCollisionWorld* collisionWorld); void playerStep ( btCollisionWorld* collisionWorld, btScalar dt); + void setStepHeight(btScalar h); + btScalar getStepHeight() const { return m_stepHeight; } void setFallSpeed (btScalar fallSpeed); + btScalar getFallSpeed() const { return m_fallSpeed; } void setJumpSpeed (btScalar jumpSpeed); + btScalar getJumpSpeed() const { return m_jumpSpeed; } void setMaxJumpHeight (btScalar maxJumpHeight); bool canJump () const; - void jump (); + void jump(const btVector3& v = btVector3()); - void setGravity(btScalar gravity); - btScalar getGravity() const; + void applyImpulse(const btVector3& v) { jump(v); } + + void setGravity(const btVector3& gravity); + btVector3 getGravity() const; /// The max slope determines the maximum angle that the controller can walk up. /// The slope angle is measured in radians. void setMaxSlope(btScalar slopeRadians); btScalar getMaxSlope() const; + void setMaxPenetrationDepth(btScalar d); + btScalar getMaxPenetrationDepth() const; + btPairCachingGhostObject* getGhostObject(); void setUseGhostSweepTest(bool useGhostObjectSweepTest) { From a7a9182953a5524c3ec49b6a96058583b9b8b0ef Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Thu, 28 Jul 2016 16:47:05 -0700 Subject: [PATCH 113/115] fix warning: extra tokens at end of #endif directive --- examples/ThirdPartyLibs/BussIK/MatrixRmn.h | 2 +- examples/ThirdPartyLibs/BussIK/VectorRn.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/ThirdPartyLibs/BussIK/MatrixRmn.h b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h index 544dd921e..1d3eda690 100644 --- a/examples/ThirdPartyLibs/BussIK/MatrixRmn.h +++ b/examples/ThirdPartyLibs/BussIK/MatrixRmn.h @@ -399,4 +399,4 @@ inline void MatrixRmn::AddArrayScale( long length, const double* from, long from -#endif MATRIX_RMN_H \ No newline at end of file +#endif //MATRIX_RMN_H diff --git a/examples/ThirdPartyLibs/BussIK/VectorRn.h b/examples/ThirdPartyLibs/BussIK/VectorRn.h index 8357f9997..99bd67da5 100644 --- a/examples/ThirdPartyLibs/BussIK/VectorRn.h +++ b/examples/ThirdPartyLibs/BussIK/VectorRn.h @@ -235,4 +235,4 @@ inline double Dot( const VectorRn& u, const VectorRn& v ) return res; } -#endif VECTOR_RN_H \ No newline at end of file +#endif //VECTOR_RN_H From 72e329962ec94dec0e6ee324a157f31073195fcd Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Thu, 28 Jul 2016 18:06:03 -0700 Subject: [PATCH 114/115] fix ffmpeg mp4 generation under Windows as well. remove static variables, make them local, to avoid multithreading issues. --- examples/OpenGLWindow/SimpleOpenGL3App.cpp | 7 +++- .../Featherstone/btMultiBody.cpp | 42 +++++++++---------- 2 files changed, 26 insertions(+), 23 deletions(-) diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index 7cfc75652..25d283119 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -776,8 +776,11 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName) char cmd[8192]; #ifdef _WIN32 - sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " - "-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", width, height, mp4FileName); + sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " + "-threads 0 -y -b 50000k -t 20 -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", width, height, mp4FileName); + + //sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " + // "-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", width, height, mp4FileName); #else sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - " diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index c683a179e..d56f1db14 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -299,7 +299,7 @@ void btMultiBody::setupPlanar(int i, m_links[i].m_eVector = parentComToThisComOffset; // - static btVector3 vecNonParallelToRotAxis(1, 0, 0); + btVector3 vecNonParallelToRotAxis(1, 0, 0); if(rotationAxis.normalized().dot(vecNonParallelToRotAxis) > 0.999) vecNonParallelToRotAxis.setValue(0, 1, 0); // @@ -714,15 +714,15 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar btScalar * Y = &scratch_r[0]; // //aux variables - static btSpatialMotionVector spatJointVel; //spatial velocity due to the joint motion (i.e. without predecessors' influence) - static btScalar D[36]; //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do - static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies - static btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel) - static btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough - static btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors - static btSpatialTransformationMatrix fromParent; //spatial transform from parent to child - static btSymmetricSpatialDyad dyadTemp; //inertia matrix temp - static btSpatialTransformationMatrix fromWorld; + btSpatialMotionVector spatJointVel; //spatial velocity due to the joint motion (i.e. without predecessors' influence) + btScalar D[36]; //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do + btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies + btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel) + btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough + btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors + btSpatialTransformationMatrix fromParent; //spatial transform from parent to child + btSymmetricSpatialDyad dyadTemp; //inertia matrix temp + btSpatialTransformationMatrix fromWorld; fromWorld.m_trnVec.setZero(); ///////////////// @@ -919,8 +919,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar case btMultibodyLink::eSpherical: case btMultibodyLink::ePlanar: { - static btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); - static btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse(); + btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); + btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse(); //unroll the loop? for(int row = 0; row < 3; ++row) @@ -1323,11 +1323,11 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar btScalar * Y = r_ptr; //////////////// //aux variables - static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies - static btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel) - static btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough - static btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors - static btSpatialTransformationMatrix fromParent; + btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies + btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel) + btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough + btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors + btSpatialTransformationMatrix fromParent; ///////////////// // First 'upward' loop. @@ -1522,8 +1522,8 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd btScalar *pBaseQuat = pq ? pq : m_baseQuat; btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety) // - static btQuaternion baseQuat; baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]); - static btVector3 baseOmega; baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]); + btQuaternion baseQuat; baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]); + btVector3 baseOmega; baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]); pQuatUpdateFun(baseOmega, baseQuat, true, dt); pBaseQuat[0] = baseQuat.x(); pBaseQuat[1] = baseQuat.y(); @@ -1557,8 +1557,8 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd } case btMultibodyLink::eSpherical: { - static btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); - static btQuaternion jointOri; jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]); + btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]); + btQuaternion jointOri; jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]); pQuatUpdateFun(jointVel, jointOri, false, dt); pJointPos[0] = jointOri.x(); pJointPos[1] = jointOri.y(); pJointPos[2] = jointOri.z(); pJointPos[3] = jointOri.w(); break; From 80dfec170b5d28885f2841629a22aa7b04f42379 Mon Sep 17 00:00:00 2001 From: Mat Kelcey Date: Fri, 29 Jul 2016 14:43:55 -0700 Subject: [PATCH 115/115] fix setidentity bug --- examples/ThirdPartyLibs/BussIK/LinearR4.h | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/examples/ThirdPartyLibs/BussIK/LinearR4.h b/examples/ThirdPartyLibs/BussIK/LinearR4.h index 51f57a666..b0c542249 100644 --- a/examples/ThirdPartyLibs/BussIK/LinearR4.h +++ b/examples/ThirdPartyLibs/BussIK/LinearR4.h @@ -580,8 +580,11 @@ inline Matrix4x4::Matrix4x4 ( const Matrix4x4& A) inline void Matrix4x4::SetIdentity ( ) { - m11 = m22 = m33 = m44 = 1.0; - m12 = m13 = m14 = m21 = m23 = m24 = m13 = m23 = m41= m42 = m43 = 0.0; + m12 = m13 = m14 = + m21 = m23 = m24 = + m31 = m32 = m34 = + m41 = m42 = m43 = 0.0; + m11 = m22 = m33 = m44 = 1.0; } inline void Matrix4x4::Set( const VectorR4& u, const VectorR4& v,

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order. +// | 0 2 | | 0 3 6 | | 0 4 8 12 | +// | 1 3 | | 1 4 7 | | 1 5 9 13 | +// | 2 5 8 | | 2 6 10 14 | +// | 3 7 11 15 | +// +// AUTHOR: Song Ho Ahn (song.ahn@gmail.com) +// CREATED: 2005-06-24 +// UPDATED: 2014-09-21 +// +// Copyright (C) 2005 Song Ho Ahn +/////////////////////////////////////////////////////////////////////////////// + +#include +#include +#include "Matrices.h" + +const float DEG2RAD = 3.141593f / 180; +const float EPSILON = 0.00001f; + + + +/////////////////////////////////////////////////////////////////////////////// +// transpose 2x2 matrix +/////////////////////////////////////////////////////////////////////////////// +Matrix2& Matrix2::transpose() +{ + std::swap(m[1], m[2]); + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// return the determinant of 2x2 matrix +/////////////////////////////////////////////////////////////////////////////// +float Matrix2::getDeterminant() +{ + return m[0] * m[3] - m[1] * m[2]; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// inverse of 2x2 matrix +// If cannot find inverse, set identity matrix +/////////////////////////////////////////////////////////////////////////////// +Matrix2& Matrix2::invert() +{ + float determinant = getDeterminant(); + if(fabs(determinant) <= EPSILON) + { + return identity(); + } + + float tmp = m[0]; // copy the first element + float invDeterminant = 1.0f / determinant; + m[0] = invDeterminant * m[3]; + m[1] = -invDeterminant * m[1]; + m[2] = -invDeterminant * m[2]; + m[3] = invDeterminant * tmp; + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// transpose 3x3 matrix +/////////////////////////////////////////////////////////////////////////////// +Matrix3& Matrix3::transpose() +{ + std::swap(m[1], m[3]); + std::swap(m[2], m[6]); + std::swap(m[5], m[7]); + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// return determinant of 3x3 matrix +/////////////////////////////////////////////////////////////////////////////// +float Matrix3::getDeterminant() +{ + return m[0] * (m[4] * m[8] - m[5] * m[7]) - + m[1] * (m[3] * m[8] - m[5] * m[6]) + + m[2] * (m[3] * m[7] - m[4] * m[6]); +} + + + +/////////////////////////////////////////////////////////////////////////////// +// inverse 3x3 matrix +// If cannot find inverse, set identity matrix +/////////////////////////////////////////////////////////////////////////////// +Matrix3& Matrix3::invert() +{ + float determinant, invDeterminant; + float tmp[9]; + + tmp[0] = m[4] * m[8] - m[5] * m[7]; + tmp[1] = m[2] * m[7] - m[1] * m[8]; + tmp[2] = m[1] * m[5] - m[2] * m[4]; + tmp[3] = m[5] * m[6] - m[3] * m[8]; + tmp[4] = m[0] * m[8] - m[2] * m[6]; + tmp[5] = m[2] * m[3] - m[0] * m[5]; + tmp[6] = m[3] * m[7] - m[4] * m[6]; + tmp[7] = m[1] * m[6] - m[0] * m[7]; + tmp[8] = m[0] * m[4] - m[1] * m[3]; + + // check determinant if it is 0 + determinant = m[0] * tmp[0] + m[1] * tmp[3] + m[2] * tmp[6]; + if(fabs(determinant) <= EPSILON) + { + return identity(); // cannot inverse, make it idenety matrix + } + + // divide by the determinant + invDeterminant = 1.0f / determinant; + m[0] = invDeterminant * tmp[0]; + m[1] = invDeterminant * tmp[1]; + m[2] = invDeterminant * tmp[2]; + m[3] = invDeterminant * tmp[3]; + m[4] = invDeterminant * tmp[4]; + m[5] = invDeterminant * tmp[5]; + m[6] = invDeterminant * tmp[6]; + m[7] = invDeterminant * tmp[7]; + m[8] = invDeterminant * tmp[8]; + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// transpose 4x4 matrix +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::transpose() +{ + std::swap(m[1], m[4]); + std::swap(m[2], m[8]); + std::swap(m[3], m[12]); + std::swap(m[6], m[9]); + std::swap(m[7], m[13]); + std::swap(m[11], m[14]); + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// inverse 4x4 matrix +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::invert() +{ + // If the 4th row is [0,0,0,1] then it is affine matrix and + // it has no projective transformation. + if(m[3] == 0 && m[7] == 0 && m[11] == 0 && m[15] == 1) + this->invertAffine(); + else + { + this->invertGeneral(); + /*@@ invertProjective() is not optimized (slower than generic one) + if(fabs(m[0]*m[5] - m[1]*m[4]) > EPSILON) + this->invertProjective(); // inverse using matrix partition + else + this->invertGeneral(); // generalized inverse + */ + } + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// compute the inverse of 4x4 Euclidean transformation matrix +// +// Euclidean transformation is translation, rotation, and reflection. +// With Euclidean transform, only the position and orientation of the object +// will be changed. Euclidean transform does not change the shape of an object +// (no scaling). Length and angle are reserved. +// +// Use inverseAffine() if the matrix has scale and shear transformation. +// +// M = [ R | T ] +// [ --+-- ] (R denotes 3x3 rotation/reflection matrix) +// [ 0 | 1 ] (T denotes 1x3 translation matrix) +// +// y = M*x -> y = R*x + T -> x = R^-1*(y - T) -> x = R^T*y - R^T*T +// (R is orthogonal, R^-1 = R^T) +// +// [ R | T ]-1 [ R^T | -R^T * T ] (R denotes 3x3 rotation matrix) +// [ --+-- ] = [ ----+--------- ] (T denotes 1x3 translation) +// [ 0 | 1 ] [ 0 | 1 ] (R^T denotes R-transpose) +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::invertEuclidean() +{ + // transpose 3x3 rotation matrix part + // | R^T | 0 | + // | ----+-- | + // | 0 | 1 | + float tmp; + tmp = m[1]; m[1] = m[4]; m[4] = tmp; + tmp = m[2]; m[2] = m[8]; m[8] = tmp; + tmp = m[6]; m[6] = m[9]; m[9] = tmp; + + // compute translation part -R^T * T + // | 0 | -R^T x | + // | --+------- | + // | 0 | 0 | + float x = m[12]; + float y = m[13]; + float z = m[14]; + m[12] = -(m[0] * x + m[4] * y + m[8] * z); + m[13] = -(m[1] * x + m[5] * y + m[9] * z); + m[14] = -(m[2] * x + m[6] * y + m[10]* z); + + // last row should be unchanged (0,0,0,1) + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// compute the inverse of a 4x4 affine transformation matrix +// +// Affine transformations are generalizations of Euclidean transformations. +// Affine transformation includes translation, rotation, reflection, scaling, +// and shearing. Length and angle are NOT preserved. +// M = [ R | T ] +// [ --+-- ] (R denotes 3x3 rotation/scale/shear matrix) +// [ 0 | 1 ] (T denotes 1x3 translation matrix) +// +// y = M*x -> y = R*x + T -> x = R^-1*(y - T) -> x = R^-1*y - R^-1*T +// +// [ R | T ]-1 [ R^-1 | -R^-1 * T ] +// [ --+-- ] = [ -----+---------- ] +// [ 0 | 1 ] [ 0 + 1 ] +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::invertAffine() +{ + // R^-1 + Matrix3 r(m[0],m[1],m[2], m[4],m[5],m[6], m[8],m[9],m[10]); + r.invert(); + m[0] = r[0]; m[1] = r[1]; m[2] = r[2]; + m[4] = r[3]; m[5] = r[4]; m[6] = r[5]; + m[8] = r[6]; m[9] = r[7]; m[10]= r[8]; + + // -R^-1 * T + float x = m[12]; + float y = m[13]; + float z = m[14]; + m[12] = -(r[0] * x + r[3] * y + r[6] * z); + m[13] = -(r[1] * x + r[4] * y + r[7] * z); + m[14] = -(r[2] * x + r[5] * y + r[8] * z); + + // last row should be unchanged (0,0,0,1) + //m[3] = m[7] = m[11] = 0.0f; + //m[15] = 1.0f; + + return * this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// inverse matrix using matrix partitioning (blockwise inverse) +// It devides a 4x4 matrix into 4 of 2x2 matrices. It works in case of where +// det(A) != 0. If not, use the generic inverse method +// inverse formula. +// M = [ A | B ] A, B, C, D are 2x2 matrix blocks +// [ --+-- ] det(M) = |A| * |D - ((C * A^-1) * B)| +// [ C | D ] +// +// M^-1 = [ A' | B' ] A' = A^-1 - (A^-1 * B) * C' +// [ ---+--- ] B' = (A^-1 * B) * -D' +// [ C' | D' ] C' = -D' * (C * A^-1) +// D' = (D - ((C * A^-1) * B))^-1 +// +// NOTE: I wrap with () if it it used more than once. +// The matrix is invertable even if det(A)=0, so must check det(A) before +// calling this function, and use invertGeneric() instead. +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::invertProjective() +{ + // partition + Matrix2 a(m[0], m[1], m[4], m[5]); + Matrix2 b(m[8], m[9], m[12], m[13]); + Matrix2 c(m[2], m[3], m[6], m[7]); + Matrix2 d(m[10], m[11], m[14], m[15]); + + // pre-compute repeated parts + a.invert(); // A^-1 + Matrix2 ab = a * b; // A^-1 * B + Matrix2 ca = c * a; // C * A^-1 + Matrix2 cab = ca * b; // C * A^-1 * B + Matrix2 dcab = d - cab; // D - C * A^-1 * B + + // check determinant if |D - C * A^-1 * B| = 0 + //NOTE: this function assumes det(A) is already checked. if |A|=0 then, + // cannot use this function. + float determinant = dcab[0] * dcab[3] - dcab[1] * dcab[2]; + if(fabs(determinant) <= EPSILON) + { + return identity(); + } + + // compute D' and -D' + Matrix2 d1 = dcab; // (D - C * A^-1 * B) + d1.invert(); // (D - C * A^-1 * B)^-1 + Matrix2 d2 = -d1; // -(D - C * A^-1 * B)^-1 + + // compute C' + Matrix2 c1 = d2 * ca; // -D' * (C * A^-1) + + // compute B' + Matrix2 b1 = ab * d2; // (A^-1 * B) * -D' + + // compute A' + Matrix2 a1 = a - (ab * c1); // A^-1 - (A^-1 * B) * C' + + // assemble inverse matrix + m[0] = a1[0]; m[4] = a1[2]; /*|*/ m[8] = b1[0]; m[12]= b1[2]; + m[1] = a1[1]; m[5] = a1[3]; /*|*/ m[9] = b1[1]; m[13]= b1[3]; + /*-----------------------------+-----------------------------*/ + m[2] = c1[0]; m[6] = c1[2]; /*|*/ m[10]= d1[0]; m[14]= d1[2]; + m[3] = c1[1]; m[7] = c1[3]; /*|*/ m[11]= d1[1]; m[15]= d1[3]; + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// compute the inverse of a general 4x4 matrix using Cramer's Rule +// If cannot find inverse, return indentity matrix +// M^-1 = adj(M) / det(M) +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::invertGeneral() +{ + // get cofactors of minor matrices + float cofactor0 = getCofactor(m[5],m[6],m[7], m[9],m[10],m[11], m[13],m[14],m[15]); + float cofactor1 = getCofactor(m[4],m[6],m[7], m[8],m[10],m[11], m[12],m[14],m[15]); + float cofactor2 = getCofactor(m[4],m[5],m[7], m[8],m[9], m[11], m[12],m[13],m[15]); + float cofactor3 = getCofactor(m[4],m[5],m[6], m[8],m[9], m[10], m[12],m[13],m[14]); + + // get determinant + float determinant = m[0] * cofactor0 - m[1] * cofactor1 + m[2] * cofactor2 - m[3] * cofactor3; + if(fabs(determinant) <= EPSILON) + { + return identity(); + } + + // get rest of cofactors for adj(M) + float cofactor4 = getCofactor(m[1],m[2],m[3], m[9],m[10],m[11], m[13],m[14],m[15]); + float cofactor5 = getCofactor(m[0],m[2],m[3], m[8],m[10],m[11], m[12],m[14],m[15]); + float cofactor6 = getCofactor(m[0],m[1],m[3], m[8],m[9], m[11], m[12],m[13],m[15]); + float cofactor7 = getCofactor(m[0],m[1],m[2], m[8],m[9], m[10], m[12],m[13],m[14]); + + float cofactor8 = getCofactor(m[1],m[2],m[3], m[5],m[6], m[7], m[13],m[14],m[15]); + float cofactor9 = getCofactor(m[0],m[2],m[3], m[4],m[6], m[7], m[12],m[14],m[15]); + float cofactor10= getCofactor(m[0],m[1],m[3], m[4],m[5], m[7], m[12],m[13],m[15]); + float cofactor11= getCofactor(m[0],m[1],m[2], m[4],m[5], m[6], m[12],m[13],m[14]); + + float cofactor12= getCofactor(m[1],m[2],m[3], m[5],m[6], m[7], m[9], m[10],m[11]); + float cofactor13= getCofactor(m[0],m[2],m[3], m[4],m[6], m[7], m[8], m[10],m[11]); + float cofactor14= getCofactor(m[0],m[1],m[3], m[4],m[5], m[7], m[8], m[9], m[11]); + float cofactor15= getCofactor(m[0],m[1],m[2], m[4],m[5], m[6], m[8], m[9], m[10]); + + // build inverse matrix = adj(M) / det(M) + // adjugate of M is the transpose of the cofactor matrix of M + float invDeterminant = 1.0f / determinant; + m[0] = invDeterminant * cofactor0; + m[1] = -invDeterminant * cofactor4; + m[2] = invDeterminant * cofactor8; + m[3] = -invDeterminant * cofactor12; + + m[4] = -invDeterminant * cofactor1; + m[5] = invDeterminant * cofactor5; + m[6] = -invDeterminant * cofactor9; + m[7] = invDeterminant * cofactor13; + + m[8] = invDeterminant * cofactor2; + m[9] = -invDeterminant * cofactor6; + m[10]= invDeterminant * cofactor10; + m[11]= -invDeterminant * cofactor14; + + m[12]= -invDeterminant * cofactor3; + m[13]= invDeterminant * cofactor7; + m[14]= -invDeterminant * cofactor11; + m[15]= invDeterminant * cofactor15; + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// return determinant of 4x4 matrix +/////////////////////////////////////////////////////////////////////////////// +float Matrix4::getDeterminant() +{ + return m[0] * getCofactor(m[5],m[6],m[7], m[9],m[10],m[11], m[13],m[14],m[15]) - + m[1] * getCofactor(m[4],m[6],m[7], m[8],m[10],m[11], m[12],m[14],m[15]) + + m[2] * getCofactor(m[4],m[5],m[7], m[8],m[9], m[11], m[12],m[13],m[15]) - + m[3] * getCofactor(m[4],m[5],m[6], m[8],m[9], m[10], m[12],m[13],m[14]); +} + + + +/////////////////////////////////////////////////////////////////////////////// +// compute cofactor of 3x3 minor matrix without sign +// input params are 9 elements of the minor matrix +// NOTE: The caller must know its sign. +/////////////////////////////////////////////////////////////////////////////// +float Matrix4::getCofactor(float m0, float m1, float m2, + float m3, float m4, float m5, + float m6, float m7, float m8) +{ + return m0 * (m4 * m8 - m5 * m7) - + m1 * (m3 * m8 - m5 * m6) + + m2 * (m3 * m7 - m4 * m6); +} + + + +/////////////////////////////////////////////////////////////////////////////// +// translate this matrix by (x, y, z) +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::translate(const Vector3& v) +{ + return translate(v.x, v.y, v.z); +} + +Matrix4& Matrix4::translate(float x, float y, float z) +{ + m[0] += m[3] * x; m[4] += m[7] * x; m[8] += m[11]* x; m[12]+= m[15]* x; + m[1] += m[3] * y; m[5] += m[7] * y; m[9] += m[11]* y; m[13]+= m[15]* y; + m[2] += m[3] * z; m[6] += m[7] * z; m[10]+= m[11]* z; m[14]+= m[15]* z; + + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// uniform scale +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::scale(float s) +{ + return scale(s, s, s); +} + +Matrix4& Matrix4::scale(float x, float y, float z) +{ + m[0] *= x; m[4] *= x; m[8] *= x; m[12] *= x; + m[1] *= y; m[5] *= y; m[9] *= y; m[13] *= y; + m[2] *= z; m[6] *= z; m[10]*= z; m[14] *= z; + return *this; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// build a rotation matrix with given angle(degree) and rotation axis, then +// multiply it with this object +/////////////////////////////////////////////////////////////////////////////// +Matrix4& Matrix4::rotate(float angle, const Vector3& axis) +{ + return rotate(angle, axis.x, axis.y, axis.z); +} + +Matrix4& Matrix4::rotate(float angle, float x, float y, float z) +{ + float c = cosf(angle * DEG2RAD); // cosine + float s = sinf(angle * DEG2RAD); // sine + float c1 = 1.0f - c; // 1 - c + float m0 = m[0], m4 = m[4], m8 = m[8], m12= m[12], + m1 = m[1], m5 = m[5], m9 = m[9], m13= m[13], + m2 = m[2], m6 = m[6], m10= m[10], m14= m[14]; + + // build rotation matrix + float r0 = x * x * c1 + c; + float r1 = x * y * c1 + z * s; + float r2 = x * z * c1 - y * s; + float r4 = x * y * c1 - z * s; + float r5 = y * y * c1 + c; + float r6 = y * z * c1 + x * s; + float r8 = x * z * c1 + y * s; + float r9 = y * z * c1 - x * s; + float r10= z * z * c1 + c; + + // multiply rotation matrix + m[0] = r0 * m0 + r4 * m1 + r8 * m2; + m[1] = r1 * m0 + r5 * m1 + r9 * m2; + m[2] = r2 * m0 + r6 * m1 + r10* m2; + m[4] = r0 * m4 + r4 * m5 + r8 * m6; + m[5] = r1 * m4 + r5 * m5 + r9 * m6; + m[6] = r2 * m4 + r6 * m5 + r10* m6; + m[8] = r0 * m8 + r4 * m9 + r8 * m10; + m[9] = r1 * m8 + r5 * m9 + r9 * m10; + m[10]= r2 * m8 + r6 * m9 + r10* m10; + m[12]= r0 * m12+ r4 * m13+ r8 * m14; + m[13]= r1 * m12+ r5 * m13+ r9 * m14; + m[14]= r2 * m12+ r6 * m13+ r10* m14; + + return *this; +} + +Matrix4& Matrix4::rotateX(float angle) +{ + float c = cosf(angle * DEG2RAD); + float s = sinf(angle * DEG2RAD); + float m1 = m[1], m2 = m[2], + m5 = m[5], m6 = m[6], + m9 = m[9], m10= m[10], + m13= m[13], m14= m[14]; + + m[1] = m1 * c + m2 *-s; + m[2] = m1 * s + m2 * c; + m[5] = m5 * c + m6 *-s; + m[6] = m5 * s + m6 * c; + m[9] = m9 * c + m10*-s; + m[10]= m9 * s + m10* c; + m[13]= m13* c + m14*-s; + m[14]= m13* s + m14* c; + + return *this; +} + +Matrix4& Matrix4::rotateY(float angle) +{ + float c = cosf(angle * DEG2RAD); + float s = sinf(angle * DEG2RAD); + float m0 = m[0], m2 = m[2], + m4 = m[4], m6 = m[6], + m8 = m[8], m10= m[10], + m12= m[12], m14= m[14]; + + m[0] = m0 * c + m2 * s; + m[2] = m0 *-s + m2 * c; + m[4] = m4 * c + m6 * s; + m[6] = m4 *-s + m6 * c; + m[8] = m8 * c + m10* s; + m[10]= m8 *-s + m10* c; + m[12]= m12* c + m14* s; + m[14]= m12*-s + m14* c; + + return *this; +} + +Matrix4& Matrix4::rotateZ(float angle) +{ + float c = cosf(angle * DEG2RAD); + float s = sinf(angle * DEG2RAD); + float m0 = m[0], m1 = m[1], + m4 = m[4], m5 = m[5], + m8 = m[8], m9 = m[9], + m12= m[12], m13= m[13]; + + m[0] = m0 * c + m1 *-s; + m[1] = m0 * s + m1 * c; + m[4] = m4 * c + m5 *-s; + m[5] = m4 * s + m5 * c; + m[8] = m8 * c + m9 *-s; + m[9] = m8 * s + m9 * c; + m[12]= m12* c + m13*-s; + m[13]= m12* s + m13* c; + + return *this; +} diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/Matrices.h b/examples/ThirdPartyLibs/openvr/samples/shared/Matrices.h new file mode 100644 index 000000000..3515f546d --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/samples/shared/Matrices.h @@ -0,0 +1,909 @@ +/////////////////////////////////////////////////////////////////////////////// +// Matrice.h +// ========= +// NxN Matrix Math classes +// +// The elements of the matrix are stored as column major order. +// | 0 2 | | 0 3 6 | | 0 4 8 12 | +// | 1 3 | | 1 4 7 | | 1 5 9 13 | +// | 2 5 8 | | 2 6 10 14 | +// | 3 7 11 15 | +// +// AUTHOR: Song Ho Ahn (song.ahn@gmail.com) +// CREATED: 2005-06-24 +// UPDATED: 2013-09-30 +// +// Copyright (C) 2005 Song Ho Ahn +/////////////////////////////////////////////////////////////////////////////// + +#ifndef MATH_MATRICES_H +#define MATH_MATRICES_H + +#include +#include +#include "Vectors.h" + +/////////////////////////////////////////////////////////////////////////// +// 2x2 matrix +/////////////////////////////////////////////////////////////////////////// +class Matrix2 +{ +public: + // constructors + Matrix2(); // init with identity + Matrix2(const float src[4]); + Matrix2(float m0, float m1, float m2, float m3); + + void set(const float src[4]); + void set(float m0, float m1, float m2, float m3); + void setRow(int index, const float row[2]); + void setRow(int index, const Vector2& v); + void setColumn(int index, const float col[2]); + void setColumn(int index, const Vector2& v); + + const float* get() const; + float getDeterminant(); + + Matrix2& identity(); + Matrix2& transpose(); // transpose itself and return reference + Matrix2& invert(); + + // operators + Matrix2 operator+(const Matrix2& rhs) const; // add rhs + Matrix2 operator-(const Matrix2& rhs) const; // subtract rhs + Matrix2& operator+=(const Matrix2& rhs); // add rhs and update this object + Matrix2& operator-=(const Matrix2& rhs); // subtract rhs and update this object + Vector2 operator*(const Vector2& rhs) const; // multiplication: v' = M * v + Matrix2 operator*(const Matrix2& rhs) const; // multiplication: M3 = M1 * M2 + Matrix2& operator*=(const Matrix2& rhs); // multiplication: M1' = M1 * M2 + bool operator==(const Matrix2& rhs) const; // exact compare, no epsilon + bool operator!=(const Matrix2& rhs) const; // exact compare, no epsilon + float operator[](int index) const; // subscript operator v[0], v[1] + float& operator[](int index); // subscript operator v[0], v[1] + + friend Matrix2 operator-(const Matrix2& m); // unary operator (-) + friend Matrix2 operator*(float scalar, const Matrix2& m); // pre-multiplication + friend Vector2 operator*(const Vector2& vec, const Matrix2& m); // pre-multiplication + friend std::ostream& operator<<(std::ostream& os, const Matrix2& m); + +protected: + +private: + float m[4]; + +}; + + + +/////////////////////////////////////////////////////////////////////////// +// 3x3 matrix +/////////////////////////////////////////////////////////////////////////// +class Matrix3 +{ +public: + // constructors + Matrix3(); // init with identity + Matrix3(const float src[9]); + Matrix3(float m0, float m1, float m2, // 1st column + float m3, float m4, float m5, // 2nd column + float m6, float m7, float m8); // 3rd column + + void set(const float src[9]); + void set(float m0, float m1, float m2, // 1st column + float m3, float m4, float m5, // 2nd column + float m6, float m7, float m8); // 3rd column + void setRow(int index, const float row[3]); + void setRow(int index, const Vector3& v); + void setColumn(int index, const float col[3]); + void setColumn(int index, const Vector3& v); + + const float* get() const; + float getDeterminant(); + + Matrix3& identity(); + Matrix3& transpose(); // transpose itself and return reference + Matrix3& invert(); + + // operators + Matrix3 operator+(const Matrix3& rhs) const; // add rhs + Matrix3 operator-(const Matrix3& rhs) const; // subtract rhs + Matrix3& operator+=(const Matrix3& rhs); // add rhs and update this object + Matrix3& operator-=(const Matrix3& rhs); // subtract rhs and update this object + Vector3 operator*(const Vector3& rhs) const; // multiplication: v' = M * v + Matrix3 operator*(const Matrix3& rhs) const; // multiplication: M3 = M1 * M2 + Matrix3& operator*=(const Matrix3& rhs); // multiplication: M1' = M1 * M2 + bool operator==(const Matrix3& rhs) const; // exact compare, no epsilon + bool operator!=(const Matrix3& rhs) const; // exact compare, no epsilon + float operator[](int index) const; // subscript operator v[0], v[1] + float& operator[](int index); // subscript operator v[0], v[1] + + friend Matrix3 operator-(const Matrix3& m); // unary operator (-) + friend Matrix3 operator*(float scalar, const Matrix3& m); // pre-multiplication + friend Vector3 operator*(const Vector3& vec, const Matrix3& m); // pre-multiplication + friend std::ostream& operator<<(std::ostream& os, const Matrix3& m); + +protected: + +private: + float m[9]; + +}; + + + +/////////////////////////////////////////////////////////////////////////// +// 4x4 matrix +/////////////////////////////////////////////////////////////////////////// +class Matrix4 +{ +public: + // constructors + Matrix4(); // init with identity + Matrix4(const float src[16]); + Matrix4(float m00, float m01, float m02, float m03, // 1st column + float m04, float m05, float m06, float m07, // 2nd column + float m08, float m09, float m10, float m11, // 3rd column + float m12, float m13, float m14, float m15);// 4th column + + void set(const float src[16]); + void set(float m00, float m01, float m02, float m03, // 1st column + float m04, float m05, float m06, float m07, // 2nd column + float m08, float m09, float m10, float m11, // 3rd column + float m12, float m13, float m14, float m15);// 4th column + void setRow(int index, const float row[4]); + void setRow(int index, const Vector4& v); + void setRow(int index, const Vector3& v); + void setColumn(int index, const float col[4]); + void setColumn(int index, const Vector4& v); + void setColumn(int index, const Vector3& v); + + const float* get() const; + const float* getTranspose(); // return transposed matrix + float getDeterminant(); + + Matrix4& identity(); + Matrix4& transpose(); // transpose itself and return reference + Matrix4& invert(); // check best inverse method before inverse + Matrix4& invertEuclidean(); // inverse of Euclidean transform matrix + Matrix4& invertAffine(); // inverse of affine transform matrix + Matrix4& invertProjective(); // inverse of projective matrix using partitioning + Matrix4& invertGeneral(); // inverse of generic matrix + + // transform matrix + Matrix4& translate(float x, float y, float z); // translation by (x,y,z) + Matrix4& translate(const Vector3& v); // + Matrix4& rotate(float angle, const Vector3& axis); // rotate angle(degree) along the given axix + Matrix4& rotate(float angle, float x, float y, float z); + Matrix4& rotateX(float angle); // rotate on X-axis with degree + Matrix4& rotateY(float angle); // rotate on Y-axis with degree + Matrix4& rotateZ(float angle); // rotate on Z-axis with degree + Matrix4& scale(float scale); // uniform scale + Matrix4& scale(float sx, float sy, float sz); // scale by (sx, sy, sz) on each axis + + // operators + Matrix4 operator+(const Matrix4& rhs) const; // add rhs + Matrix4 operator-(const Matrix4& rhs) const; // subtract rhs + Matrix4& operator+=(const Matrix4& rhs); // add rhs and update this object + Matrix4& operator-=(const Matrix4& rhs); // subtract rhs and update this object + Vector4 operator*(const Vector4& rhs) const; // multiplication: v' = M * v + Vector3 operator*(const Vector3& rhs) const; // multiplication: v' = M * v + Matrix4 operator*(const Matrix4& rhs) const; // multiplication: M3 = M1 * M2 + Matrix4& operator*=(const Matrix4& rhs); // multiplication: M1' = M1 * M2 + bool operator==(const Matrix4& rhs) const; // exact compare, no epsilon + bool operator!=(const Matrix4& rhs) const; // exact compare, no epsilon + float operator[](int index) const; // subscript operator v[0], v[1] + float& operator[](int index); // subscript operator v[0], v[1] + + friend Matrix4 operator-(const Matrix4& m); // unary operator (-) + friend Matrix4 operator*(float scalar, const Matrix4& m); // pre-multiplication + friend Vector3 operator*(const Vector3& vec, const Matrix4& m); // pre-multiplication + friend Vector4 operator*(const Vector4& vec, const Matrix4& m); // pre-multiplication + friend std::ostream& operator<<(std::ostream& os, const Matrix4& m); + +protected: + +private: + float getCofactor(float m0, float m1, float m2, + float m3, float m4, float m5, + float m6, float m7, float m8); + + float m[16]; + float tm[16]; // transpose m + +}; + + + +/////////////////////////////////////////////////////////////////////////// +// inline functions for Matrix2 +/////////////////////////////////////////////////////////////////////////// +inline Matrix2::Matrix2() +{ + // initially identity matrix + identity(); +} + + + +inline Matrix2::Matrix2(const float src[4]) +{ + set(src); +} + + + +inline Matrix2::Matrix2(float m0, float m1, float m2, float m3) +{ + set(m0, m1, m2, m3); +} + + + +inline void Matrix2::set(const float src[4]) +{ + m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; m[3] = src[3]; +} + + + +inline void Matrix2::set(float m0, float m1, float m2, float m3) +{ + m[0]= m0; m[1] = m1; m[2] = m2; m[3]= m3; +} + + + +inline void Matrix2::setRow(int index, const float row[2]) +{ + m[index] = row[0]; m[index + 2] = row[1]; +} + + + +inline void Matrix2::setRow(int index, const Vector2& v) +{ + m[index] = v.x; m[index + 2] = v.y; +} + + + +inline void Matrix2::setColumn(int index, const float col[2]) +{ + m[index*2] = col[0]; m[index*2 + 1] = col[1]; +} + + + +inline void Matrix2::setColumn(int index, const Vector2& v) +{ + m[index*2] = v.x; m[index*2 + 1] = v.y; +} + + + +inline const float* Matrix2::get() const +{ + return m; +} + + + +inline Matrix2& Matrix2::identity() +{ + m[0] = m[3] = 1.0f; + m[1] = m[2] = 0.0f; + return *this; +} + + + +inline Matrix2 Matrix2::operator+(const Matrix2& rhs) const +{ + return Matrix2(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], m[3]+rhs[3]); +} + + + +inline Matrix2 Matrix2::operator-(const Matrix2& rhs) const +{ + return Matrix2(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], m[3]-rhs[3]); +} + + + +inline Matrix2& Matrix2::operator+=(const Matrix2& rhs) +{ + m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; m[3] += rhs[3]; + return *this; +} + + + +inline Matrix2& Matrix2::operator-=(const Matrix2& rhs) +{ + m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; m[3] -= rhs[3]; + return *this; +} + + + +inline Vector2 Matrix2::operator*(const Vector2& rhs) const +{ + return Vector2(m[0]*rhs.x + m[2]*rhs.y, m[1]*rhs.x + m[3]*rhs.y); +} + + + +inline Matrix2 Matrix2::operator*(const Matrix2& rhs) const +{ + return Matrix2(m[0]*rhs[0] + m[2]*rhs[1], m[1]*rhs[0] + m[3]*rhs[1], + m[0]*rhs[2] + m[2]*rhs[3], m[1]*rhs[2] + m[3]*rhs[3]); +} + + + +inline Matrix2& Matrix2::operator*=(const Matrix2& rhs) +{ + *this = *this * rhs; + return *this; +} + + + +inline bool Matrix2::operator==(const Matrix2& rhs) const +{ + return (m[0] == rhs[0]) && (m[1] == rhs[1]) && (m[2] == rhs[2]) && (m[3] == rhs[3]); +} + + + +inline bool Matrix2::operator!=(const Matrix2& rhs) const +{ + return (m[0] != rhs[0]) || (m[1] != rhs[1]) || (m[2] != rhs[2]) || (m[3] != rhs[3]); +} + + + +inline float Matrix2::operator[](int index) const +{ + return m[index]; +} + + + +inline float& Matrix2::operator[](int index) +{ + return m[index]; +} + + + +inline Matrix2 operator-(const Matrix2& rhs) +{ + return Matrix2(-rhs[0], -rhs[1], -rhs[2], -rhs[3]); +} + + + +inline Matrix2 operator*(float s, const Matrix2& rhs) +{ + return Matrix2(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3]); +} + + + +inline Vector2 operator*(const Vector2& v, const Matrix2& rhs) +{ + return Vector2(v.x*rhs[0] + v.y*rhs[1], v.x*rhs[2] + v.y*rhs[3]); +} + + + +inline std::ostream& operator<<(std::ostream& os, const Matrix2& m) +{ + os << std::fixed << std::setprecision(5); + os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[2] << "]\n" + << "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[3] << "]\n"; + os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield); + return os; +} +// END OF MATRIX2 INLINE ////////////////////////////////////////////////////// + + + + +/////////////////////////////////////////////////////////////////////////// +// inline functions for Matrix3 +/////////////////////////////////////////////////////////////////////////// +inline Matrix3::Matrix3() +{ + // initially identity matrix + identity(); +} + + + +inline Matrix3::Matrix3(const float src[9]) +{ + set(src); +} + + + +inline Matrix3::Matrix3(float m0, float m1, float m2, + float m3, float m4, float m5, + float m6, float m7, float m8) +{ + set(m0, m1, m2, m3, m4, m5, m6, m7, m8); +} + + + +inline void Matrix3::set(const float src[9]) +{ + m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; + m[3] = src[3]; m[4] = src[4]; m[5] = src[5]; + m[6] = src[6]; m[7] = src[7]; m[8] = src[8]; +} + + + +inline void Matrix3::set(float m0, float m1, float m2, + float m3, float m4, float m5, + float m6, float m7, float m8) +{ + m[0] = m0; m[1] = m1; m[2] = m2; + m[3] = m3; m[4] = m4; m[5] = m5; + m[6] = m6; m[7] = m7; m[8] = m8; +} + + + +inline void Matrix3::setRow(int index, const float row[3]) +{ + m[index] = row[0]; m[index + 3] = row[1]; m[index + 6] = row[2]; +} + + + +inline void Matrix3::setRow(int index, const Vector3& v) +{ + m[index] = v.x; m[index + 3] = v.y; m[index + 6] = v.z; +} + + + +inline void Matrix3::setColumn(int index, const float col[3]) +{ + m[index*3] = col[0]; m[index*3 + 1] = col[1]; m[index*3 + 2] = col[2]; +} + + + +inline void Matrix3::setColumn(int index, const Vector3& v) +{ + m[index*3] = v.x; m[index*3 + 1] = v.y; m[index*3 + 2] = v.z; +} + + + +inline const float* Matrix3::get() const +{ + return m; +} + + + +inline Matrix3& Matrix3::identity() +{ + m[0] = m[4] = m[8] = 1.0f; + m[1] = m[2] = m[3] = m[5] = m[6] = m[7] = 0.0f; + return *this; +} + + + +inline Matrix3 Matrix3::operator+(const Matrix3& rhs) const +{ + return Matrix3(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], + m[3]+rhs[3], m[4]+rhs[4], m[5]+rhs[5], + m[6]+rhs[6], m[7]+rhs[7], m[8]+rhs[8]); +} + + + +inline Matrix3 Matrix3::operator-(const Matrix3& rhs) const +{ + return Matrix3(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], + m[3]-rhs[3], m[4]-rhs[4], m[5]-rhs[5], + m[6]-rhs[6], m[7]-rhs[7], m[8]-rhs[8]); +} + + + +inline Matrix3& Matrix3::operator+=(const Matrix3& rhs) +{ + m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; + m[3] += rhs[3]; m[4] += rhs[4]; m[5] += rhs[5]; + m[6] += rhs[6]; m[7] += rhs[7]; m[8] += rhs[8]; + return *this; +} + + + +inline Matrix3& Matrix3::operator-=(const Matrix3& rhs) +{ + m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; + m[3] -= rhs[3]; m[4] -= rhs[4]; m[5] -= rhs[5]; + m[6] -= rhs[6]; m[7] -= rhs[7]; m[8] -= rhs[8]; + return *this; +} + + + +inline Vector3 Matrix3::operator*(const Vector3& rhs) const +{ + return Vector3(m[0]*rhs.x + m[3]*rhs.y + m[6]*rhs.z, + m[1]*rhs.x + m[4]*rhs.y + m[7]*rhs.z, + m[2]*rhs.x + m[5]*rhs.y + m[8]*rhs.z); +} + + + +inline Matrix3 Matrix3::operator*(const Matrix3& rhs) const +{ + return Matrix3(m[0]*rhs[0] + m[3]*rhs[1] + m[6]*rhs[2], m[1]*rhs[0] + m[4]*rhs[1] + m[7]*rhs[2], m[2]*rhs[0] + m[5]*rhs[1] + m[8]*rhs[2], + m[0]*rhs[3] + m[3]*rhs[4] + m[6]*rhs[5], m[1]*rhs[3] + m[4]*rhs[4] + m[7]*rhs[5], m[2]*rhs[3] + m[5]*rhs[4] + m[8]*rhs[5], + m[0]*rhs[6] + m[3]*rhs[7] + m[6]*rhs[8], m[1]*rhs[6] + m[4]*rhs[7] + m[7]*rhs[8], m[2]*rhs[6] + m[5]*rhs[7] + m[8]*rhs[8]); +} + + + +inline Matrix3& Matrix3::operator*=(const Matrix3& rhs) +{ + *this = *this * rhs; + return *this; +} + + + +inline bool Matrix3::operator==(const Matrix3& rhs) const +{ + return (m[0] == rhs[0]) && (m[1] == rhs[1]) && (m[2] == rhs[2]) && + (m[3] == rhs[3]) && (m[4] == rhs[4]) && (m[5] == rhs[5]) && + (m[6] == rhs[6]) && (m[7] == rhs[7]) && (m[8] == rhs[8]); +} + + + +inline bool Matrix3::operator!=(const Matrix3& rhs) const +{ + return (m[0] != rhs[0]) || (m[1] != rhs[1]) || (m[2] != rhs[2]) || + (m[3] != rhs[3]) || (m[4] != rhs[4]) || (m[5] != rhs[5]) || + (m[6] != rhs[6]) || (m[7] != rhs[7]) || (m[8] != rhs[8]); +} + + + +inline float Matrix3::operator[](int index) const +{ + return m[index]; +} + + + +inline float& Matrix3::operator[](int index) +{ + return m[index]; +} + + + +inline Matrix3 operator-(const Matrix3& rhs) +{ + return Matrix3(-rhs[0], -rhs[1], -rhs[2], -rhs[3], -rhs[4], -rhs[5], -rhs[6], -rhs[7], -rhs[8]); +} + + + +inline Matrix3 operator*(float s, const Matrix3& rhs) +{ + return Matrix3(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3], s*rhs[4], s*rhs[5], s*rhs[6], s*rhs[7], s*rhs[8]); +} + + + +inline Vector3 operator*(const Vector3& v, const Matrix3& m) +{ + return Vector3(v.x*m[0] + v.y*m[1] + v.z*m[2], v.x*m[3] + v.y*m[4] + v.z*m[5], v.x*m[6] + v.y*m[7] + v.z*m[8]); +} + + + +inline std::ostream& operator<<(std::ostream& os, const Matrix3& m) +{ + os << std::fixed << std::setprecision(5); + os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[3] << " " << std::setw(10) << m[6] << "]\n" + << "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[4] << " " << std::setw(10) << m[7] << "]\n" + << "[" << std::setw(10) << m[2] << " " << std::setw(10) << m[5] << " " << std::setw(10) << m[8] << "]\n"; + os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield); + return os; +} +// END OF MATRIX3 INLINE ////////////////////////////////////////////////////// + + + + +/////////////////////////////////////////////////////////////////////////// +// inline functions for Matrix4 +/////////////////////////////////////////////////////////////////////////// +inline Matrix4::Matrix4() +{ + // initially identity matrix + identity(); +} + + + +inline Matrix4::Matrix4(const float src[16]) +{ + set(src); +} + + + +inline Matrix4::Matrix4(float m00, float m01, float m02, float m03, + float m04, float m05, float m06, float m07, + float m08, float m09, float m10, float m11, + float m12, float m13, float m14, float m15) +{ + set(m00, m01, m02, m03, m04, m05, m06, m07, m08, m09, m10, m11, m12, m13, m14, m15); +} + + + +inline void Matrix4::set(const float src[16]) +{ + m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; m[3] = src[3]; + m[4] = src[4]; m[5] = src[5]; m[6] = src[6]; m[7] = src[7]; + m[8] = src[8]; m[9] = src[9]; m[10]= src[10]; m[11]= src[11]; + m[12]= src[12]; m[13]= src[13]; m[14]= src[14]; m[15]= src[15]; +} + + + +inline void Matrix4::set(float m00, float m01, float m02, float m03, + float m04, float m05, float m06, float m07, + float m08, float m09, float m10, float m11, + float m12, float m13, float m14, float m15) +{ + m[0] = m00; m[1] = m01; m[2] = m02; m[3] = m03; + m[4] = m04; m[5] = m05; m[6] = m06; m[7] = m07; + m[8] = m08; m[9] = m09; m[10]= m10; m[11]= m11; + m[12]= m12; m[13]= m13; m[14]= m14; m[15]= m15; +} + + + +inline void Matrix4::setRow(int index, const float row[4]) +{ + m[index] = row[0]; m[index + 4] = row[1]; m[index + 8] = row[2]; m[index + 12] = row[3]; +} + + + +inline void Matrix4::setRow(int index, const Vector4& v) +{ + m[index] = v.x; m[index + 4] = v.y; m[index + 8] = v.z; m[index + 12] = v.w; +} + + + +inline void Matrix4::setRow(int index, const Vector3& v) +{ + m[index] = v.x; m[index + 4] = v.y; m[index + 8] = v.z; +} + + + +inline void Matrix4::setColumn(int index, const float col[4]) +{ + m[index*4] = col[0]; m[index*4 + 1] = col[1]; m[index*4 + 2] = col[2]; m[index*4 + 3] = col[3]; +} + + + +inline void Matrix4::setColumn(int index, const Vector4& v) +{ + m[index*4] = v.x; m[index*4 + 1] = v.y; m[index*4 + 2] = v.z; m[index*4 + 3] = v.w; +} + + + +inline void Matrix4::setColumn(int index, const Vector3& v) +{ + m[index*4] = v.x; m[index*4 + 1] = v.y; m[index*4 + 2] = v.z; +} + + + +inline const float* Matrix4::get() const +{ + return m; +} + + + +inline const float* Matrix4::getTranspose() +{ + tm[0] = m[0]; tm[1] = m[4]; tm[2] = m[8]; tm[3] = m[12]; + tm[4] = m[1]; tm[5] = m[5]; tm[6] = m[9]; tm[7] = m[13]; + tm[8] = m[2]; tm[9] = m[6]; tm[10]= m[10]; tm[11]= m[14]; + tm[12]= m[3]; tm[13]= m[7]; tm[14]= m[11]; tm[15]= m[15]; + return tm; +} + + + +inline Matrix4& Matrix4::identity() +{ + m[0] = m[5] = m[10] = m[15] = 1.0f; + m[1] = m[2] = m[3] = m[4] = m[6] = m[7] = m[8] = m[9] = m[11] = m[12] = m[13] = m[14] = 0.0f; + return *this; +} + + + +inline Matrix4 Matrix4::operator+(const Matrix4& rhs) const +{ + return Matrix4(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], m[3]+rhs[3], + m[4]+rhs[4], m[5]+rhs[5], m[6]+rhs[6], m[7]+rhs[7], + m[8]+rhs[8], m[9]+rhs[9], m[10]+rhs[10], m[11]+rhs[11], + m[12]+rhs[12], m[13]+rhs[13], m[14]+rhs[14], m[15]+rhs[15]); +} + + + +inline Matrix4 Matrix4::operator-(const Matrix4& rhs) const +{ + return Matrix4(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], m[3]-rhs[3], + m[4]-rhs[4], m[5]-rhs[5], m[6]-rhs[6], m[7]-rhs[7], + m[8]-rhs[8], m[9]-rhs[9], m[10]-rhs[10], m[11]-rhs[11], + m[12]-rhs[12], m[13]-rhs[13], m[14]-rhs[14], m[15]-rhs[15]); +} + + + +inline Matrix4& Matrix4::operator+=(const Matrix4& rhs) +{ + m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; m[3] += rhs[3]; + m[4] += rhs[4]; m[5] += rhs[5]; m[6] += rhs[6]; m[7] += rhs[7]; + m[8] += rhs[8]; m[9] += rhs[9]; m[10]+= rhs[10]; m[11]+= rhs[11]; + m[12]+= rhs[12]; m[13]+= rhs[13]; m[14]+= rhs[14]; m[15]+= rhs[15]; + return *this; +} + + + +inline Matrix4& Matrix4::operator-=(const Matrix4& rhs) +{ + m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; m[3] -= rhs[3]; + m[4] -= rhs[4]; m[5] -= rhs[5]; m[6] -= rhs[6]; m[7] -= rhs[7]; + m[8] -= rhs[8]; m[9] -= rhs[9]; m[10]-= rhs[10]; m[11]-= rhs[11]; + m[12]-= rhs[12]; m[13]-= rhs[13]; m[14]-= rhs[14]; m[15]-= rhs[15]; + return *this; +} + + + +inline Vector4 Matrix4::operator*(const Vector4& rhs) const +{ + return Vector4(m[0]*rhs.x + m[4]*rhs.y + m[8]*rhs.z + m[12]*rhs.w, + m[1]*rhs.x + m[5]*rhs.y + m[9]*rhs.z + m[13]*rhs.w, + m[2]*rhs.x + m[6]*rhs.y + m[10]*rhs.z + m[14]*rhs.w, + m[3]*rhs.x + m[7]*rhs.y + m[11]*rhs.z + m[15]*rhs.w); +} + + + +inline Vector3 Matrix4::operator*(const Vector3& rhs) const +{ + return Vector3(m[0]*rhs.x + m[4]*rhs.y + m[8]*rhs.z, + m[1]*rhs.x + m[5]*rhs.y + m[9]*rhs.z, + m[2]*rhs.x + m[6]*rhs.y + m[10]*rhs.z); +} + + + +inline Matrix4 Matrix4::operator*(const Matrix4& n) const +{ + return Matrix4(m[0]*n[0] + m[4]*n[1] + m[8]*n[2] + m[12]*n[3], m[1]*n[0] + m[5]*n[1] + m[9]*n[2] + m[13]*n[3], m[2]*n[0] + m[6]*n[1] + m[10]*n[2] + m[14]*n[3], m[3]*n[0] + m[7]*n[1] + m[11]*n[2] + m[15]*n[3], + m[0]*n[4] + m[4]*n[5] + m[8]*n[6] + m[12]*n[7], m[1]*n[4] + m[5]*n[5] + m[9]*n[6] + m[13]*n[7], m[2]*n[4] + m[6]*n[5] + m[10]*n[6] + m[14]*n[7], m[3]*n[4] + m[7]*n[5] + m[11]*n[6] + m[15]*n[7], + m[0]*n[8] + m[4]*n[9] + m[8]*n[10] + m[12]*n[11], m[1]*n[8] + m[5]*n[9] + m[9]*n[10] + m[13]*n[11], m[2]*n[8] + m[6]*n[9] + m[10]*n[10] + m[14]*n[11], m[3]*n[8] + m[7]*n[9] + m[11]*n[10] + m[15]*n[11], + m[0]*n[12] + m[4]*n[13] + m[8]*n[14] + m[12]*n[15], m[1]*n[12] + m[5]*n[13] + m[9]*n[14] + m[13]*n[15], m[2]*n[12] + m[6]*n[13] + m[10]*n[14] + m[14]*n[15], m[3]*n[12] + m[7]*n[13] + m[11]*n[14] + m[15]*n[15]); +} + + + +inline Matrix4& Matrix4::operator*=(const Matrix4& rhs) +{ + *this = *this * rhs; + return *this; +} + + + +inline bool Matrix4::operator==(const Matrix4& n) const +{ + return (m[0] == n[0]) && (m[1] == n[1]) && (m[2] == n[2]) && (m[3] == n[3]) && + (m[4] == n[4]) && (m[5] == n[5]) && (m[6] == n[6]) && (m[7] == n[7]) && + (m[8] == n[8]) && (m[9] == n[9]) && (m[10]== n[10]) && (m[11]== n[11]) && + (m[12]== n[12]) && (m[13]== n[13]) && (m[14]== n[14]) && (m[15]== n[15]); +} + + + +inline bool Matrix4::operator!=(const Matrix4& n) const +{ + return (m[0] != n[0]) || (m[1] != n[1]) || (m[2] != n[2]) || (m[3] != n[3]) || + (m[4] != n[4]) || (m[5] != n[5]) || (m[6] != n[6]) || (m[7] != n[7]) || + (m[8] != n[8]) || (m[9] != n[9]) || (m[10]!= n[10]) || (m[11]!= n[11]) || + (m[12]!= n[12]) || (m[13]!= n[13]) || (m[14]!= n[14]) || (m[15]!= n[15]); +} + + + +inline float Matrix4::operator[](int index) const +{ + return m[index]; +} + + + +inline float& Matrix4::operator[](int index) +{ + return m[index]; +} + + + +inline Matrix4 operator-(const Matrix4& rhs) +{ + return Matrix4(-rhs[0], -rhs[1], -rhs[2], -rhs[3], -rhs[4], -rhs[5], -rhs[6], -rhs[7], -rhs[8], -rhs[9], -rhs[10], -rhs[11], -rhs[12], -rhs[13], -rhs[14], -rhs[15]); +} + + + +inline Matrix4 operator*(float s, const Matrix4& rhs) +{ + return Matrix4(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3], s*rhs[4], s*rhs[5], s*rhs[6], s*rhs[7], s*rhs[8], s*rhs[9], s*rhs[10], s*rhs[11], s*rhs[12], s*rhs[13], s*rhs[14], s*rhs[15]); +} + + + +inline Vector4 operator*(const Vector4& v, const Matrix4& m) +{ + return Vector4(v.x*m[0] + v.y*m[1] + v.z*m[2] + v.w*m[3], v.x*m[4] + v.y*m[5] + v.z*m[6] + v.w*m[7], v.x*m[8] + v.y*m[9] + v.z*m[10] + v.w*m[11], v.x*m[12] + v.y*m[13] + v.z*m[14] + v.w*m[15]); +} + + + +inline Vector3 operator*(const Vector3& v, const Matrix4& m) +{ + return Vector3(v.x*m[0] + v.y*m[1] + v.z*m[2], v.x*m[4] + v.y*m[5] + v.z*m[6], v.x*m[8] + v.y*m[9] + v.z*m[10]); +} + + + +inline std::ostream& operator<<(std::ostream& os, const Matrix4& m) +{ + os << std::fixed << std::setprecision(5); + os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[4] << " " << std::setw(10) << m[8] << " " << std::setw(10) << m[12] << "]\n" + << "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[5] << " " << std::setw(10) << m[9] << " " << std::setw(10) << m[13] << "]\n" + << "[" << std::setw(10) << m[2] << " " << std::setw(10) << m[6] << " " << std::setw(10) << m[10] << " " << std::setw(10) << m[14] << "]\n" + << "[" << std::setw(10) << m[3] << " " << std::setw(10) << m[7] << " " << std::setw(10) << m[11] << " " << std::setw(10) << m[15] << "]\n"; + os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield); + return os; +} +// END OF MATRIX4 INLINE ////////////////////////////////////////////////////// +#endif diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/Vectors.h b/examples/ThirdPartyLibs/openvr/samples/shared/Vectors.h new file mode 100644 index 000000000..2e08103c4 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/samples/shared/Vectors.h @@ -0,0 +1,530 @@ +/////////////////////////////////////////////////////////////////////////////// +// Vectors.h +// ========= +// 2D/3D/4D vectors +// +// AUTHOR: Song Ho Ahn (song.ahn@gmail.com) +// CREATED: 2007-02-14 +// UPDATED: 2013-01-20 +// +// Copyright (C) 2007-2013 Song Ho Ahn +/////////////////////////////////////////////////////////////////////////////// + + +#ifndef VECTORS_H_DEF +#define VECTORS_H_DEF + +#include +#include + +/////////////////////////////////////////////////////////////////////////////// +// 2D vector +/////////////////////////////////////////////////////////////////////////////// +struct Vector2 +{ + float x; + float y; + + // ctors + Vector2() : x(0), y(0) {}; + Vector2(float x, float y) : x(x), y(y) {}; + + // utils functions + void set(float x, float y); + float length() const; // + float distance(const Vector2& vec) const; // distance between two vectors + Vector2& normalize(); // + float dot(const Vector2& vec) const; // dot product + bool equal(const Vector2& vec, float e) const; // compare with epsilon + + // operators + Vector2 operator-() const; // unary operator (negate) + Vector2 operator+(const Vector2& rhs) const; // add rhs + Vector2 operator-(const Vector2& rhs) const; // subtract rhs + Vector2& operator+=(const Vector2& rhs); // add rhs and update this object + Vector2& operator-=(const Vector2& rhs); // subtract rhs and update this object + Vector2 operator*(const float scale) const; // scale + Vector2 operator*(const Vector2& rhs) const; // multiply each element + Vector2& operator*=(const float scale); // scale and update this object + Vector2& operator*=(const Vector2& rhs); // multiply each element and update this object + Vector2 operator/(const float scale) const; // inverse scale + Vector2& operator/=(const float scale); // scale and update this object + bool operator==(const Vector2& rhs) const; // exact compare, no epsilon + bool operator!=(const Vector2& rhs) const; // exact compare, no epsilon + bool operator<(const Vector2& rhs) const; // comparison for sort + float operator[](int index) const; // subscript operator v[0], v[1] + float& operator[](int index); // subscript operator v[0], v[1] + + friend Vector2 operator*(const float a, const Vector2 vec); + friend std::ostream& operator<<(std::ostream& os, const Vector2& vec); +}; + + + +/////////////////////////////////////////////////////////////////////////////// +// 3D vector +/////////////////////////////////////////////////////////////////////////////// +struct Vector3 +{ + float x; + float y; + float z; + + // ctors + Vector3() : x(0), y(0), z(0) {}; + Vector3(float x, float y, float z) : x(x), y(y), z(z) {}; + + // utils functions + void set(float x, float y, float z); + float length() const; // + float distance(const Vector3& vec) const; // distance between two vectors + Vector3& normalize(); // + float dot(const Vector3& vec) const; // dot product + Vector3 cross(const Vector3& vec) const; // cross product + bool equal(const Vector3& vec, float e) const; // compare with epsilon + + // operators + Vector3 operator-() const; // unary operator (negate) + Vector3 operator+(const Vector3& rhs) const; // add rhs + Vector3 operator-(const Vector3& rhs) const; // subtract rhs + Vector3& operator+=(const Vector3& rhs); // add rhs and update this object + Vector3& operator-=(const Vector3& rhs); // subtract rhs and update this object + Vector3 operator*(const float scale) const; // scale + Vector3 operator*(const Vector3& rhs) const; // multiplay each element + Vector3& operator*=(const float scale); // scale and update this object + Vector3& operator*=(const Vector3& rhs); // product each element and update this object + Vector3 operator/(const float scale) const; // inverse scale + Vector3& operator/=(const float scale); // scale and update this object + bool operator==(const Vector3& rhs) const; // exact compare, no epsilon + bool operator!=(const Vector3& rhs) const; // exact compare, no epsilon + bool operator<(const Vector3& rhs) const; // comparison for sort + float operator[](int index) const; // subscript operator v[0], v[1] + float& operator[](int index); // subscript operator v[0], v[1] + + friend Vector3 operator*(const float a, const Vector3 vec); + friend std::ostream& operator<<(std::ostream& os, const Vector3& vec); +}; + + + +/////////////////////////////////////////////////////////////////////////////// +// 4D vector +/////////////////////////////////////////////////////////////////////////////// +struct Vector4 +{ + float x; + float y; + float z; + float w; + + // ctors + Vector4() : x(0), y(0), z(0), w(0) {}; + Vector4(float x, float y, float z, float w) : x(x), y(y), z(z), w(w) {}; + + // utils functions + void set(float x, float y, float z, float w); + float length() const; // + float distance(const Vector4& vec) const; // distance between two vectors + Vector4& normalize(); // + float dot(const Vector4& vec) const; // dot product + bool equal(const Vector4& vec, float e) const; // compare with epsilon + + // operators + Vector4 operator-() const; // unary operator (negate) + Vector4 operator+(const Vector4& rhs) const; // add rhs + Vector4 operator-(const Vector4& rhs) const; // subtract rhs + Vector4& operator+=(const Vector4& rhs); // add rhs and update this object + Vector4& operator-=(const Vector4& rhs); // subtract rhs and update this object + Vector4 operator*(const float scale) const; // scale + Vector4 operator*(const Vector4& rhs) const; // multiply each element + Vector4& operator*=(const float scale); // scale and update this object + Vector4& operator*=(const Vector4& rhs); // multiply each element and update this object + Vector4 operator/(const float scale) const; // inverse scale + Vector4& operator/=(const float scale); // scale and update this object + bool operator==(const Vector4& rhs) const; // exact compare, no epsilon + bool operator!=(const Vector4& rhs) const; // exact compare, no epsilon + bool operator<(const Vector4& rhs) const; // comparison for sort + float operator[](int index) const; // subscript operator v[0], v[1] + float& operator[](int index); // subscript operator v[0], v[1] + + friend Vector4 operator*(const float a, const Vector4 vec); + friend std::ostream& operator<<(std::ostream& os, const Vector4& vec); +}; + + + +// fast math routines from Doom3 SDK +inline float invSqrt(float x) +{ + float xhalf = 0.5f * x; + int i = *(int*)&x; // get bits for floating value + i = 0x5f3759df - (i>>1); // gives initial guess + x = *(float*)&i; // convert bits back to float + x = x * (1.5f - xhalf*x*x); // Newton step + return x; +} + + + +/////////////////////////////////////////////////////////////////////////////// +// inline functions for Vector2 +/////////////////////////////////////////////////////////////////////////////// +inline Vector2 Vector2::operator-() const { + return Vector2(-x, -y); +} + +inline Vector2 Vector2::operator+(const Vector2& rhs) const { + return Vector2(x+rhs.x, y+rhs.y); +} + +inline Vector2 Vector2::operator-(const Vector2& rhs) const { + return Vector2(x-rhs.x, y-rhs.y); +} + +inline Vector2& Vector2::operator+=(const Vector2& rhs) { + x += rhs.x; y += rhs.y; return *this; +} + +inline Vector2& Vector2::operator-=(const Vector2& rhs) { + x -= rhs.x; y -= rhs.y; return *this; +} + +inline Vector2 Vector2::operator*(const float a) const { + return Vector2(x*a, y*a); +} + +inline Vector2 Vector2::operator*(const Vector2& rhs) const { + return Vector2(x*rhs.x, y*rhs.y); +} + +inline Vector2& Vector2::operator*=(const float a) { + x *= a; y *= a; return *this; +} + +inline Vector2& Vector2::operator*=(const Vector2& rhs) { + x *= rhs.x; y *= rhs.y; return *this; +} + +inline Vector2 Vector2::operator/(const float a) const { + return Vector2(x/a, y/a); +} + +inline Vector2& Vector2::operator/=(const float a) { + x /= a; y /= a; return *this; +} + +inline bool Vector2::operator==(const Vector2& rhs) const { + return (x == rhs.x) && (y == rhs.y); +} + +inline bool Vector2::operator!=(const Vector2& rhs) const { + return (x != rhs.x) || (y != rhs.y); +} + +inline bool Vector2::operator<(const Vector2& rhs) const { + if(x < rhs.x) return true; + if(x > rhs.x) return false; + if(y < rhs.y) return true; + if(y > rhs.y) return false; + return false; +} + +inline float Vector2::operator[](int index) const { + return (&x)[index]; +} + +inline float& Vector2::operator[](int index) { + return (&x)[index]; +} + +inline void Vector2::set(float x, float y) { + this->x = x; this->y = y; +} + +inline float Vector2::length() const { + return sqrtf(x*x + y*y); +} + +inline float Vector2::distance(const Vector2& vec) const { + return sqrtf((vec.x-x)*(vec.x-x) + (vec.y-y)*(vec.y-y)); +} + +inline Vector2& Vector2::normalize() { + //@@const float EPSILON = 0.000001f; + float xxyy = x*x + y*y; + //@@if(xxyy < EPSILON) + //@@ return *this; + + //float invLength = invSqrt(xxyy); + float invLength = 1.0f / sqrtf(xxyy); + x *= invLength; + y *= invLength; + return *this; +} + +inline float Vector2::dot(const Vector2& rhs) const { + return (x*rhs.x + y*rhs.y); +} + +inline bool Vector2::equal(const Vector2& rhs, float epsilon) const { + return fabs(x - rhs.x) < epsilon && fabs(y - rhs.y) < epsilon; +} + +inline Vector2 operator*(const float a, const Vector2 vec) { + return Vector2(a*vec.x, a*vec.y); +} + +inline std::ostream& operator<<(std::ostream& os, const Vector2& vec) { + os << "(" << vec.x << ", " << vec.y << ")"; + return os; +} +// END OF VECTOR2 ///////////////////////////////////////////////////////////// + + + + +/////////////////////////////////////////////////////////////////////////////// +// inline functions for Vector3 +/////////////////////////////////////////////////////////////////////////////// +inline Vector3 Vector3::operator-() const { + return Vector3(-x, -y, -z); +} + +inline Vector3 Vector3::operator+(const Vector3& rhs) const { + return Vector3(x+rhs.x, y+rhs.y, z+rhs.z); +} + +inline Vector3 Vector3::operator-(const Vector3& rhs) const { + return Vector3(x-rhs.x, y-rhs.y, z-rhs.z); +} + +inline Vector3& Vector3::operator+=(const Vector3& rhs) { + x += rhs.x; y += rhs.y; z += rhs.z; return *this; +} + +inline Vector3& Vector3::operator-=(const Vector3& rhs) { + x -= rhs.x; y -= rhs.y; z -= rhs.z; return *this; +} + +inline Vector3 Vector3::operator*(const float a) const { + return Vector3(x*a, y*a, z*a); +} + +inline Vector3 Vector3::operator*(const Vector3& rhs) const { + return Vector3(x*rhs.x, y*rhs.y, z*rhs.z); +} + +inline Vector3& Vector3::operator*=(const float a) { + x *= a; y *= a; z *= a; return *this; +} + +inline Vector3& Vector3::operator*=(const Vector3& rhs) { + x *= rhs.x; y *= rhs.y; z *= rhs.z; return *this; +} + +inline Vector3 Vector3::operator/(const float a) const { + return Vector3(x/a, y/a, z/a); +} + +inline Vector3& Vector3::operator/=(const float a) { + x /= a; y /= a; z /= a; return *this; +} + +inline bool Vector3::operator==(const Vector3& rhs) const { + return (x == rhs.x) && (y == rhs.y) && (z == rhs.z); +} + +inline bool Vector3::operator!=(const Vector3& rhs) const { + return (x != rhs.x) || (y != rhs.y) || (z != rhs.z); +} + +inline bool Vector3::operator<(const Vector3& rhs) const { + if(x < rhs.x) return true; + if(x > rhs.x) return false; + if(y < rhs.y) return true; + if(y > rhs.y) return false; + if(z < rhs.z) return true; + if(z > rhs.z) return false; + return false; +} + +inline float Vector3::operator[](int index) const { + return (&x)[index]; +} + +inline float& Vector3::operator[](int index) { + return (&x)[index]; +} + +inline void Vector3::set(float x, float y, float z) { + this->x = x; this->y = y; this->z = z; +} + +inline float Vector3::length() const { + return sqrtf(x*x + y*y + z*z); +} + +inline float Vector3::distance(const Vector3& vec) const { + return sqrtf((vec.x-x)*(vec.x-x) + (vec.y-y)*(vec.y-y) + (vec.z-z)*(vec.z-z)); +} + +inline Vector3& Vector3::normalize() { + //@@const float EPSILON = 0.000001f; + float xxyyzz = x*x + y*y + z*z; + //@@if(xxyyzz < EPSILON) + //@@ return *this; // do nothing if it is ~zero vector + + //float invLength = invSqrt(xxyyzz); + float invLength = 1.0f / sqrtf(xxyyzz); + x *= invLength; + y *= invLength; + z *= invLength; + return *this; +} + +inline float Vector3::dot(const Vector3& rhs) const { + return (x*rhs.x + y*rhs.y + z*rhs.z); +} + +inline Vector3 Vector3::cross(const Vector3& rhs) const { + return Vector3(y*rhs.z - z*rhs.y, z*rhs.x - x*rhs.z, x*rhs.y - y*rhs.x); +} + +inline bool Vector3::equal(const Vector3& rhs, float epsilon) const { + return fabs(x - rhs.x) < epsilon && fabs(y - rhs.y) < epsilon && fabs(z - rhs.z) < epsilon; +} + +inline Vector3 operator*(const float a, const Vector3 vec) { + return Vector3(a*vec.x, a*vec.y, a*vec.z); +} + +inline std::ostream& operator<<(std::ostream& os, const Vector3& vec) { + os << "(" << vec.x << ", " << vec.y << ", " << vec.z << ")"; + return os; +} +// END OF VECTOR3 ///////////////////////////////////////////////////////////// + + + +/////////////////////////////////////////////////////////////////////////////// +// inline functions for Vector4 +/////////////////////////////////////////////////////////////////////////////// +inline Vector4 Vector4::operator-() const { + return Vector4(-x, -y, -z, -w); +} + +inline Vector4 Vector4::operator+(const Vector4& rhs) const { + return Vector4(x+rhs.x, y+rhs.y, z+rhs.z, w+rhs.w); +} + +inline Vector4 Vector4::operator-(const Vector4& rhs) const { + return Vector4(x-rhs.x, y-rhs.y, z-rhs.z, w-rhs.w); +} + +inline Vector4& Vector4::operator+=(const Vector4& rhs) { + x += rhs.x; y += rhs.y; z += rhs.z; w += rhs.w; return *this; +} + +inline Vector4& Vector4::operator-=(const Vector4& rhs) { + x -= rhs.x; y -= rhs.y; z -= rhs.z; w -= rhs.w; return *this; +} + +inline Vector4 Vector4::operator*(const float a) const { + return Vector4(x*a, y*a, z*a, w*a); +} + +inline Vector4 Vector4::operator*(const Vector4& rhs) const { + return Vector4(x*rhs.x, y*rhs.y, z*rhs.z, w*rhs.w); +} + +inline Vector4& Vector4::operator*=(const float a) { + x *= a; y *= a; z *= a; w *= a; return *this; +} + +inline Vector4& Vector4::operator*=(const Vector4& rhs) { + x *= rhs.x; y *= rhs.y; z *= rhs.z; w *= rhs.w; return *this; +} + +inline Vector4 Vector4::operator/(const float a) const { + return Vector4(x/a, y/a, z/a, w/a); +} + +inline Vector4& Vector4::operator/=(const float a) { + x /= a; y /= a; z /= a; w /= a; return *this; +} + +inline bool Vector4::operator==(const Vector4& rhs) const { + return (x == rhs.x) && (y == rhs.y) && (z == rhs.z) && (w == rhs.w); +} + +inline bool Vector4::operator!=(const Vector4& rhs) const { + return (x != rhs.x) || (y != rhs.y) || (z != rhs.z) || (w != rhs.w); +} + +inline bool Vector4::operator<(const Vector4& rhs) const { + if(x < rhs.x) return true; + if(x > rhs.x) return false; + if(y < rhs.y) return true; + if(y > rhs.y) return false; + if(z < rhs.z) return true; + if(z > rhs.z) return false; + if(w < rhs.w) return true; + if(w > rhs.w) return false; + return false; +} + +inline float Vector4::operator[](int index) const { + return (&x)[index]; +} + +inline float& Vector4::operator[](int index) { + return (&x)[index]; +} + +inline void Vector4::set(float x, float y, float z, float w) { + this->x = x; this->y = y; this->z = z; this->w = w; +} + +inline float Vector4::length() const { + return sqrtf(x*x + y*y + z*z + w*w); +} + +inline float Vector4::distance(const Vector4& vec) const { + return sqrtf((vec.x-x)*(vec.x-x) + (vec.y-y)*(vec.y-y) + (vec.z-z)*(vec.z-z) + (vec.w-w)*(vec.w-w)); +} + +inline Vector4& Vector4::normalize() { + //NOTE: leave w-component untouched + //@@const float EPSILON = 0.000001f; + float xxyyzz = x*x + y*y + z*z; + //@@if(xxyyzz < EPSILON) + //@@ return *this; // do nothing if it is zero vector + + //float invLength = invSqrt(xxyyzz); + float invLength = 1.0f / sqrtf(xxyyzz); + x *= invLength; + y *= invLength; + z *= invLength; + return *this; +} + +inline float Vector4::dot(const Vector4& rhs) const { + return (x*rhs.x + y*rhs.y + z*rhs.z + w*rhs.w); +} + +inline bool Vector4::equal(const Vector4& rhs, float epsilon) const { + return fabs(x - rhs.x) < epsilon && fabs(y - rhs.y) < epsilon && + fabs(z - rhs.z) < epsilon && fabs(w - rhs.w) < epsilon; +} + +inline Vector4 operator*(const float a, const Vector4 vec) { + return Vector4(a*vec.x, a*vec.y, a*vec.z, a*vec.w); +} + +inline std::ostream& operator<<(std::ostream& os, const Vector4& vec) { + os << "(" << vec.x << ", " << vec.y << ", " << vec.z << ", " << vec.w << ")"; + return os; +} +// END OF VECTOR4 ///////////////////////////////////////////////////////////// + +#endif diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/lodepng.cpp b/examples/ThirdPartyLibs/openvr/samples/shared/lodepng.cpp new file mode 100644 index 000000000..d57a9d945 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/samples/shared/lodepng.cpp @@ -0,0 +1,6104 @@ +/* +LodePNG version 20140823 + +Copyright (c) 2005-2014 Lode Vandevenne + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + + 3. This notice may not be removed or altered from any source + distribution. +*/ + +/* +The manual and changelog are in the header file "lodepng.h" +Rename this file to lodepng.cpp to use it for C++, or to lodepng.c to use it for C. +*/ + +#include "lodepng.h" + +#include +#include + +#ifdef LODEPNG_COMPILE_CPP +#include +#endif /*LODEPNG_COMPILE_CPP*/ + +#define VERSION_STRING "20140823" + +#if defined(_MSC_VER) && (_MSC_VER >= 1310) /*Visual Studio: A few warning types are not desired here.*/ +#pragma warning( disable : 4244 ) /*implicit conversions: not warned by gcc -Wall -Wextra and requires too much casts*/ +#pragma warning( disable : 4996 ) /*VS does not like fopen, but fopen_s is not standard C so unusable here*/ +#endif /*_MSC_VER */ + +/* +This source file is built up in the following large parts. The code sections +with the "LODEPNG_COMPILE_" #defines divide this up further in an intermixed way. +-Tools for C and common code for PNG and Zlib +-C Code for Zlib (huffman, deflate, ...) +-C Code for PNG (file format chunks, adam7, PNG filters, color conversions, ...) +-The C++ wrapper around all of the above +*/ + +/*The malloc, realloc and free functions defined here with "lodepng_" in front +of the name, so that you can easily change them to others related to your +platform if needed. Everything else in the code calls these. Pass +-DLODEPNG_NO_COMPILE_ALLOCATORS to the compiler, or comment out +#define LODEPNG_COMPILE_ALLOCATORS in the header, to disable the ones here and +define them in your own project's source files without needing to change +lodepng source code. Don't forget to remove "static" if you copypaste them +from here.*/ + +#ifdef LODEPNG_COMPILE_ALLOCATORS +static void* lodepng_malloc(size_t size) +{ + return malloc(size); +} + +static void* lodepng_realloc(void* ptr, size_t new_size) +{ + return realloc(ptr, new_size); +} + +static void lodepng_free(void* ptr) +{ + free(ptr); +} +#else /*LODEPNG_COMPILE_ALLOCATORS*/ +void* lodepng_malloc(size_t size); +void* lodepng_realloc(void* ptr, size_t new_size); +void lodepng_free(void* ptr); +#endif /*LODEPNG_COMPILE_ALLOCATORS*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* // Tools for C, and common code for PNG and Zlib. // */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ + +/* +Often in case of an error a value is assigned to a variable and then it breaks +out of a loop (to go to the cleanup phase of a function). This macro does that. +It makes the error handling code shorter and more readable. + +Example: if(!uivector_resizev(&frequencies_ll, 286, 0)) ERROR_BREAK(83); +*/ +#define CERROR_BREAK(errorvar, code)\ +{\ + errorvar = code;\ + break;\ +} + +/*version of CERROR_BREAK that assumes the common case where the error variable is named "error"*/ +#define ERROR_BREAK(code) CERROR_BREAK(error, code) + +/*Set error var to the error code, and return it.*/ +#define CERROR_RETURN_ERROR(errorvar, code)\ +{\ + errorvar = code;\ + return code;\ +} + +/*Try the code, if it returns error, also return the error.*/ +#define CERROR_TRY_RETURN(call)\ +{\ + unsigned error = call;\ + if(error) return error;\ +} + +/* +About uivector, ucvector and string: +-All of them wrap dynamic arrays or text strings in a similar way. +-LodePNG was originally written in C++. The vectors replace the std::vectors that were used in the C++ version. +-The string tools are made to avoid problems with compilers that declare things like strncat as deprecated. +-They're not used in the interface, only internally in this file as static functions. +-As with many other structs in this file, the init and cleanup functions serve as ctor and dtor. +*/ + +#ifdef LODEPNG_COMPILE_ZLIB +/*dynamic vector of unsigned ints*/ +typedef struct uivector +{ + unsigned* data; + size_t size; /*size in number of unsigned longs*/ + size_t allocsize; /*allocated size in bytes*/ +} uivector; + +static void uivector_cleanup(void* p) +{ + ((uivector*)p)->size = ((uivector*)p)->allocsize = 0; + lodepng_free(((uivector*)p)->data); + ((uivector*)p)->data = NULL; +} + +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned uivector_reserve(uivector* p, size_t allocsize) +{ + if(allocsize > p->allocsize) + { + size_t newsize = (allocsize > p->allocsize * 2) ? allocsize : (allocsize * 3 / 2); + void* data = lodepng_realloc(p->data, newsize); + if(data) + { + p->allocsize = newsize; + p->data = (unsigned*)data; + } + else return 0; /*error: not enough memory*/ + } + return 1; +} + +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned uivector_resize(uivector* p, size_t size) +{ + if(!uivector_reserve(p, size * sizeof(unsigned))) return 0; + p->size = size; + return 1; /*success*/ +} + +/*resize and give all new elements the value*/ +static unsigned uivector_resizev(uivector* p, size_t size, unsigned value) +{ + size_t oldsize = p->size, i; + if(!uivector_resize(p, size)) return 0; + for(i = oldsize; i < size; i++) p->data[i] = value; + return 1; +} + +static void uivector_init(uivector* p) +{ + p->data = NULL; + p->size = p->allocsize = 0; +} + +#ifdef LODEPNG_COMPILE_ENCODER +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned uivector_push_back(uivector* p, unsigned c) +{ + if(!uivector_resize(p, p->size + 1)) return 0; + p->data[p->size - 1] = c; + return 1; +} + +/*copy q to p, returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned uivector_copy(uivector* p, const uivector* q) +{ + size_t i; + if(!uivector_resize(p, q->size)) return 0; + for(i = 0; i < q->size; i++) p->data[i] = q->data[i]; + return 1; +} +#endif /*LODEPNG_COMPILE_ENCODER*/ +#endif /*LODEPNG_COMPILE_ZLIB*/ + +/* /////////////////////////////////////////////////////////////////////////// */ + +/*dynamic vector of unsigned chars*/ +typedef struct ucvector +{ + unsigned char* data; + size_t size; /*used size*/ + size_t allocsize; /*allocated size*/ +} ucvector; + +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned ucvector_reserve(ucvector* p, size_t allocsize) +{ + if(allocsize > p->allocsize) + { + size_t newsize = (allocsize > p->allocsize * 2) ? allocsize : (allocsize * 3 / 2); + void* data = lodepng_realloc(p->data, newsize); + if(data) + { + p->allocsize = newsize; + p->data = (unsigned char*)data; + } + else return 0; /*error: not enough memory*/ + } + return 1; +} + +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned ucvector_resize(ucvector* p, size_t size) +{ + if(!ucvector_reserve(p, size * sizeof(unsigned char))) return 0; + p->size = size; + return 1; /*success*/ +} + +#ifdef LODEPNG_COMPILE_PNG + +static void ucvector_cleanup(void* p) +{ + ((ucvector*)p)->size = ((ucvector*)p)->allocsize = 0; + lodepng_free(((ucvector*)p)->data); + ((ucvector*)p)->data = NULL; +} + +static void ucvector_init(ucvector* p) +{ + p->data = NULL; + p->size = p->allocsize = 0; +} + +#ifdef LODEPNG_COMPILE_DECODER +/*resize and give all new elements the value*/ +static unsigned ucvector_resizev(ucvector* p, size_t size, unsigned char value) +{ + size_t oldsize = p->size, i; + if(!ucvector_resize(p, size)) return 0; + for(i = oldsize; i < size; i++) p->data[i] = value; + return 1; +} +#endif /*LODEPNG_COMPILE_DECODER*/ +#endif /*LODEPNG_COMPILE_PNG*/ + +#ifdef LODEPNG_COMPILE_ZLIB +/*you can both convert from vector to buffer&size and vica versa. If you use +init_buffer to take over a buffer and size, it is not needed to use cleanup*/ +static void ucvector_init_buffer(ucvector* p, unsigned char* buffer, size_t size) +{ + p->data = buffer; + p->allocsize = p->size = size; +} +#endif /*LODEPNG_COMPILE_ZLIB*/ + +#if (defined(LODEPNG_COMPILE_PNG) && defined(LODEPNG_COMPILE_ANCILLARY_CHUNKS)) || defined(LODEPNG_COMPILE_ENCODER) +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned ucvector_push_back(ucvector* p, unsigned char c) +{ + if(!ucvector_resize(p, p->size + 1)) return 0; + p->data[p->size - 1] = c; + return 1; +} +#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/ + + +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_PNG +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS +/*returns 1 if success, 0 if failure ==> nothing done*/ +static unsigned string_resize(char** out, size_t size) +{ + char* data = (char*)lodepng_realloc(*out, size + 1); + if(data) + { + data[size] = 0; /*null termination char*/ + *out = data; + } + return data != 0; +} + +/*init a {char*, size_t} pair for use as string*/ +static void string_init(char** out) +{ + *out = NULL; + string_resize(out, 0); +} + +/*free the above pair again*/ +static void string_cleanup(char** out) +{ + lodepng_free(*out); + *out = NULL; +} + +static void string_set(char** out, const char* in) +{ + size_t insize = strlen(in), i = 0; + if(string_resize(out, insize)) + { + for(i = 0; i < insize; i++) + { + (*out)[i] = in[i]; + } + } +} +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +#endif /*LODEPNG_COMPILE_PNG*/ + +/* ////////////////////////////////////////////////////////////////////////// */ + +unsigned lodepng_read32bitInt(const unsigned char* buffer) +{ + return (unsigned)((buffer[0] << 24) | (buffer[1] << 16) | (buffer[2] << 8) | buffer[3]); +} + +#if defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER) +/*buffer must have at least 4 allocated bytes available*/ +static void lodepng_set32bitInt(unsigned char* buffer, unsigned value) +{ + buffer[0] = (unsigned char)((value >> 24) & 0xff); + buffer[1] = (unsigned char)((value >> 16) & 0xff); + buffer[2] = (unsigned char)((value >> 8) & 0xff); + buffer[3] = (unsigned char)((value ) & 0xff); +} +#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/ + +#ifdef LODEPNG_COMPILE_ENCODER +static void lodepng_add32bitInt(ucvector* buffer, unsigned value) +{ + ucvector_resize(buffer, buffer->size + 4); /*todo: give error if resize failed*/ + lodepng_set32bitInt(&buffer->data[buffer->size - 4], value); +} +#endif /*LODEPNG_COMPILE_ENCODER*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / File IO / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_DISK + +unsigned lodepng_load_file(unsigned char** out, size_t* outsize, const char* filename) +{ + FILE* file; + long size; + + /*provide some proper output values if error will happen*/ + *out = 0; + *outsize = 0; + + file = fopen(filename, "rb"); + if(!file) return 78; + + /*get filesize:*/ + fseek(file , 0 , SEEK_END); + size = ftell(file); + rewind(file); + + /*read contents of the file into the vector*/ + *outsize = 0; + *out = (unsigned char*)lodepng_malloc((size_t)size); + if(size && (*out)) (*outsize) = fread(*out, 1, (size_t)size, file); + + fclose(file); + if(!(*out) && size) return 83; /*the above malloc failed*/ + return 0; +} + +/*write given buffer to the file, overwriting the file, it doesn't append to it.*/ +unsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize, const char* filename) +{ + FILE* file; + file = fopen(filename, "wb" ); + if(!file) return 79; + fwrite((char*)buffer , 1 , buffersize, file); + fclose(file); + return 0; +} + +#endif /*LODEPNG_COMPILE_DISK*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* // End of common code and tools. Begin of Zlib related code. // */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_ZLIB +#ifdef LODEPNG_COMPILE_ENCODER +/*TODO: this ignores potential out of memory errors*/ +#define addBitToStream(/*size_t**/ bitpointer, /*ucvector**/ bitstream, /*unsigned char*/ bit)\ +{\ + /*add a new byte at the end*/\ + if(((*bitpointer) & 7) == 0) ucvector_push_back(bitstream, (unsigned char)0);\ + /*earlier bit of huffman code is in a lesser significant bit of an earlier byte*/\ + (bitstream->data[bitstream->size - 1]) |= (bit << ((*bitpointer) & 0x7));\ + (*bitpointer)++;\ +} + +static void addBitsToStream(size_t* bitpointer, ucvector* bitstream, unsigned value, size_t nbits) +{ + size_t i; + for(i = 0; i < nbits; i++) addBitToStream(bitpointer, bitstream, (unsigned char)((value >> i) & 1)); +} + +static void addBitsToStreamReversed(size_t* bitpointer, ucvector* bitstream, unsigned value, size_t nbits) +{ + size_t i; + for(i = 0; i < nbits; i++) addBitToStream(bitpointer, bitstream, (unsigned char)((value >> (nbits - 1 - i)) & 1)); +} +#endif /*LODEPNG_COMPILE_ENCODER*/ + +#ifdef LODEPNG_COMPILE_DECODER + +#define READBIT(bitpointer, bitstream) ((bitstream[bitpointer >> 3] >> (bitpointer & 0x7)) & (unsigned char)1) + +static unsigned char readBitFromStream(size_t* bitpointer, const unsigned char* bitstream) +{ + unsigned char result = (unsigned char)(READBIT(*bitpointer, bitstream)); + (*bitpointer)++; + return result; +} + +static unsigned readBitsFromStream(size_t* bitpointer, const unsigned char* bitstream, size_t nbits) +{ + unsigned result = 0, i; + for(i = 0; i < nbits; i++) + { + result += ((unsigned)READBIT(*bitpointer, bitstream)) << i; + (*bitpointer)++; + } + return result; +} +#endif /*LODEPNG_COMPILE_DECODER*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Deflate - Huffman / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +#define FIRST_LENGTH_CODE_INDEX 257 +#define LAST_LENGTH_CODE_INDEX 285 +/*256 literals, the end code, some length codes, and 2 unused codes*/ +#define NUM_DEFLATE_CODE_SYMBOLS 288 +/*the distance codes have their own symbols, 30 used, 2 unused*/ +#define NUM_DISTANCE_SYMBOLS 32 +/*the code length codes. 0-15: code lengths, 16: copy previous 3-6 times, 17: 3-10 zeros, 18: 11-138 zeros*/ +#define NUM_CODE_LENGTH_CODES 19 + +/*the base lengths represented by codes 257-285*/ +static const unsigned LENGTHBASE[29] + = {3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 17, 19, 23, 27, 31, 35, 43, 51, 59, + 67, 83, 99, 115, 131, 163, 195, 227, 258}; + +/*the extra bits used by codes 257-285 (added to base length)*/ +static const unsigned LENGTHEXTRA[29] + = {0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, + 4, 4, 4, 4, 5, 5, 5, 5, 0}; + +/*the base backwards distances (the bits of distance codes appear after length codes and use their own huffman tree)*/ +static const unsigned DISTANCEBASE[30] + = {1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193, 257, 385, 513, + 769, 1025, 1537, 2049, 3073, 4097, 6145, 8193, 12289, 16385, 24577}; + +/*the extra bits of backwards distances (added to base)*/ +static const unsigned DISTANCEEXTRA[30] + = {0, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, + 8, 9, 9, 10, 10, 11, 11, 12, 12, 13, 13}; + +/*the order in which "code length alphabet code lengths" are stored, out of this +the huffman tree of the dynamic huffman tree lengths is generated*/ +static const unsigned CLCL_ORDER[NUM_CODE_LENGTH_CODES] + = {16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15}; + +/* ////////////////////////////////////////////////////////////////////////// */ + +/* +Huffman tree struct, containing multiple representations of the tree +*/ +typedef struct HuffmanTree +{ + unsigned* tree2d; + unsigned* tree1d; + unsigned* lengths; /*the lengths of the codes of the 1d-tree*/ + unsigned maxbitlen; /*maximum number of bits a single code can get*/ + unsigned numcodes; /*number of symbols in the alphabet = number of codes*/ +} HuffmanTree; + +/*function used for debug purposes to draw the tree in ascii art with C++*/ +/* +static void HuffmanTree_draw(HuffmanTree* tree) +{ + std::cout << "tree. length: " << tree->numcodes << " maxbitlen: " << tree->maxbitlen << std::endl; + for(size_t i = 0; i < tree->tree1d.size; i++) + { + if(tree->lengths.data[i]) + std::cout << i << " " << tree->tree1d.data[i] << " " << tree->lengths.data[i] << std::endl; + } + std::cout << std::endl; +}*/ + +static void HuffmanTree_init(HuffmanTree* tree) +{ + tree->tree2d = 0; + tree->tree1d = 0; + tree->lengths = 0; +} + +static void HuffmanTree_cleanup(HuffmanTree* tree) +{ + lodepng_free(tree->tree2d); + lodepng_free(tree->tree1d); + lodepng_free(tree->lengths); +} + +/*the tree representation used by the decoder. return value is error*/ +static unsigned HuffmanTree_make2DTree(HuffmanTree* tree) +{ + unsigned nodefilled = 0; /*up to which node it is filled*/ + unsigned treepos = 0; /*position in the tree (1 of the numcodes columns)*/ + unsigned n, i; + + tree->tree2d = (unsigned*)lodepng_malloc(tree->numcodes * 2 * sizeof(unsigned)); + if(!tree->tree2d) return 83; /*alloc fail*/ + + /* + convert tree1d[] to tree2d[][]. In the 2D array, a value of 32767 means + uninited, a value >= numcodes is an address to another bit, a value < numcodes + is a code. The 2 rows are the 2 possible bit values (0 or 1), there are as + many columns as codes - 1. + A good huffmann tree has N * 2 - 1 nodes, of which N - 1 are internal nodes. + Here, the internal nodes are stored (what their 0 and 1 option point to). + There is only memory for such good tree currently, if there are more nodes + (due to too long length codes), error 55 will happen + */ + for(n = 0; n < tree->numcodes * 2; n++) + { + tree->tree2d[n] = 32767; /*32767 here means the tree2d isn't filled there yet*/ + } + + for(n = 0; n < tree->numcodes; n++) /*the codes*/ + { + for(i = 0; i < tree->lengths[n]; i++) /*the bits for this code*/ + { + unsigned char bit = (unsigned char)((tree->tree1d[n] >> (tree->lengths[n] - i - 1)) & 1); + if(treepos > tree->numcodes - 2) return 55; /*oversubscribed, see comment in lodepng_error_text*/ + if(tree->tree2d[2 * treepos + bit] == 32767) /*not yet filled in*/ + { + if(i + 1 == tree->lengths[n]) /*last bit*/ + { + tree->tree2d[2 * treepos + bit] = n; /*put the current code in it*/ + treepos = 0; + } + else + { + /*put address of the next step in here, first that address has to be found of course + (it's just nodefilled + 1)...*/ + nodefilled++; + /*addresses encoded with numcodes added to it*/ + tree->tree2d[2 * treepos + bit] = nodefilled + tree->numcodes; + treepos = nodefilled; + } + } + else treepos = tree->tree2d[2 * treepos + bit] - tree->numcodes; + } + } + + for(n = 0; n < tree->numcodes * 2; n++) + { + if(tree->tree2d[n] == 32767) tree->tree2d[n] = 0; /*remove possible remaining 32767's*/ + } + + return 0; +} + +/* +Second step for the ...makeFromLengths and ...makeFromFrequencies functions. +numcodes, lengths and maxbitlen must already be filled in correctly. return +value is error. +*/ +static unsigned HuffmanTree_makeFromLengths2(HuffmanTree* tree) +{ + uivector blcount; + uivector nextcode; + unsigned bits, n, error = 0; + + uivector_init(&blcount); + uivector_init(&nextcode); + + tree->tree1d = (unsigned*)lodepng_malloc(tree->numcodes * sizeof(unsigned)); + if(!tree->tree1d) error = 83; /*alloc fail*/ + + if(!uivector_resizev(&blcount, tree->maxbitlen + 1, 0) + || !uivector_resizev(&nextcode, tree->maxbitlen + 1, 0)) + error = 83; /*alloc fail*/ + + if(!error) + { + /*step 1: count number of instances of each code length*/ + for(bits = 0; bits < tree->numcodes; bits++) blcount.data[tree->lengths[bits]]++; + /*step 2: generate the nextcode values*/ + for(bits = 1; bits <= tree->maxbitlen; bits++) + { + nextcode.data[bits] = (nextcode.data[bits - 1] + blcount.data[bits - 1]) << 1; + } + /*step 3: generate all the codes*/ + for(n = 0; n < tree->numcodes; n++) + { + if(tree->lengths[n] != 0) tree->tree1d[n] = nextcode.data[tree->lengths[n]]++; + } + } + + uivector_cleanup(&blcount); + uivector_cleanup(&nextcode); + + if(!error) return HuffmanTree_make2DTree(tree); + else return error; +} + +/* +given the code lengths (as stored in the PNG file), generate the tree as defined +by Deflate. maxbitlen is the maximum bits that a code in the tree can have. +return value is error. +*/ +static unsigned HuffmanTree_makeFromLengths(HuffmanTree* tree, const unsigned* bitlen, + size_t numcodes, unsigned maxbitlen) +{ + unsigned i; + tree->lengths = (unsigned*)lodepng_malloc(numcodes * sizeof(unsigned)); + if(!tree->lengths) return 83; /*alloc fail*/ + for(i = 0; i < numcodes; i++) tree->lengths[i] = bitlen[i]; + tree->numcodes = (unsigned)numcodes; /*number of symbols*/ + tree->maxbitlen = maxbitlen; + return HuffmanTree_makeFromLengths2(tree); +} + +#ifdef LODEPNG_COMPILE_ENCODER + +/* +A coin, this is the terminology used for the package-merge algorithm and the +coin collector's problem. This is used to generate the huffman tree. +A coin can be multiple coins (when they're merged) +*/ +typedef struct Coin +{ + uivector symbols; + float weight; /*the sum of all weights in this coin*/ +} Coin; + +static void coin_init(Coin* c) +{ + uivector_init(&c->symbols); +} + +/*argument c is void* so that this dtor can be given as function pointer to the vector resize function*/ +static void coin_cleanup(void* c) +{ + uivector_cleanup(&((Coin*)c)->symbols); +} + +static void coin_copy(Coin* c1, const Coin* c2) +{ + c1->weight = c2->weight; + uivector_copy(&c1->symbols, &c2->symbols); +} + +static void add_coins(Coin* c1, const Coin* c2) +{ + size_t i; + for(i = 0; i < c2->symbols.size; i++) uivector_push_back(&c1->symbols, c2->symbols.data[i]); + c1->weight += c2->weight; +} + +static void init_coins(Coin* coins, size_t num) +{ + size_t i; + for(i = 0; i < num; i++) coin_init(&coins[i]); +} + +static void cleanup_coins(Coin* coins, size_t num) +{ + size_t i; + for(i = 0; i < num; i++) coin_cleanup(&coins[i]); +} + +static int coin_compare(const void* a, const void* b) { + float wa = ((const Coin*)a)->weight; + float wb = ((const Coin*)b)->weight; + return wa > wb ? 1 : wa < wb ? -1 : 0; +} + +static unsigned append_symbol_coins(Coin* coins, const unsigned* frequencies, unsigned numcodes, size_t sum) +{ + unsigned i; + unsigned j = 0; /*index of present symbols*/ + for(i = 0; i < numcodes; i++) + { + if(frequencies[i] != 0) /*only include symbols that are present*/ + { + coins[j].weight = frequencies[i] / (float)sum; + uivector_push_back(&coins[j].symbols, i); + j++; + } + } + return 0; +} + +unsigned lodepng_huffman_code_lengths(unsigned* lengths, const unsigned* frequencies, + size_t numcodes, unsigned maxbitlen) +{ + unsigned i, j; + size_t sum = 0, numpresent = 0; + unsigned error = 0; + Coin* coins; /*the coins of the currently calculated row*/ + Coin* prev_row; /*the previous row of coins*/ + size_t numcoins; + size_t coinmem; + + if(numcodes == 0) return 80; /*error: a tree of 0 symbols is not supposed to be made*/ + + for(i = 0; i < numcodes; i++) + { + if(frequencies[i] > 0) + { + numpresent++; + sum += frequencies[i]; + } + } + + for(i = 0; i < numcodes; i++) lengths[i] = 0; + + /*ensure at least two present symbols. There should be at least one symbol + according to RFC 1951 section 3.2.7. To decoders incorrectly require two. To + make these work as well ensure there are at least two symbols. The + Package-Merge code below also doesn't work correctly if there's only one + symbol, it'd give it the theoritical 0 bits but in practice zlib wants 1 bit*/ + if(numpresent == 0) + { + lengths[0] = lengths[1] = 1; /*note that for RFC 1951 section 3.2.7, only lengths[0] = 1 is needed*/ + } + else if(numpresent == 1) + { + for(i = 0; i < numcodes; i++) + { + if(frequencies[i]) + { + lengths[i] = 1; + lengths[i == 0 ? 1 : 0] = 1; + break; + } + } + } + else + { + /*Package-Merge algorithm represented by coin collector's problem + For every symbol, maxbitlen coins will be created*/ + + coinmem = numpresent * 2; /*max amount of coins needed with the current algo*/ + coins = (Coin*)lodepng_malloc(sizeof(Coin) * coinmem); + prev_row = (Coin*)lodepng_malloc(sizeof(Coin) * coinmem); + if(!coins || !prev_row) + { + lodepng_free(coins); + lodepng_free(prev_row); + return 83; /*alloc fail*/ + } + init_coins(coins, coinmem); + init_coins(prev_row, coinmem); + + /*first row, lowest denominator*/ + error = append_symbol_coins(coins, frequencies, numcodes, sum); + numcoins = numpresent; + qsort(coins, numcoins, sizeof(Coin), coin_compare); + if(!error) + { + unsigned numprev = 0; + for(j = 1; j <= maxbitlen && !error; j++) /*each of the remaining rows*/ + { + unsigned tempnum; + Coin* tempcoins; + /*swap prev_row and coins, and their amounts*/ + tempcoins = prev_row; prev_row = coins; coins = tempcoins; + tempnum = numprev; numprev = numcoins; numcoins = tempnum; + + cleanup_coins(coins, numcoins); + init_coins(coins, numcoins); + + numcoins = 0; + + /*fill in the merged coins of the previous row*/ + for(i = 0; i + 1 < numprev; i += 2) + { + /*merge prev_row[i] and prev_row[i + 1] into new coin*/ + Coin* coin = &coins[numcoins++]; + coin_copy(coin, &prev_row[i]); + add_coins(coin, &prev_row[i + 1]); + } + /*fill in all the original symbols again*/ + if(j < maxbitlen) + { + error = append_symbol_coins(coins + numcoins, frequencies, numcodes, sum); + numcoins += numpresent; + } + qsort(coins, numcoins, sizeof(Coin), coin_compare); + } + } + + if(!error) + { + /*calculate the lenghts of each symbol, as the amount of times a coin of each symbol is used*/ + for(i = 0; i < numpresent - 1; i++) + { + Coin* coin = &coins[i]; + for(j = 0; j < coin->symbols.size; j++) lengths[coin->symbols.data[j]]++; + } + } + + cleanup_coins(coins, coinmem); + lodepng_free(coins); + cleanup_coins(prev_row, coinmem); + lodepng_free(prev_row); + } + + return error; +} + +/*Create the Huffman tree given the symbol frequencies*/ +static unsigned HuffmanTree_makeFromFrequencies(HuffmanTree* tree, const unsigned* frequencies, + size_t mincodes, size_t numcodes, unsigned maxbitlen) +{ + unsigned error = 0; + while(!frequencies[numcodes - 1] && numcodes > mincodes) numcodes--; /*trim zeroes*/ + tree->maxbitlen = maxbitlen; + tree->numcodes = (unsigned)numcodes; /*number of symbols*/ + tree->lengths = (unsigned*)lodepng_realloc(tree->lengths, numcodes * sizeof(unsigned)); + if(!tree->lengths) return 83; /*alloc fail*/ + /*initialize all lengths to 0*/ + memset(tree->lengths, 0, numcodes * sizeof(unsigned)); + + error = lodepng_huffman_code_lengths(tree->lengths, frequencies, numcodes, maxbitlen); + if(!error) error = HuffmanTree_makeFromLengths2(tree); + return error; +} + +static unsigned HuffmanTree_getCode(const HuffmanTree* tree, unsigned index) +{ + return tree->tree1d[index]; +} + +static unsigned HuffmanTree_getLength(const HuffmanTree* tree, unsigned index) +{ + return tree->lengths[index]; +} +#endif /*LODEPNG_COMPILE_ENCODER*/ + +/*get the literal and length code tree of a deflated block with fixed tree, as per the deflate specification*/ +static unsigned generateFixedLitLenTree(HuffmanTree* tree) +{ + unsigned i, error = 0; + unsigned* bitlen = (unsigned*)lodepng_malloc(NUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned)); + if(!bitlen) return 83; /*alloc fail*/ + + /*288 possible codes: 0-255=literals, 256=endcode, 257-285=lengthcodes, 286-287=unused*/ + for(i = 0; i <= 143; i++) bitlen[i] = 8; + for(i = 144; i <= 255; i++) bitlen[i] = 9; + for(i = 256; i <= 279; i++) bitlen[i] = 7; + for(i = 280; i <= 287; i++) bitlen[i] = 8; + + error = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DEFLATE_CODE_SYMBOLS, 15); + + lodepng_free(bitlen); + return error; +} + +/*get the distance code tree of a deflated block with fixed tree, as specified in the deflate specification*/ +static unsigned generateFixedDistanceTree(HuffmanTree* tree) +{ + unsigned i, error = 0; + unsigned* bitlen = (unsigned*)lodepng_malloc(NUM_DISTANCE_SYMBOLS * sizeof(unsigned)); + if(!bitlen) return 83; /*alloc fail*/ + + /*there are 32 distance codes, but 30-31 are unused*/ + for(i = 0; i < NUM_DISTANCE_SYMBOLS; i++) bitlen[i] = 5; + error = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DISTANCE_SYMBOLS, 15); + + lodepng_free(bitlen); + return error; +} + +#ifdef LODEPNG_COMPILE_DECODER + +/* +returns the code, or (unsigned)(-1) if error happened +inbitlength is the length of the complete buffer, in bits (so its byte length times 8) +*/ +static unsigned huffmanDecodeSymbol(const unsigned char* in, size_t* bp, + const HuffmanTree* codetree, size_t inbitlength) +{ + unsigned treepos = 0, ct; + for(;;) + { + if(*bp >= inbitlength) return (unsigned)(-1); /*error: end of input memory reached without endcode*/ + /* + decode the symbol from the tree. The "readBitFromStream" code is inlined in + the expression below because this is the biggest bottleneck while decoding + */ + ct = codetree->tree2d[(treepos << 1) + READBIT(*bp, in)]; + (*bp)++; + if(ct < codetree->numcodes) return ct; /*the symbol is decoded, return it*/ + else treepos = ct - codetree->numcodes; /*symbol not yet decoded, instead move tree position*/ + + if(treepos >= codetree->numcodes) return (unsigned)(-1); /*error: it appeared outside the codetree*/ + } +} +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_DECODER + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Inflator (Decompressor) / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +/*get the tree of a deflated block with fixed tree, as specified in the deflate specification*/ +static void getTreeInflateFixed(HuffmanTree* tree_ll, HuffmanTree* tree_d) +{ + /*TODO: check for out of memory errors*/ + generateFixedLitLenTree(tree_ll); + generateFixedDistanceTree(tree_d); +} + +/*get the tree of a deflated block with dynamic tree, the tree itself is also Huffman compressed with a known tree*/ +static unsigned getTreeInflateDynamic(HuffmanTree* tree_ll, HuffmanTree* tree_d, + const unsigned char* in, size_t* bp, size_t inlength) +{ + /*make sure that length values that aren't filled in will be 0, or a wrong tree will be generated*/ + unsigned error = 0; + unsigned n, HLIT, HDIST, HCLEN, i; + size_t inbitlength = inlength * 8; + + /*see comments in deflateDynamic for explanation of the context and these variables, it is analogous*/ + unsigned* bitlen_ll = 0; /*lit,len code lengths*/ + unsigned* bitlen_d = 0; /*dist code lengths*/ + /*code length code lengths ("clcl"), the bit lengths of the huffman tree used to compress bitlen_ll and bitlen_d*/ + unsigned* bitlen_cl = 0; + HuffmanTree tree_cl; /*the code tree for code length codes (the huffman tree for compressed huffman trees)*/ + + if((*bp) >> 3 >= inlength - 2) return 49; /*error: the bit pointer is or will go past the memory*/ + + /*number of literal/length codes + 257. Unlike the spec, the value 257 is added to it here already*/ + HLIT = readBitsFromStream(bp, in, 5) + 257; + /*number of distance codes. Unlike the spec, the value 1 is added to it here already*/ + HDIST = readBitsFromStream(bp, in, 5) + 1; + /*number of code length codes. Unlike the spec, the value 4 is added to it here already*/ + HCLEN = readBitsFromStream(bp, in, 4) + 4; + + HuffmanTree_init(&tree_cl); + + while(!error) + { + /*read the code length codes out of 3 * (amount of code length codes) bits*/ + + bitlen_cl = (unsigned*)lodepng_malloc(NUM_CODE_LENGTH_CODES * sizeof(unsigned)); + if(!bitlen_cl) ERROR_BREAK(83 /*alloc fail*/); + + for(i = 0; i < NUM_CODE_LENGTH_CODES; i++) + { + if(i < HCLEN) bitlen_cl[CLCL_ORDER[i]] = readBitsFromStream(bp, in, 3); + else bitlen_cl[CLCL_ORDER[i]] = 0; /*if not, it must stay 0*/ + } + + error = HuffmanTree_makeFromLengths(&tree_cl, bitlen_cl, NUM_CODE_LENGTH_CODES, 7); + if(error) break; + + /*now we can use this tree to read the lengths for the tree that this function will return*/ + bitlen_ll = (unsigned*)lodepng_malloc(NUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned)); + bitlen_d = (unsigned*)lodepng_malloc(NUM_DISTANCE_SYMBOLS * sizeof(unsigned)); + if(!bitlen_ll || !bitlen_d) ERROR_BREAK(83 /*alloc fail*/); + for(i = 0; i < NUM_DEFLATE_CODE_SYMBOLS; i++) bitlen_ll[i] = 0; + for(i = 0; i < NUM_DISTANCE_SYMBOLS; i++) bitlen_d[i] = 0; + + /*i is the current symbol we're reading in the part that contains the code lengths of lit/len and dist codes*/ + i = 0; + while(i < HLIT + HDIST) + { + unsigned code = huffmanDecodeSymbol(in, bp, &tree_cl, inbitlength); + if(code <= 15) /*a length code*/ + { + if(i < HLIT) bitlen_ll[i] = code; + else bitlen_d[i - HLIT] = code; + i++; + } + else if(code == 16) /*repeat previous*/ + { + unsigned replength = 3; /*read in the 2 bits that indicate repeat length (3-6)*/ + unsigned value; /*set value to the previous code*/ + + if(*bp >= inbitlength) ERROR_BREAK(50); /*error, bit pointer jumps past memory*/ + if (i == 0) ERROR_BREAK(54); /*can't repeat previous if i is 0*/ + + replength += readBitsFromStream(bp, in, 2); + + if(i < HLIT + 1) value = bitlen_ll[i - 1]; + else value = bitlen_d[i - HLIT - 1]; + /*repeat this value in the next lengths*/ + for(n = 0; n < replength; n++) + { + if(i >= HLIT + HDIST) ERROR_BREAK(13); /*error: i is larger than the amount of codes*/ + if(i < HLIT) bitlen_ll[i] = value; + else bitlen_d[i - HLIT] = value; + i++; + } + } + else if(code == 17) /*repeat "0" 3-10 times*/ + { + unsigned replength = 3; /*read in the bits that indicate repeat length*/ + if(*bp >= inbitlength) ERROR_BREAK(50); /*error, bit pointer jumps past memory*/ + + replength += readBitsFromStream(bp, in, 3); + + /*repeat this value in the next lengths*/ + for(n = 0; n < replength; n++) + { + if(i >= HLIT + HDIST) ERROR_BREAK(14); /*error: i is larger than the amount of codes*/ + + if(i < HLIT) bitlen_ll[i] = 0; + else bitlen_d[i - HLIT] = 0; + i++; + } + } + else if(code == 18) /*repeat "0" 11-138 times*/ + { + unsigned replength = 11; /*read in the bits that indicate repeat length*/ + if(*bp >= inbitlength) ERROR_BREAK(50); /*error, bit pointer jumps past memory*/ + + replength += readBitsFromStream(bp, in, 7); + + /*repeat this value in the next lengths*/ + for(n = 0; n < replength; n++) + { + if(i >= HLIT + HDIST) ERROR_BREAK(15); /*error: i is larger than the amount of codes*/ + + if(i < HLIT) bitlen_ll[i] = 0; + else bitlen_d[i - HLIT] = 0; + i++; + } + } + else /*if(code == (unsigned)(-1))*/ /*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/ + { + if(code == (unsigned)(-1)) + { + /*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol + (10=no endcode, 11=wrong jump outside of tree)*/ + error = (*bp) > inbitlength ? 10 : 11; + } + else error = 16; /*unexisting code, this can never happen*/ + break; + } + } + if(error) break; + + if(bitlen_ll[256] == 0) ERROR_BREAK(64); /*the length of the end code 256 must be larger than 0*/ + + /*now we've finally got HLIT and HDIST, so generate the code trees, and the function is done*/ + error = HuffmanTree_makeFromLengths(tree_ll, bitlen_ll, NUM_DEFLATE_CODE_SYMBOLS, 15); + if(error) break; + error = HuffmanTree_makeFromLengths(tree_d, bitlen_d, NUM_DISTANCE_SYMBOLS, 15); + + break; /*end of error-while*/ + } + + lodepng_free(bitlen_cl); + lodepng_free(bitlen_ll); + lodepng_free(bitlen_d); + HuffmanTree_cleanup(&tree_cl); + + return error; +} + +/*inflate a block with dynamic of fixed Huffman tree*/ +static unsigned inflateHuffmanBlock(ucvector* out, const unsigned char* in, size_t* bp, + size_t* pos, size_t inlength, unsigned btype) +{ + unsigned error = 0; + HuffmanTree tree_ll; /*the huffman tree for literal and length codes*/ + HuffmanTree tree_d; /*the huffman tree for distance codes*/ + size_t inbitlength = inlength * 8; + + HuffmanTree_init(&tree_ll); + HuffmanTree_init(&tree_d); + + if(btype == 1) getTreeInflateFixed(&tree_ll, &tree_d); + else if(btype == 2) error = getTreeInflateDynamic(&tree_ll, &tree_d, in, bp, inlength); + + while(!error) /*decode all symbols until end reached, breaks at end code*/ + { + /*code_ll is literal, length or end code*/ + unsigned code_ll = huffmanDecodeSymbol(in, bp, &tree_ll, inbitlength); + if(code_ll <= 255) /*literal symbol*/ + { + /*ucvector_push_back would do the same, but for some reason the two lines below run 10% faster*/ + if(!ucvector_resize(out, (*pos) + 1)) ERROR_BREAK(83 /*alloc fail*/); + out->data[*pos] = (unsigned char)code_ll; + (*pos)++; + } + else if(code_ll >= FIRST_LENGTH_CODE_INDEX && code_ll <= LAST_LENGTH_CODE_INDEX) /*length code*/ + { + unsigned code_d, distance; + unsigned numextrabits_l, numextrabits_d; /*extra bits for length and distance*/ + size_t start, forward, backward, length; + + /*part 1: get length base*/ + length = LENGTHBASE[code_ll - FIRST_LENGTH_CODE_INDEX]; + + /*part 2: get extra bits and add the value of that to length*/ + numextrabits_l = LENGTHEXTRA[code_ll - FIRST_LENGTH_CODE_INDEX]; + if(*bp >= inbitlength) ERROR_BREAK(51); /*error, bit pointer will jump past memory*/ + length += readBitsFromStream(bp, in, numextrabits_l); + + /*part 3: get distance code*/ + code_d = huffmanDecodeSymbol(in, bp, &tree_d, inbitlength); + if(code_d > 29) + { + if(code_ll == (unsigned)(-1)) /*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/ + { + /*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol + (10=no endcode, 11=wrong jump outside of tree)*/ + error = (*bp) > inlength * 8 ? 10 : 11; + } + else error = 18; /*error: invalid distance code (30-31 are never used)*/ + break; + } + distance = DISTANCEBASE[code_d]; + + /*part 4: get extra bits from distance*/ + numextrabits_d = DISTANCEEXTRA[code_d]; + if(*bp >= inbitlength) ERROR_BREAK(51); /*error, bit pointer will jump past memory*/ + + distance += readBitsFromStream(bp, in, numextrabits_d); + + /*part 5: fill in all the out[n] values based on the length and dist*/ + start = (*pos); + if(distance > start) ERROR_BREAK(52); /*too long backward distance*/ + backward = start - distance; + + if(!ucvector_resize(out, (*pos) + length)) ERROR_BREAK(83 /*alloc fail*/); + for(forward = 0; forward < length; forward++) + { + out->data[(*pos)] = out->data[backward]; + (*pos)++; + backward++; + if(backward >= start) backward = start - distance; + } + } + else if(code_ll == 256) + { + break; /*end code, break the loop*/ + } + else /*if(code == (unsigned)(-1))*/ /*huffmanDecodeSymbol returns (unsigned)(-1) in case of error*/ + { + /*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol + (10=no endcode, 11=wrong jump outside of tree)*/ + error = (*bp) > inlength * 8 ? 10 : 11; + break; + } + } + + HuffmanTree_cleanup(&tree_ll); + HuffmanTree_cleanup(&tree_d); + + return error; +} + +static unsigned inflateNoCompression(ucvector* out, const unsigned char* in, size_t* bp, size_t* pos, size_t inlength) +{ + /*go to first boundary of byte*/ + size_t p; + unsigned LEN, NLEN, n, error = 0; + while(((*bp) & 0x7) != 0) (*bp)++; + p = (*bp) / 8; /*byte position*/ + + /*read LEN (2 bytes) and NLEN (2 bytes)*/ + if(p >= inlength - 4) return 52; /*error, bit pointer will jump past memory*/ + LEN = in[p] + 256u * in[p + 1]; p += 2; + NLEN = in[p] + 256u * in[p + 1]; p += 2; + + /*check if 16-bit NLEN is really the one's complement of LEN*/ + if(LEN + NLEN != 65535) return 21; /*error: NLEN is not one's complement of LEN*/ + + if(!ucvector_resize(out, (*pos) + LEN)) return 83; /*alloc fail*/ + + /*read the literal data: LEN bytes are now stored in the out buffer*/ + if(p + LEN > inlength) return 23; /*error: reading outside of in buffer*/ + for(n = 0; n < LEN; n++) out->data[(*pos)++] = in[p++]; + + (*bp) = p * 8; + + return error; +} + +static unsigned lodepng_inflatev(ucvector* out, + const unsigned char* in, size_t insize, + const LodePNGDecompressSettings* settings) +{ + /*bit pointer in the "in" data, current byte is bp >> 3, current bit is bp & 0x7 (from lsb to msb of the byte)*/ + size_t bp = 0; + unsigned BFINAL = 0; + size_t pos = 0; /*byte position in the out buffer*/ + unsigned error = 0; + + (void)settings; + + while(!BFINAL) + { + unsigned BTYPE; + if(bp + 2 >= insize * 8) return 52; /*error, bit pointer will jump past memory*/ + BFINAL = readBitFromStream(&bp, in); + BTYPE = 1u * readBitFromStream(&bp, in); + BTYPE += 2u * readBitFromStream(&bp, in); + + if(BTYPE == 3) return 20; /*error: invalid BTYPE*/ + else if(BTYPE == 0) error = inflateNoCompression(out, in, &bp, &pos, insize); /*no compression*/ + else error = inflateHuffmanBlock(out, in, &bp, &pos, insize, BTYPE); /*compression, BTYPE 01 or 10*/ + + if(error) return error; + } + + return error; +} + +unsigned lodepng_inflate(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGDecompressSettings* settings) +{ + unsigned error; + ucvector v; + ucvector_init_buffer(&v, *out, *outsize); + error = lodepng_inflatev(&v, in, insize, settings); + *out = v.data; + *outsize = v.size; + return error; +} + +static unsigned inflate(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGDecompressSettings* settings) +{ + if(settings->custom_inflate) + { + return settings->custom_inflate(out, outsize, in, insize, settings); + } + else + { + return lodepng_inflate(out, outsize, in, insize, settings); + } +} + +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_ENCODER + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Deflator (Compressor) / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +static const size_t MAX_SUPPORTED_DEFLATE_LENGTH = 258; + +/*bitlen is the size in bits of the code*/ +static void addHuffmanSymbol(size_t* bp, ucvector* compressed, unsigned code, unsigned bitlen) +{ + addBitsToStreamReversed(bp, compressed, code, bitlen); +} + +/*search the index in the array, that has the largest value smaller than or equal to the given value, +given array must be sorted (if no value is smaller, it returns the size of the given array)*/ +static size_t searchCodeIndex(const unsigned* array, size_t array_size, size_t value) +{ + /*linear search implementation*/ + /*for(size_t i = 1; i < array_size; i++) if(array[i] > value) return i - 1; + return array_size - 1;*/ + + /*binary search implementation (not that much faster) (precondition: array_size > 0)*/ + size_t left = 1; + size_t right = array_size - 1; + while(left <= right) + { + size_t mid = (left + right) / 2; + if(array[mid] <= value) left = mid + 1; /*the value to find is more to the right*/ + else if(array[mid - 1] > value) right = mid - 1; /*the value to find is more to the left*/ + else return mid - 1; + } + return array_size - 1; +} + +static void addLengthDistance(uivector* values, size_t length, size_t distance) +{ + /*values in encoded vector are those used by deflate: + 0-255: literal bytes + 256: end + 257-285: length/distance pair (length code, followed by extra length bits, distance code, extra distance bits) + 286-287: invalid*/ + + unsigned length_code = (unsigned)searchCodeIndex(LENGTHBASE, 29, length); + unsigned extra_length = (unsigned)(length - LENGTHBASE[length_code]); + unsigned dist_code = (unsigned)searchCodeIndex(DISTANCEBASE, 30, distance); + unsigned extra_distance = (unsigned)(distance - DISTANCEBASE[dist_code]); + + uivector_push_back(values, length_code + FIRST_LENGTH_CODE_INDEX); + uivector_push_back(values, extra_length); + uivector_push_back(values, dist_code); + uivector_push_back(values, extra_distance); +} + +/*3 bytes of data get encoded into two bytes. The hash cannot use more than 3 +bytes as input because 3 is the minimum match length for deflate*/ +static const unsigned HASH_NUM_VALUES = 65536; +static const unsigned HASH_BIT_MASK = 65535; /*HASH_NUM_VALUES - 1, but C90 does not like that as initializer*/ + +typedef struct Hash +{ + int* head; /*hash value to head circular pos - can be outdated if went around window*/ + /*circular pos to prev circular pos*/ + unsigned short* chain; + int* val; /*circular pos to hash value*/ + + /*TODO: do this not only for zeros but for any repeated byte. However for PNG + it's always going to be the zeros that dominate, so not important for PNG*/ + int* headz; /*similar to head, but for chainz*/ + unsigned short* chainz; /*those with same amount of zeros*/ + unsigned short* zeros; /*length of zeros streak, used as a second hash chain*/ +} Hash; + +static unsigned hash_init(Hash* hash, unsigned windowsize) +{ + unsigned i; + hash->head = (int*)lodepng_malloc(sizeof(int) * HASH_NUM_VALUES); + hash->val = (int*)lodepng_malloc(sizeof(int) * windowsize); + hash->chain = (unsigned short*)lodepng_malloc(sizeof(unsigned short) * windowsize); + + hash->zeros = (unsigned short*)lodepng_malloc(sizeof(unsigned short) * windowsize); + hash->headz = (int*)lodepng_malloc(sizeof(int) * (MAX_SUPPORTED_DEFLATE_LENGTH + 1)); + hash->chainz = (unsigned short*)lodepng_malloc(sizeof(unsigned short) * windowsize); + + if(!hash->head || !hash->chain || !hash->val || !hash->headz|| !hash->chainz || !hash->zeros) + { + return 83; /*alloc fail*/ + } + + /*initialize hash table*/ + for(i = 0; i < HASH_NUM_VALUES; i++) hash->head[i] = -1; + for(i = 0; i < windowsize; i++) hash->val[i] = -1; + for(i = 0; i < windowsize; i++) hash->chain[i] = i; /*same value as index indicates uninitialized*/ + + for(i = 0; i <= MAX_SUPPORTED_DEFLATE_LENGTH; i++) hash->headz[i] = -1; + for(i = 0; i < windowsize; i++) hash->chainz[i] = i; /*same value as index indicates uninitialized*/ + + return 0; +} + +static void hash_cleanup(Hash* hash) +{ + lodepng_free(hash->head); + lodepng_free(hash->val); + lodepng_free(hash->chain); + + lodepng_free(hash->zeros); + lodepng_free(hash->headz); + lodepng_free(hash->chainz); +} + + + +static unsigned getHash(const unsigned char* data, size_t size, size_t pos) +{ + unsigned result = 0; + if (pos + 2 < size) + { + /*A simple shift and xor hash is used. Since the data of PNGs is dominated + by zeroes due to the filters, a better hash does not have a significant + effect on speed in traversing the chain, and causes more time spend on + calculating the hash.*/ + result ^= (unsigned)(data[pos + 0] << 0u); + result ^= (unsigned)(data[pos + 1] << 4u); + result ^= (unsigned)(data[pos + 2] << 8u); + } else { + size_t amount, i; + if(pos >= size) return 0; + amount = size - pos; + for(i = 0; i < amount; i++) result ^= (unsigned)(data[pos + i] << (i * 8u)); + } + return result & HASH_BIT_MASK; +} + +static unsigned countZeros(const unsigned char* data, size_t size, size_t pos) +{ + const unsigned char* start = data + pos; + const unsigned char* end = start + MAX_SUPPORTED_DEFLATE_LENGTH; + if(end > data + size) end = data + size; + data = start; + while (data != end && *data == 0) data++; + /*subtracting two addresses returned as 32-bit number (max value is MAX_SUPPORTED_DEFLATE_LENGTH)*/ + return (unsigned)(data - start); +} + +/*wpos = pos & (windowsize - 1)*/ +static void updateHashChain(Hash* hash, size_t wpos, unsigned hashval, unsigned short numzeros) +{ + hash->val[wpos] = (int)hashval; + if(hash->head[hashval] != -1) hash->chain[wpos] = hash->head[hashval]; + hash->head[hashval] = wpos; + + hash->zeros[wpos] = numzeros; + if(hash->headz[numzeros] != -1) hash->chainz[wpos] = hash->headz[numzeros]; + hash->headz[numzeros] = wpos; +} + +/* +LZ77-encode the data. Return value is error code. The input are raw bytes, the output +is in the form of unsigned integers with codes representing for example literal bytes, or +length/distance pairs. +It uses a hash table technique to let it encode faster. When doing LZ77 encoding, a +sliding window (of windowsize) is used, and all past bytes in that window can be used as +the "dictionary". A brute force search through all possible distances would be slow, and +this hash technique is one out of several ways to speed this up. +*/ +static unsigned encodeLZ77(uivector* out, Hash* hash, + const unsigned char* in, size_t inpos, size_t insize, unsigned windowsize, + unsigned minmatch, unsigned nicematch, unsigned lazymatching) +{ + size_t pos; + unsigned i, error = 0; + /*for large window lengths, assume the user wants no compression loss. Otherwise, max hash chain length speedup.*/ + unsigned maxchainlength = windowsize >= 8192 ? windowsize : windowsize / 8; + unsigned maxlazymatch = windowsize >= 8192 ? MAX_SUPPORTED_DEFLATE_LENGTH : 64; + + unsigned usezeros = 1; /*not sure if setting it to false for windowsize < 8192 is better or worse*/ + unsigned numzeros = 0; + + unsigned offset; /*the offset represents the distance in LZ77 terminology*/ + unsigned length; + unsigned lazy = 0; + unsigned lazylength = 0, lazyoffset = 0; + unsigned hashval; + unsigned current_offset, current_length; + unsigned prev_offset; + const unsigned char *lastptr, *foreptr, *backptr; + unsigned hashpos; + + if(windowsize <= 0 || windowsize > 32768) return 60; /*error: windowsize smaller/larger than allowed*/ + if((windowsize & (windowsize - 1)) != 0) return 90; /*error: must be power of two*/ + + if(nicematch > MAX_SUPPORTED_DEFLATE_LENGTH) nicematch = MAX_SUPPORTED_DEFLATE_LENGTH; + + for(pos = inpos; pos < insize; pos++) + { + size_t wpos = pos & (windowsize - 1); /*position for in 'circular' hash buffers*/ + unsigned chainlength = 0; + + hashval = getHash(in, insize, pos); + + if(usezeros && hashval == 0) + { + if (numzeros == 0) numzeros = countZeros(in, insize, pos); + else if (pos + numzeros > insize || in[pos + numzeros - 1] != 0) numzeros--; + } + else + { + numzeros = 0; + } + + updateHashChain(hash, wpos, hashval, numzeros); + + /*the length and offset found for the current position*/ + length = 0; + offset = 0; + + hashpos = hash->chain[wpos]; + + lastptr = &in[insize < pos + MAX_SUPPORTED_DEFLATE_LENGTH ? insize : pos + MAX_SUPPORTED_DEFLATE_LENGTH]; + + /*search for the longest string*/ + prev_offset = 0; + for(;;) + { + if(chainlength++ >= maxchainlength) break; + current_offset = hashpos <= wpos ? wpos - hashpos : wpos - hashpos + windowsize; + + if(current_offset < prev_offset) break; /*stop when went completely around the circular buffer*/ + prev_offset = current_offset; + if(current_offset > 0) + { + /*test the next characters*/ + foreptr = &in[pos]; + backptr = &in[pos - current_offset]; + + /*common case in PNGs is lots of zeros. Quickly skip over them as a speedup*/ + if(numzeros >= 3) + { + unsigned skip = hash->zeros[hashpos]; + if(skip > numzeros) skip = numzeros; + backptr += skip; + foreptr += skip; + } + + while(foreptr != lastptr && *backptr == *foreptr) /*maximum supported length by deflate is max length*/ + { + ++backptr; + ++foreptr; + } + current_length = (unsigned)(foreptr - &in[pos]); + + if(current_length > length) + { + length = current_length; /*the longest length*/ + offset = current_offset; /*the offset that is related to this longest length*/ + /*jump out once a length of max length is found (speed gain). This also jumps + out if length is MAX_SUPPORTED_DEFLATE_LENGTH*/ + if(current_length >= nicematch) break; + } + } + + if(hashpos == hash->chain[hashpos]) break; + + if(numzeros >= 3 && length > numzeros) { + hashpos = hash->chainz[hashpos]; + if(hash->zeros[hashpos] != numzeros) break; + } else { + hashpos = hash->chain[hashpos]; + /*outdated hash value, happens if particular value was not encountered in whole last window*/ + if(hash->val[hashpos] != (int)hashval) break; + } + } + + if(lazymatching) + { + if(!lazy && length >= 3 && length <= maxlazymatch && length < MAX_SUPPORTED_DEFLATE_LENGTH) + { + lazy = 1; + lazylength = length; + lazyoffset = offset; + continue; /*try the next byte*/ + } + if(lazy) + { + lazy = 0; + if(pos == 0) ERROR_BREAK(81); + if(length > lazylength + 1) + { + /*push the previous character as literal*/ + if(!uivector_push_back(out, in[pos - 1])) ERROR_BREAK(83 /*alloc fail*/); + } + else + { + length = lazylength; + offset = lazyoffset; + hash->head[hashval] = -1; /*the same hashchain update will be done, this ensures no wrong alteration*/ + hash->headz[numzeros] = -1; /*idem*/ + pos--; + } + } + } + if(length >= 3 && offset > windowsize) ERROR_BREAK(86 /*too big (or overflown negative) offset*/); + + /*encode it as length/distance pair or literal value*/ + if(length < 3) /*only lengths of 3 or higher are supported as length/distance pair*/ + { + if(!uivector_push_back(out, in[pos])) ERROR_BREAK(83 /*alloc fail*/); + } + else if(length < minmatch || (length == 3 && offset > 4096)) + { + /*compensate for the fact that longer offsets have more extra bits, a + length of only 3 may be not worth it then*/ + if(!uivector_push_back(out, in[pos])) ERROR_BREAK(83 /*alloc fail*/); + } + else + { + addLengthDistance(out, length, offset); + for(i = 1; i < length; i++) + { + pos++; + wpos = pos & (windowsize - 1); + hashval = getHash(in, insize, pos); + if(usezeros && hashval == 0) + { + if (numzeros == 0) numzeros = countZeros(in, insize, pos); + else if (pos + numzeros > insize || in[pos + numzeros - 1] != 0) numzeros--; + } + else + { + numzeros = 0; + } + updateHashChain(hash, wpos, hashval, numzeros); + } + } + } /*end of the loop through each character of input*/ + + return error; +} + +/* /////////////////////////////////////////////////////////////////////////// */ + +static unsigned deflateNoCompression(ucvector* out, const unsigned char* data, size_t datasize) +{ + /*non compressed deflate block data: 1 bit BFINAL,2 bits BTYPE,(5 bits): it jumps to start of next byte, + 2 bytes LEN, 2 bytes NLEN, LEN bytes literal DATA*/ + + size_t i, j, numdeflateblocks = (datasize + 65534) / 65535; + unsigned datapos = 0; + for(i = 0; i < numdeflateblocks; i++) + { + unsigned BFINAL, BTYPE, LEN, NLEN; + unsigned char firstbyte; + + BFINAL = (i == numdeflateblocks - 1); + BTYPE = 0; + + firstbyte = (unsigned char)(BFINAL + ((BTYPE & 1) << 1) + ((BTYPE & 2) << 1)); + ucvector_push_back(out, firstbyte); + + LEN = 65535; + if(datasize - datapos < 65535) LEN = (unsigned)datasize - datapos; + NLEN = 65535 - LEN; + + ucvector_push_back(out, (unsigned char)(LEN % 256)); + ucvector_push_back(out, (unsigned char)(LEN / 256)); + ucvector_push_back(out, (unsigned char)(NLEN % 256)); + ucvector_push_back(out, (unsigned char)(NLEN / 256)); + + /*Decompressed data*/ + for(j = 0; j < 65535 && datapos < datasize; j++) + { + ucvector_push_back(out, data[datapos++]); + } + } + + return 0; +} + +/* +write the lz77-encoded data, which has lit, len and dist codes, to compressed stream using huffman trees. +tree_ll: the tree for lit and len codes. +tree_d: the tree for distance codes. +*/ +static void writeLZ77data(size_t* bp, ucvector* out, const uivector* lz77_encoded, + const HuffmanTree* tree_ll, const HuffmanTree* tree_d) +{ + size_t i = 0; + for(i = 0; i < lz77_encoded->size; i++) + { + unsigned val = lz77_encoded->data[i]; + addHuffmanSymbol(bp, out, HuffmanTree_getCode(tree_ll, val), HuffmanTree_getLength(tree_ll, val)); + if(val > 256) /*for a length code, 3 more things have to be added*/ + { + unsigned length_index = val - FIRST_LENGTH_CODE_INDEX; + unsigned n_length_extra_bits = LENGTHEXTRA[length_index]; + unsigned length_extra_bits = lz77_encoded->data[++i]; + + unsigned distance_code = lz77_encoded->data[++i]; + + unsigned distance_index = distance_code; + unsigned n_distance_extra_bits = DISTANCEEXTRA[distance_index]; + unsigned distance_extra_bits = lz77_encoded->data[++i]; + + addBitsToStream(bp, out, length_extra_bits, n_length_extra_bits); + addHuffmanSymbol(bp, out, HuffmanTree_getCode(tree_d, distance_code), + HuffmanTree_getLength(tree_d, distance_code)); + addBitsToStream(bp, out, distance_extra_bits, n_distance_extra_bits); + } + } +} + +/*Deflate for a block of type "dynamic", that is, with freely, optimally, created huffman trees*/ +static unsigned deflateDynamic(ucvector* out, size_t* bp, Hash* hash, + const unsigned char* data, size_t datapos, size_t dataend, + const LodePNGCompressSettings* settings, unsigned final) +{ + unsigned error = 0; + + /* + A block is compressed as follows: The PNG data is lz77 encoded, resulting in + literal bytes and length/distance pairs. This is then huffman compressed with + two huffman trees. One huffman tree is used for the lit and len values ("ll"), + another huffman tree is used for the dist values ("d"). These two trees are + stored using their code lengths, and to compress even more these code lengths + are also run-length encoded and huffman compressed. This gives a huffman tree + of code lengths "cl". The code lenghts used to describe this third tree are + the code length code lengths ("clcl"). + */ + + /*The lz77 encoded data, represented with integers since there will also be length and distance codes in it*/ + uivector lz77_encoded; + HuffmanTree tree_ll; /*tree for lit,len values*/ + HuffmanTree tree_d; /*tree for distance codes*/ + HuffmanTree tree_cl; /*tree for encoding the code lengths representing tree_ll and tree_d*/ + uivector frequencies_ll; /*frequency of lit,len codes*/ + uivector frequencies_d; /*frequency of dist codes*/ + uivector frequencies_cl; /*frequency of code length codes*/ + uivector bitlen_lld; /*lit,len,dist code lenghts (int bits), literally (without repeat codes).*/ + uivector bitlen_lld_e; /*bitlen_lld encoded with repeat codes (this is a rudemtary run length compression)*/ + /*bitlen_cl is the code length code lengths ("clcl"). The bit lengths of codes to represent tree_cl + (these are written as is in the file, it would be crazy to compress these using yet another huffman + tree that needs to be represented by yet another set of code lengths)*/ + uivector bitlen_cl; + size_t datasize = dataend - datapos; + + /* + Due to the huffman compression of huffman tree representations ("two levels"), there are some anologies: + bitlen_lld is to tree_cl what data is to tree_ll and tree_d. + bitlen_lld_e is to bitlen_lld what lz77_encoded is to data. + bitlen_cl is to bitlen_lld_e what bitlen_lld is to lz77_encoded. + */ + + unsigned BFINAL = final; + size_t numcodes_ll, numcodes_d, i; + unsigned HLIT, HDIST, HCLEN; + + uivector_init(&lz77_encoded); + HuffmanTree_init(&tree_ll); + HuffmanTree_init(&tree_d); + HuffmanTree_init(&tree_cl); + uivector_init(&frequencies_ll); + uivector_init(&frequencies_d); + uivector_init(&frequencies_cl); + uivector_init(&bitlen_lld); + uivector_init(&bitlen_lld_e); + uivector_init(&bitlen_cl); + + /*This while loop never loops due to a break at the end, it is here to + allow breaking out of it to the cleanup phase on error conditions.*/ + while(!error) + { + if(settings->use_lz77) + { + error = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend, settings->windowsize, + settings->minmatch, settings->nicematch, settings->lazymatching); + if(error) break; + } + else + { + if(!uivector_resize(&lz77_encoded, datasize)) ERROR_BREAK(83 /*alloc fail*/); + for(i = datapos; i < dataend; i++) lz77_encoded.data[i] = data[i]; /*no LZ77, but still will be Huffman compressed*/ + } + + if(!uivector_resizev(&frequencies_ll, 286, 0)) ERROR_BREAK(83 /*alloc fail*/); + if(!uivector_resizev(&frequencies_d, 30, 0)) ERROR_BREAK(83 /*alloc fail*/); + + /*Count the frequencies of lit, len and dist codes*/ + for(i = 0; i < lz77_encoded.size; i++) + { + unsigned symbol = lz77_encoded.data[i]; + frequencies_ll.data[symbol]++; + if(symbol > 256) + { + unsigned dist = lz77_encoded.data[i + 2]; + frequencies_d.data[dist]++; + i += 3; + } + } + frequencies_ll.data[256] = 1; /*there will be exactly 1 end code, at the end of the block*/ + + /*Make both huffman trees, one for the lit and len codes, one for the dist codes*/ + error = HuffmanTree_makeFromFrequencies(&tree_ll, frequencies_ll.data, 257, frequencies_ll.size, 15); + if(error) break; + /*2, not 1, is chosen for mincodes: some buggy PNG decoders require at least 2 symbols in the dist tree*/ + error = HuffmanTree_makeFromFrequencies(&tree_d, frequencies_d.data, 2, frequencies_d.size, 15); + if(error) break; + + numcodes_ll = tree_ll.numcodes; if(numcodes_ll > 286) numcodes_ll = 286; + numcodes_d = tree_d.numcodes; if(numcodes_d > 30) numcodes_d = 30; + /*store the code lengths of both generated trees in bitlen_lld*/ + for(i = 0; i < numcodes_ll; i++) uivector_push_back(&bitlen_lld, HuffmanTree_getLength(&tree_ll, (unsigned)i)); + for(i = 0; i < numcodes_d; i++) uivector_push_back(&bitlen_lld, HuffmanTree_getLength(&tree_d, (unsigned)i)); + + /*run-length compress bitlen_ldd into bitlen_lld_e by using repeat codes 16 (copy length 3-6 times), + 17 (3-10 zeroes), 18 (11-138 zeroes)*/ + for(i = 0; i < (unsigned)bitlen_lld.size; i++) + { + unsigned j = 0; /*amount of repititions*/ + while(i + j + 1 < (unsigned)bitlen_lld.size && bitlen_lld.data[i + j + 1] == bitlen_lld.data[i]) j++; + + if(bitlen_lld.data[i] == 0 && j >= 2) /*repeat code for zeroes*/ + { + j++; /*include the first zero*/ + if(j <= 10) /*repeat code 17 supports max 10 zeroes*/ + { + uivector_push_back(&bitlen_lld_e, 17); + uivector_push_back(&bitlen_lld_e, j - 3); + } + else /*repeat code 18 supports max 138 zeroes*/ + { + if(j > 138) j = 138; + uivector_push_back(&bitlen_lld_e, 18); + uivector_push_back(&bitlen_lld_e, j - 11); + } + i += (j - 1); + } + else if(j >= 3) /*repeat code for value other than zero*/ + { + size_t k; + unsigned num = j / 6, rest = j % 6; + uivector_push_back(&bitlen_lld_e, bitlen_lld.data[i]); + for(k = 0; k < num; k++) + { + uivector_push_back(&bitlen_lld_e, 16); + uivector_push_back(&bitlen_lld_e, 6 - 3); + } + if(rest >= 3) + { + uivector_push_back(&bitlen_lld_e, 16); + uivector_push_back(&bitlen_lld_e, rest - 3); + } + else j -= rest; + i += j; + } + else /*too short to benefit from repeat code*/ + { + uivector_push_back(&bitlen_lld_e, bitlen_lld.data[i]); + } + } + + /*generate tree_cl, the huffmantree of huffmantrees*/ + + if(!uivector_resizev(&frequencies_cl, NUM_CODE_LENGTH_CODES, 0)) ERROR_BREAK(83 /*alloc fail*/); + for(i = 0; i < bitlen_lld_e.size; i++) + { + frequencies_cl.data[bitlen_lld_e.data[i]]++; + /*after a repeat code come the bits that specify the number of repetitions, + those don't need to be in the frequencies_cl calculation*/ + if(bitlen_lld_e.data[i] >= 16) i++; + } + + error = HuffmanTree_makeFromFrequencies(&tree_cl, frequencies_cl.data, + frequencies_cl.size, frequencies_cl.size, 7); + if(error) break; + + if(!uivector_resize(&bitlen_cl, tree_cl.numcodes)) ERROR_BREAK(83 /*alloc fail*/); + for(i = 0; i < tree_cl.numcodes; i++) + { + /*lenghts of code length tree is in the order as specified by deflate*/ + bitlen_cl.data[i] = HuffmanTree_getLength(&tree_cl, CLCL_ORDER[i]); + } + while(bitlen_cl.data[bitlen_cl.size - 1] == 0 && bitlen_cl.size > 4) + { + /*remove zeros at the end, but minimum size must be 4*/ + if(!uivector_resize(&bitlen_cl, bitlen_cl.size - 1)) ERROR_BREAK(83 /*alloc fail*/); + } + if(error) break; + + /* + Write everything into the output + + After the BFINAL and BTYPE, the dynamic block consists out of the following: + - 5 bits HLIT, 5 bits HDIST, 4 bits HCLEN + - (HCLEN+4)*3 bits code lengths of code length alphabet + - HLIT + 257 code lenghts of lit/length alphabet (encoded using the code length + alphabet, + possible repetition codes 16, 17, 18) + - HDIST + 1 code lengths of distance alphabet (encoded using the code length + alphabet, + possible repetition codes 16, 17, 18) + - compressed data + - 256 (end code) + */ + + /*Write block type*/ + addBitToStream(bp, out, BFINAL); + addBitToStream(bp, out, 0); /*first bit of BTYPE "dynamic"*/ + addBitToStream(bp, out, 1); /*second bit of BTYPE "dynamic"*/ + + /*write the HLIT, HDIST and HCLEN values*/ + HLIT = (unsigned)(numcodes_ll - 257); + HDIST = (unsigned)(numcodes_d - 1); + HCLEN = (unsigned)bitlen_cl.size - 4; + /*trim zeroes for HCLEN. HLIT and HDIST were already trimmed at tree creation*/ + while(!bitlen_cl.data[HCLEN + 4 - 1] && HCLEN > 0) HCLEN--; + addBitsToStream(bp, out, HLIT, 5); + addBitsToStream(bp, out, HDIST, 5); + addBitsToStream(bp, out, HCLEN, 4); + + /*write the code lenghts of the code length alphabet*/ + for(i = 0; i < HCLEN + 4; i++) addBitsToStream(bp, out, bitlen_cl.data[i], 3); + + /*write the lenghts of the lit/len AND the dist alphabet*/ + for(i = 0; i < bitlen_lld_e.size; i++) + { + addHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_cl, bitlen_lld_e.data[i]), + HuffmanTree_getLength(&tree_cl, bitlen_lld_e.data[i])); + /*extra bits of repeat codes*/ + if(bitlen_lld_e.data[i] == 16) addBitsToStream(bp, out, bitlen_lld_e.data[++i], 2); + else if(bitlen_lld_e.data[i] == 17) addBitsToStream(bp, out, bitlen_lld_e.data[++i], 3); + else if(bitlen_lld_e.data[i] == 18) addBitsToStream(bp, out, bitlen_lld_e.data[++i], 7); + } + + /*write the compressed data symbols*/ + writeLZ77data(bp, out, &lz77_encoded, &tree_ll, &tree_d); + /*error: the length of the end code 256 must be larger than 0*/ + if(HuffmanTree_getLength(&tree_ll, 256) == 0) ERROR_BREAK(64); + + /*write the end code*/ + addHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, 256), HuffmanTree_getLength(&tree_ll, 256)); + + break; /*end of error-while*/ + } + + /*cleanup*/ + uivector_cleanup(&lz77_encoded); + HuffmanTree_cleanup(&tree_ll); + HuffmanTree_cleanup(&tree_d); + HuffmanTree_cleanup(&tree_cl); + uivector_cleanup(&frequencies_ll); + uivector_cleanup(&frequencies_d); + uivector_cleanup(&frequencies_cl); + uivector_cleanup(&bitlen_lld_e); + uivector_cleanup(&bitlen_lld); + uivector_cleanup(&bitlen_cl); + + return error; +} + +static unsigned deflateFixed(ucvector* out, size_t* bp, Hash* hash, + const unsigned char* data, + size_t datapos, size_t dataend, + const LodePNGCompressSettings* settings, unsigned final) +{ + HuffmanTree tree_ll; /*tree for literal values and length codes*/ + HuffmanTree tree_d; /*tree for distance codes*/ + + unsigned BFINAL = final; + unsigned error = 0; + size_t i; + + HuffmanTree_init(&tree_ll); + HuffmanTree_init(&tree_d); + + generateFixedLitLenTree(&tree_ll); + generateFixedDistanceTree(&tree_d); + + addBitToStream(bp, out, BFINAL); + addBitToStream(bp, out, 1); /*first bit of BTYPE*/ + addBitToStream(bp, out, 0); /*second bit of BTYPE*/ + + if(settings->use_lz77) /*LZ77 encoded*/ + { + uivector lz77_encoded; + uivector_init(&lz77_encoded); + error = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend, settings->windowsize, + settings->minmatch, settings->nicematch, settings->lazymatching); + if(!error) writeLZ77data(bp, out, &lz77_encoded, &tree_ll, &tree_d); + uivector_cleanup(&lz77_encoded); + } + else /*no LZ77, but still will be Huffman compressed*/ + { + for(i = datapos; i < dataend; i++) + { + addHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, data[i]), HuffmanTree_getLength(&tree_ll, data[i])); + } + } + /*add END code*/ + if(!error) addHuffmanSymbol(bp, out, HuffmanTree_getCode(&tree_ll, 256), HuffmanTree_getLength(&tree_ll, 256)); + + /*cleanup*/ + HuffmanTree_cleanup(&tree_ll); + HuffmanTree_cleanup(&tree_d); + + return error; +} + +static unsigned lodepng_deflatev(ucvector* out, const unsigned char* in, size_t insize, + const LodePNGCompressSettings* settings) +{ + unsigned error = 0; + size_t i, blocksize, numdeflateblocks; + size_t bp = 0; /*the bit pointer*/ + Hash hash; + + if(settings->btype > 2) return 61; + else if(settings->btype == 0) return deflateNoCompression(out, in, insize); + else if(settings->btype == 1) blocksize = insize; + else /*if(settings->btype == 2)*/ + { + blocksize = insize / 8 + 8; + if(blocksize < 65535) blocksize = 65535; + } + + numdeflateblocks = (insize + blocksize - 1) / blocksize; + if(numdeflateblocks == 0) numdeflateblocks = 1; + + error = hash_init(&hash, settings->windowsize); + if(error) return error; + + for(i = 0; i < numdeflateblocks && !error; i++) + { + unsigned final = (i == numdeflateblocks - 1); + size_t start = i * blocksize; + size_t end = start + blocksize; + if(end > insize) end = insize; + + if(settings->btype == 1) error = deflateFixed(out, &bp, &hash, in, start, end, settings, final); + else if(settings->btype == 2) error = deflateDynamic(out, &bp, &hash, in, start, end, settings, final); + } + + hash_cleanup(&hash); + + return error; +} + +unsigned lodepng_deflate(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGCompressSettings* settings) +{ + unsigned error; + ucvector v; + ucvector_init_buffer(&v, *out, *outsize); + error = lodepng_deflatev(&v, in, insize, settings); + *out = v.data; + *outsize = v.size; + return error; +} + +static unsigned deflate(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGCompressSettings* settings) +{ + if(settings->custom_deflate) + { + return settings->custom_deflate(out, outsize, in, insize, settings); + } + else + { + return lodepng_deflate(out, outsize, in, insize, settings); + } +} + +#endif /*LODEPNG_COMPILE_DECODER*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Adler32 */ +/* ////////////////////////////////////////////////////////////////////////// */ + +static unsigned update_adler32(unsigned adler, const unsigned char* data, unsigned len) +{ + unsigned s1 = adler & 0xffff; + unsigned s2 = (adler >> 16) & 0xffff; + + while(len > 0) + { + /*at least 5550 sums can be done before the sums overflow, saving a lot of module divisions*/ + unsigned amount = len > 5550 ? 5550 : len; + len -= amount; + while(amount > 0) + { + s1 += (*data++); + s2 += s1; + amount--; + } + s1 %= 65521; + s2 %= 65521; + } + + return (s2 << 16) | s1; +} + +/*Return the adler32 of the bytes data[0..len-1]*/ +static unsigned adler32(const unsigned char* data, unsigned len) +{ + return update_adler32(1L, data, len); +} + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Zlib / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_DECODER + +unsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize, const unsigned char* in, + size_t insize, const LodePNGDecompressSettings* settings) +{ + unsigned error = 0; + unsigned CM, CINFO, FDICT; + + if(insize < 2) return 53; /*error, size of zlib data too small*/ + /*read information from zlib header*/ + if((in[0] * 256 + in[1]) % 31 != 0) + { + /*error: 256 * in[0] + in[1] must be a multiple of 31, the FCHECK value is supposed to be made that way*/ + return 24; + } + + CM = in[0] & 15; + CINFO = (in[0] >> 4) & 15; + /*FCHECK = in[1] & 31;*/ /*FCHECK is already tested above*/ + FDICT = (in[1] >> 5) & 1; + /*FLEVEL = (in[1] >> 6) & 3;*/ /*FLEVEL is not used here*/ + + if(CM != 8 || CINFO > 7) + { + /*error: only compression method 8: inflate with sliding window of 32k is supported by the PNG spec*/ + return 25; + } + if(FDICT != 0) + { + /*error: the specification of PNG says about the zlib stream: + "The additional flags shall not specify a preset dictionary."*/ + return 26; + } + + error = inflate(out, outsize, in + 2, insize - 2, settings); + if(error) return error; + + if(!settings->ignore_adler32) + { + unsigned ADLER32 = lodepng_read32bitInt(&in[insize - 4]); + unsigned checksum = adler32(*out, (unsigned)(*outsize)); + if(checksum != ADLER32) return 58; /*error, adler checksum not correct, data must be corrupted*/ + } + + return 0; /*no error*/ +} + +static unsigned zlib_decompress(unsigned char** out, size_t* outsize, const unsigned char* in, + size_t insize, const LodePNGDecompressSettings* settings) +{ + if(settings->custom_zlib) + { + return settings->custom_zlib(out, outsize, in, insize, settings); + } + else + { + return lodepng_zlib_decompress(out, outsize, in, insize, settings); + } +} + +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_ENCODER + +unsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in, + size_t insize, const LodePNGCompressSettings* settings) +{ + /*initially, *out must be NULL and outsize 0, if you just give some random *out + that's pointing to a non allocated buffer, this'll crash*/ + ucvector outv; + size_t i; + unsigned error; + unsigned char* deflatedata = 0; + size_t deflatesize = 0; + + unsigned ADLER32; + /*zlib data: 1 byte CMF (CM+CINFO), 1 byte FLG, deflate data, 4 byte ADLER32 checksum of the Decompressed data*/ + unsigned CMF = 120; /*0b01111000: CM 8, CINFO 7. With CINFO 7, any window size up to 32768 can be used.*/ + unsigned FLEVEL = 0; + unsigned FDICT = 0; + unsigned CMFFLG = 256 * CMF + FDICT * 32 + FLEVEL * 64; + unsigned FCHECK = 31 - CMFFLG % 31; + CMFFLG += FCHECK; + + /*ucvector-controlled version of the output buffer, for dynamic array*/ + ucvector_init_buffer(&outv, *out, *outsize); + + ucvector_push_back(&outv, (unsigned char)(CMFFLG / 256)); + ucvector_push_back(&outv, (unsigned char)(CMFFLG % 256)); + + error = deflate(&deflatedata, &deflatesize, in, insize, settings); + + if(!error) + { + ADLER32 = adler32(in, (unsigned)insize); + for(i = 0; i < deflatesize; i++) ucvector_push_back(&outv, deflatedata[i]); + lodepng_free(deflatedata); + lodepng_add32bitInt(&outv, ADLER32); + } + + *out = outv.data; + *outsize = outv.size; + + return error; +} + +/* compress using the default or custom zlib function */ +static unsigned zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in, + size_t insize, const LodePNGCompressSettings* settings) +{ + if(settings->custom_zlib) + { + return settings->custom_zlib(out, outsize, in, insize, settings); + } + else + { + return lodepng_zlib_compress(out, outsize, in, insize, settings); + } +} + +#endif /*LODEPNG_COMPILE_ENCODER*/ + +#else /*no LODEPNG_COMPILE_ZLIB*/ + +#ifdef LODEPNG_COMPILE_DECODER +static unsigned zlib_decompress(unsigned char** out, size_t* outsize, const unsigned char* in, + size_t insize, const LodePNGDecompressSettings* settings) +{ + if (!settings->custom_zlib) return 87; /*no custom zlib function provided */ + return settings->custom_zlib(out, outsize, in, insize, settings); +} +#endif /*LODEPNG_COMPILE_DECODER*/ +#ifdef LODEPNG_COMPILE_ENCODER +static unsigned zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in, + size_t insize, const LodePNGCompressSettings* settings) +{ + if (!settings->custom_zlib) return 87; /*no custom zlib function provided */ + return settings->custom_zlib(out, outsize, in, insize, settings); +} +#endif /*LODEPNG_COMPILE_ENCODER*/ + +#endif /*LODEPNG_COMPILE_ZLIB*/ + +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_ENCODER + +/*this is a good tradeoff between speed and compression ratio*/ +#define DEFAULT_WINDOWSIZE 2048 + +void lodepng_compress_settings_init(LodePNGCompressSettings* settings) +{ + /*compress with dynamic huffman tree (not in the mathematical sense, just not the predefined one)*/ + settings->btype = 2; + settings->use_lz77 = 1; + settings->windowsize = DEFAULT_WINDOWSIZE; + settings->minmatch = 3; + settings->nicematch = 128; + settings->lazymatching = 1; + + settings->custom_zlib = 0; + settings->custom_deflate = 0; + settings->custom_context = 0; +} + +const LodePNGCompressSettings lodepng_default_compress_settings = {2, 1, DEFAULT_WINDOWSIZE, 3, 128, 1, 0, 0, 0}; + + +#endif /*LODEPNG_COMPILE_ENCODER*/ + +#ifdef LODEPNG_COMPILE_DECODER + +void lodepng_decompress_settings_init(LodePNGDecompressSettings* settings) +{ + settings->ignore_adler32 = 0; + + settings->custom_zlib = 0; + settings->custom_inflate = 0; + settings->custom_context = 0; +} + +const LodePNGDecompressSettings lodepng_default_decompress_settings = {0, 0, 0, 0}; + +#endif /*LODEPNG_COMPILE_DECODER*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* // End of Zlib related code. Begin of PNG related code. // */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_PNG + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / CRC32 / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +/* CRC polynomial: 0xedb88320 */ +static unsigned lodepng_crc32_table[256] = { + 0u, 1996959894u, 3993919788u, 2567524794u, 124634137u, 1886057615u, 3915621685u, 2657392035u, + 249268274u, 2044508324u, 3772115230u, 2547177864u, 162941995u, 2125561021u, 3887607047u, 2428444049u, + 498536548u, 1789927666u, 4089016648u, 2227061214u, 450548861u, 1843258603u, 4107580753u, 2211677639u, + 325883990u, 1684777152u, 4251122042u, 2321926636u, 335633487u, 1661365465u, 4195302755u, 2366115317u, + 997073096u, 1281953886u, 3579855332u, 2724688242u, 1006888145u, 1258607687u, 3524101629u, 2768942443u, + 901097722u, 1119000684u, 3686517206u, 2898065728u, 853044451u, 1172266101u, 3705015759u, 2882616665u, + 651767980u, 1373503546u, 3369554304u, 3218104598u, 565507253u, 1454621731u, 3485111705u, 3099436303u, + 671266974u, 1594198024u, 3322730930u, 2970347812u, 795835527u, 1483230225u, 3244367275u, 3060149565u, + 1994146192u, 31158534u, 2563907772u, 4023717930u, 1907459465u, 112637215u, 2680153253u, 3904427059u, + 2013776290u, 251722036u, 2517215374u, 3775830040u, 2137656763u, 141376813u, 2439277719u, 3865271297u, + 1802195444u, 476864866u, 2238001368u, 4066508878u, 1812370925u, 453092731u, 2181625025u, 4111451223u, + 1706088902u, 314042704u, 2344532202u, 4240017532u, 1658658271u, 366619977u, 2362670323u, 4224994405u, + 1303535960u, 984961486u, 2747007092u, 3569037538u, 1256170817u, 1037604311u, 2765210733u, 3554079995u, + 1131014506u, 879679996u, 2909243462u, 3663771856u, 1141124467u, 855842277u, 2852801631u, 3708648649u, + 1342533948u, 654459306u, 3188396048u, 3373015174u, 1466479909u, 544179635u, 3110523913u, 3462522015u, + 1591671054u, 702138776u, 2966460450u, 3352799412u, 1504918807u, 783551873u, 3082640443u, 3233442989u, + 3988292384u, 2596254646u, 62317068u, 1957810842u, 3939845945u, 2647816111u, 81470997u, 1943803523u, + 3814918930u, 2489596804u, 225274430u, 2053790376u, 3826175755u, 2466906013u, 167816743u, 2097651377u, + 4027552580u, 2265490386u, 503444072u, 1762050814u, 4150417245u, 2154129355u, 426522225u, 1852507879u, + 4275313526u, 2312317920u, 282753626u, 1742555852u, 4189708143u, 2394877945u, 397917763u, 1622183637u, + 3604390888u, 2714866558u, 953729732u, 1340076626u, 3518719985u, 2797360999u, 1068828381u, 1219638859u, + 3624741850u, 2936675148u, 906185462u, 1090812512u, 3747672003u, 2825379669u, 829329135u, 1181335161u, + 3412177804u, 3160834842u, 628085408u, 1382605366u, 3423369109u, 3138078467u, 570562233u, 1426400815u, + 3317316542u, 2998733608u, 733239954u, 1555261956u, 3268935591u, 3050360625u, 752459403u, 1541320221u, + 2607071920u, 3965973030u, 1969922972u, 40735498u, 2617837225u, 3943577151u, 1913087877u, 83908371u, + 2512341634u, 3803740692u, 2075208622u, 213261112u, 2463272603u, 3855990285u, 2094854071u, 198958881u, + 2262029012u, 4057260610u, 1759359992u, 534414190u, 2176718541u, 4139329115u, 1873836001u, 414664567u, + 2282248934u, 4279200368u, 1711684554u, 285281116u, 2405801727u, 4167216745u, 1634467795u, 376229701u, + 2685067896u, 3608007406u, 1308918612u, 956543938u, 2808555105u, 3495958263u, 1231636301u, 1047427035u, + 2932959818u, 3654703836u, 1088359270u, 936918000u, 2847714899u, 3736837829u, 1202900863u, 817233897u, + 3183342108u, 3401237130u, 1404277552u, 615818150u, 3134207493u, 3453421203u, 1423857449u, 601450431u, + 3009837614u, 3294710456u, 1567103746u, 711928724u, 3020668471u, 3272380065u, 1510334235u, 755167117u +}; + +/*Return the CRC of the bytes buf[0..len-1].*/ +unsigned lodepng_crc32(const unsigned char* buf, size_t len) +{ + unsigned c = 0xffffffffL; + size_t n; + + for(n = 0; n < len; n++) + { + c = lodepng_crc32_table[(c ^ buf[n]) & 0xff] ^ (c >> 8); + } + return c ^ 0xffffffffL; +} + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Reading and writing single bits and bytes from/to stream for LodePNG / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +static unsigned char readBitFromReversedStream(size_t* bitpointer, const unsigned char* bitstream) +{ + unsigned char result = (unsigned char)((bitstream[(*bitpointer) >> 3] >> (7 - ((*bitpointer) & 0x7))) & 1); + (*bitpointer)++; + return result; +} + +static unsigned readBitsFromReversedStream(size_t* bitpointer, const unsigned char* bitstream, size_t nbits) +{ + unsigned result = 0; + size_t i; + for ( i = 1; i <= nbits; i++ ) + { + result += (unsigned)readBitFromReversedStream( bitpointer, bitstream ) << (nbits - i); + } + return result; +} + +#ifdef LODEPNG_COMPILE_DECODER +static void setBitOfReversedStream0(size_t* bitpointer, unsigned char* bitstream, unsigned char bit) +{ + /*the current bit in bitstream must be 0 for this to work*/ + if(bit) + { + /*earlier bit of huffman code is in a lesser significant bit of an earlier byte*/ + bitstream[(*bitpointer) >> 3] |= (bit << (7 - ((*bitpointer) & 0x7))); + } + (*bitpointer)++; +} +#endif /*LODEPNG_COMPILE_DECODER*/ + +static void setBitOfReversedStream(size_t* bitpointer, unsigned char* bitstream, unsigned char bit) +{ + /*the current bit in bitstream may be 0 or 1 for this to work*/ + if(bit == 0) bitstream[(*bitpointer) >> 3] &= (unsigned char)(~(1 << (7 - ((*bitpointer) & 0x7)))); + else bitstream[(*bitpointer) >> 3] |= (1 << (7 - ((*bitpointer) & 0x7))); + (*bitpointer)++; +} + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / PNG chunks / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +unsigned lodepng_chunk_length(const unsigned char* chunk) +{ + return lodepng_read32bitInt(&chunk[0]); +} + +void lodepng_chunk_type(char type[5], const unsigned char* chunk) +{ + unsigned i; + for(i = 0; i < 4; i++) type[i] = (char)chunk[4 + i]; + type[4] = 0; /*null termination char*/ +} + +unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type) +{ + if(strlen(type) != 4) return 0; + return (chunk[4] == type[0] && chunk[5] == type[1] && chunk[6] == type[2] && chunk[7] == type[3]); +} + +unsigned char lodepng_chunk_ancillary(const unsigned char* chunk) +{ + return((chunk[4] & 32) != 0); +} + +unsigned char lodepng_chunk_private(const unsigned char* chunk) +{ + return((chunk[6] & 32) != 0); +} + +unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk) +{ + return((chunk[7] & 32) != 0); +} + +unsigned char* lodepng_chunk_data(unsigned char* chunk) +{ + return &chunk[8]; +} + +const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk) +{ + return &chunk[8]; +} + +unsigned lodepng_chunk_check_crc(const unsigned char* chunk) +{ + unsigned length = lodepng_chunk_length(chunk); + unsigned CRC = lodepng_read32bitInt(&chunk[length + 8]); + /*the CRC is taken of the data and the 4 chunk type letters, not the length*/ + unsigned checksum = lodepng_crc32(&chunk[4], length + 4); + if(CRC != checksum) return 1; + else return 0; +} + +void lodepng_chunk_generate_crc(unsigned char* chunk) +{ + unsigned length = lodepng_chunk_length(chunk); + unsigned CRC = lodepng_crc32(&chunk[4], length + 4); + lodepng_set32bitInt(chunk + 8 + length, CRC); +} + +unsigned char* lodepng_chunk_next(unsigned char* chunk) +{ + unsigned total_chunk_length = lodepng_chunk_length(chunk) + 12; + return &chunk[total_chunk_length]; +} + +const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk) +{ + unsigned total_chunk_length = lodepng_chunk_length(chunk) + 12; + return &chunk[total_chunk_length]; +} + +unsigned lodepng_chunk_append(unsigned char** out, size_t* outlength, const unsigned char* chunk) +{ + unsigned i; + unsigned total_chunk_length = lodepng_chunk_length(chunk) + 12; + unsigned char *chunk_start, *new_buffer; + size_t new_length = (*outlength) + total_chunk_length; + if(new_length < total_chunk_length || new_length < (*outlength)) return 77; /*integer overflow happened*/ + + new_buffer = (unsigned char*)lodepng_realloc(*out, new_length); + if(!new_buffer) return 83; /*alloc fail*/ + (*out) = new_buffer; + (*outlength) = new_length; + chunk_start = &(*out)[new_length - total_chunk_length]; + + for(i = 0; i < total_chunk_length; i++) chunk_start[i] = chunk[i]; + + return 0; +} + +unsigned lodepng_chunk_create(unsigned char** out, size_t* outlength, unsigned length, + const char* type, const unsigned char* data) +{ + unsigned i; + unsigned char *chunk, *new_buffer; + size_t new_length = (*outlength) + length + 12; + if(new_length < length + 12 || new_length < (*outlength)) return 77; /*integer overflow happened*/ + new_buffer = (unsigned char*)lodepng_realloc(*out, new_length); + if(!new_buffer) return 83; /*alloc fail*/ + (*out) = new_buffer; + (*outlength) = new_length; + chunk = &(*out)[(*outlength) - length - 12]; + + /*1: length*/ + lodepng_set32bitInt(chunk, (unsigned)length); + + /*2: chunk name (4 letters)*/ + chunk[4] = (unsigned char)type[0]; + chunk[5] = (unsigned char)type[1]; + chunk[6] = (unsigned char)type[2]; + chunk[7] = (unsigned char)type[3]; + + /*3: the data*/ + for(i = 0; i < length; i++) chunk[8 + i] = data[i]; + + /*4: CRC (of the chunkname characters and the data)*/ + lodepng_chunk_generate_crc(chunk); + + return 0; +} + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / Color types and such / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +/*return type is a LodePNG error code*/ +static unsigned checkColorValidity(LodePNGColorType colortype, unsigned bd) /*bd = bitdepth*/ +{ + switch(colortype) + { + case 0: if(!(bd == 1 || bd == 2 || bd == 4 || bd == 8 || bd == 16)) return 37; break; /*grey*/ + case 2: if(!( bd == 8 || bd == 16)) return 37; break; /*RGB*/ + case 3: if(!(bd == 1 || bd == 2 || bd == 4 || bd == 8 )) return 37; break; /*palette*/ + case 4: if(!( bd == 8 || bd == 16)) return 37; break; /*grey + alpha*/ + case 6: if(!( bd == 8 || bd == 16)) return 37; break; /*RGBA*/ + default: return 31; + } + return 0; /*allowed color type / bits combination*/ +} + +static unsigned getNumColorChannels(LodePNGColorType colortype) +{ + switch(colortype) + { + case 0: return 1; /*grey*/ + case 2: return 3; /*RGB*/ + case 3: return 1; /*palette*/ + case 4: return 2; /*grey + alpha*/ + case 6: return 4; /*RGBA*/ + } + return 0; /*unexisting color type*/ +} + +static unsigned lodepng_get_bpp_lct(LodePNGColorType colortype, unsigned bitdepth) +{ + /*bits per pixel is amount of channels * bits per channel*/ + return getNumColorChannels(colortype) * bitdepth; +} + +/* ////////////////////////////////////////////////////////////////////////// */ + +void lodepng_color_mode_init(LodePNGColorMode* info) +{ + info->key_defined = 0; + info->key_r = info->key_g = info->key_b = 0; + info->colortype = LCT_RGBA; + info->bitdepth = 8; + info->palette = 0; + info->palettesize = 0; +} + +void lodepng_color_mode_cleanup(LodePNGColorMode* info) +{ + lodepng_palette_clear(info); +} + +unsigned lodepng_color_mode_copy(LodePNGColorMode* dest, const LodePNGColorMode* source) +{ + size_t i; + lodepng_color_mode_cleanup(dest); + *dest = *source; + if(source->palette) + { + dest->palette = (unsigned char*)lodepng_malloc(1024); + if(!dest->palette && source->palettesize) return 83; /*alloc fail*/ + for(i = 0; i < source->palettesize * 4; i++) dest->palette[i] = source->palette[i]; + } + return 0; +} + +static int lodepng_color_mode_equal(const LodePNGColorMode* a, const LodePNGColorMode* b) +{ + size_t i; + if(a->colortype != b->colortype) return 0; + if(a->bitdepth != b->bitdepth) return 0; + if(a->key_defined != b->key_defined) return 0; + if(a->key_defined) + { + if(a->key_r != b->key_r) return 0; + if(a->key_g != b->key_g) return 0; + if(a->key_b != b->key_b) return 0; + } + if(a->palettesize != b->palettesize) return 0; + for(i = 0; i < a->palettesize * 4; i++) + { + if(a->palette[i] != b->palette[i]) return 0; + } + return 1; +} + +void lodepng_palette_clear(LodePNGColorMode* info) +{ + if(info->palette) lodepng_free(info->palette); + info->palette = 0; + info->palettesize = 0; +} + +unsigned lodepng_palette_add(LodePNGColorMode* info, + unsigned char r, unsigned char g, unsigned char b, unsigned char a) +{ + unsigned char* data; + /*the same resize technique as C++ std::vectors is used, and here it's made so that for a palette with + the max of 256 colors, it'll have the exact alloc size*/ + if(!info->palette) /*allocate palette if empty*/ + { + /*room for 256 colors with 4 bytes each*/ + data = (unsigned char*)lodepng_realloc(info->palette, 1024); + if(!data) return 83; /*alloc fail*/ + else info->palette = data; + } + info->palette[4 * info->palettesize + 0] = r; + info->palette[4 * info->palettesize + 1] = g; + info->palette[4 * info->palettesize + 2] = b; + info->palette[4 * info->palettesize + 3] = a; + info->palettesize++; + return 0; +} + +unsigned lodepng_get_bpp(const LodePNGColorMode* info) +{ + /*calculate bits per pixel out of colortype and bitdepth*/ + return lodepng_get_bpp_lct(info->colortype, info->bitdepth); +} + +unsigned lodepng_get_channels(const LodePNGColorMode* info) +{ + return getNumColorChannels(info->colortype); +} + +unsigned lodepng_is_greyscale_type(const LodePNGColorMode* info) +{ + return info->colortype == LCT_GREY || info->colortype == LCT_GREY_ALPHA; +} + +unsigned lodepng_is_alpha_type(const LodePNGColorMode* info) +{ + return (info->colortype & 4) != 0; /*4 or 6*/ +} + +unsigned lodepng_is_palette_type(const LodePNGColorMode* info) +{ + return info->colortype == LCT_PALETTE; +} + +unsigned lodepng_has_palette_alpha(const LodePNGColorMode* info) +{ + size_t i; + for(i = 0; i < info->palettesize; i++) + { + if(info->palette[i * 4 + 3] < 255) return 1; + } + return 0; +} + +unsigned lodepng_can_have_alpha(const LodePNGColorMode* info) +{ + return info->key_defined + || lodepng_is_alpha_type(info) + || lodepng_has_palette_alpha(info); +} + +size_t lodepng_get_raw_size(unsigned w, unsigned h, const LodePNGColorMode* color) +{ + return (w * h * lodepng_get_bpp(color) + 7) / 8; +} + +size_t lodepng_get_raw_size_lct(unsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) +{ + return (w * h * lodepng_get_bpp_lct(colortype, bitdepth) + 7) / 8; +} + + +#ifdef LODEPNG_COMPILE_PNG +#ifdef LODEPNG_COMPILE_DECODER +/*in an idat chunk, each scanline is a multiple of 8 bits, unlike the lodepng output buffer*/ +static size_t lodepng_get_raw_size_idat(unsigned w, unsigned h, const LodePNGColorMode* color) +{ + return h * ((w * lodepng_get_bpp(color) + 7) / 8); +} +#endif /*LODEPNG_COMPILE_DECODER*/ +#endif /*LODEPNG_COMPILE_PNG*/ + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + +static void LodePNGUnknownChunks_init(LodePNGInfo* info) +{ + unsigned i; + for(i = 0; i < 3; i++) info->unknown_chunks_data[i] = 0; + for(i = 0; i < 3; i++) info->unknown_chunks_size[i] = 0; +} + +static void LodePNGUnknownChunks_cleanup(LodePNGInfo* info) +{ + unsigned i; + for(i = 0; i < 3; i++) lodepng_free(info->unknown_chunks_data[i]); +} + +static unsigned LodePNGUnknownChunks_copy(LodePNGInfo* dest, const LodePNGInfo* src) +{ + unsigned i; + + LodePNGUnknownChunks_cleanup(dest); + + for(i = 0; i < 3; i++) + { + size_t j; + dest->unknown_chunks_size[i] = src->unknown_chunks_size[i]; + dest->unknown_chunks_data[i] = (unsigned char*)lodepng_malloc(src->unknown_chunks_size[i]); + if(!dest->unknown_chunks_data[i] && dest->unknown_chunks_size[i]) return 83; /*alloc fail*/ + for(j = 0; j < src->unknown_chunks_size[i]; j++) + { + dest->unknown_chunks_data[i][j] = src->unknown_chunks_data[i][j]; + } + } + + return 0; +} + +/******************************************************************************/ + +static void LodePNGText_init(LodePNGInfo* info) +{ + info->text_num = 0; + info->text_keys = NULL; + info->text_strings = NULL; +} + +static void LodePNGText_cleanup(LodePNGInfo* info) +{ + size_t i; + for(i = 0; i < info->text_num; i++) + { + string_cleanup(&info->text_keys[i]); + string_cleanup(&info->text_strings[i]); + } + lodepng_free(info->text_keys); + lodepng_free(info->text_strings); +} + +static unsigned LodePNGText_copy(LodePNGInfo* dest, const LodePNGInfo* source) +{ + size_t i = 0; + dest->text_keys = 0; + dest->text_strings = 0; + dest->text_num = 0; + for(i = 0; i < source->text_num; i++) + { + CERROR_TRY_RETURN(lodepng_add_text(dest, source->text_keys[i], source->text_strings[i])); + } + return 0; +} + +void lodepng_clear_text(LodePNGInfo* info) +{ + LodePNGText_cleanup(info); +} + +unsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str) +{ + char** new_keys = (char**)(lodepng_realloc(info->text_keys, sizeof(char*) * (info->text_num + 1))); + char** new_strings = (char**)(lodepng_realloc(info->text_strings, sizeof(char*) * (info->text_num + 1))); + if(!new_keys || !new_strings) + { + lodepng_free(new_keys); + lodepng_free(new_strings); + return 83; /*alloc fail*/ + } + + info->text_num++; + info->text_keys = new_keys; + info->text_strings = new_strings; + + string_init(&info->text_keys[info->text_num - 1]); + string_set(&info->text_keys[info->text_num - 1], key); + + string_init(&info->text_strings[info->text_num - 1]); + string_set(&info->text_strings[info->text_num - 1], str); + + return 0; +} + +/******************************************************************************/ + +static void LodePNGIText_init(LodePNGInfo* info) +{ + info->itext_num = 0; + info->itext_keys = NULL; + info->itext_langtags = NULL; + info->itext_transkeys = NULL; + info->itext_strings = NULL; +} + +static void LodePNGIText_cleanup(LodePNGInfo* info) +{ + size_t i; + for(i = 0; i < info->itext_num; i++) + { + string_cleanup(&info->itext_keys[i]); + string_cleanup(&info->itext_langtags[i]); + string_cleanup(&info->itext_transkeys[i]); + string_cleanup(&info->itext_strings[i]); + } + lodepng_free(info->itext_keys); + lodepng_free(info->itext_langtags); + lodepng_free(info->itext_transkeys); + lodepng_free(info->itext_strings); +} + +static unsigned LodePNGIText_copy(LodePNGInfo* dest, const LodePNGInfo* source) +{ + size_t i = 0; + dest->itext_keys = 0; + dest->itext_langtags = 0; + dest->itext_transkeys = 0; + dest->itext_strings = 0; + dest->itext_num = 0; + for(i = 0; i < source->itext_num; i++) + { + CERROR_TRY_RETURN(lodepng_add_itext(dest, source->itext_keys[i], source->itext_langtags[i], + source->itext_transkeys[i], source->itext_strings[i])); + } + return 0; +} + +void lodepng_clear_itext(LodePNGInfo* info) +{ + LodePNGIText_cleanup(info); +} + +unsigned lodepng_add_itext(LodePNGInfo* info, const char* key, const char* langtag, + const char* transkey, const char* str) +{ + char** new_keys = (char**)(lodepng_realloc(info->itext_keys, sizeof(char*) * (info->itext_num + 1))); + char** new_langtags = (char**)(lodepng_realloc(info->itext_langtags, sizeof(char*) * (info->itext_num + 1))); + char** new_transkeys = (char**)(lodepng_realloc(info->itext_transkeys, sizeof(char*) * (info->itext_num + 1))); + char** new_strings = (char**)(lodepng_realloc(info->itext_strings, sizeof(char*) * (info->itext_num + 1))); + if(!new_keys || !new_langtags || !new_transkeys || !new_strings) + { + lodepng_free(new_keys); + lodepng_free(new_langtags); + lodepng_free(new_transkeys); + lodepng_free(new_strings); + return 83; /*alloc fail*/ + } + + info->itext_num++; + info->itext_keys = new_keys; + info->itext_langtags = new_langtags; + info->itext_transkeys = new_transkeys; + info->itext_strings = new_strings; + + string_init(&info->itext_keys[info->itext_num - 1]); + string_set(&info->itext_keys[info->itext_num - 1], key); + + string_init(&info->itext_langtags[info->itext_num - 1]); + string_set(&info->itext_langtags[info->itext_num - 1], langtag); + + string_init(&info->itext_transkeys[info->itext_num - 1]); + string_set(&info->itext_transkeys[info->itext_num - 1], transkey); + + string_init(&info->itext_strings[info->itext_num - 1]); + string_set(&info->itext_strings[info->itext_num - 1], str); + + return 0; +} +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + +void lodepng_info_init(LodePNGInfo* info) +{ + lodepng_color_mode_init(&info->color); + info->interlace_method = 0; + info->compression_method = 0; + info->filter_method = 0; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + info->background_defined = 0; + info->background_r = info->background_g = info->background_b = 0; + + LodePNGText_init(info); + LodePNGIText_init(info); + + info->time_defined = 0; + info->phys_defined = 0; + + LodePNGUnknownChunks_init(info); +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +} + +void lodepng_info_cleanup(LodePNGInfo* info) +{ + lodepng_color_mode_cleanup(&info->color); +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + LodePNGText_cleanup(info); + LodePNGIText_cleanup(info); + + LodePNGUnknownChunks_cleanup(info); +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +} + +unsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source) +{ + lodepng_info_cleanup(dest); + *dest = *source; + lodepng_color_mode_init(&dest->color); + CERROR_TRY_RETURN(lodepng_color_mode_copy(&dest->color, &source->color)); + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + CERROR_TRY_RETURN(LodePNGText_copy(dest, source)); + CERROR_TRY_RETURN(LodePNGIText_copy(dest, source)); + + LodePNGUnknownChunks_init(dest); + CERROR_TRY_RETURN(LodePNGUnknownChunks_copy(dest, source)); +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + return 0; +} + +void lodepng_info_swap(LodePNGInfo* a, LodePNGInfo* b) +{ + LodePNGInfo temp = *a; + *a = *b; + *b = temp; +} + +/* ////////////////////////////////////////////////////////////////////////// */ + +/*index: bitgroup index, bits: bitgroup size(1, 2 or 4), in: bitgroup value, out: octet array to add bits to*/ +static void addColorBits(unsigned char* out, size_t index, unsigned bits, unsigned in) +{ + unsigned m = bits == 1 ? 7 : bits == 2 ? 3 : 1; /*8 / bits - 1*/ + /*p = the partial index in the byte, e.g. with 4 palettebits it is 0 for first half or 1 for second half*/ + unsigned p = index & m; + in &= (1u << bits) - 1u; /*filter out any other bits of the input value*/ + in = in << (bits * (m - p)); + if(p == 0) out[index * bits / 8] = in; + else out[index * bits / 8] |= in; +} + +typedef struct ColorTree ColorTree; + +/* +One node of a color tree +This is the data structure used to count the number of unique colors and to get a palette +index for a color. It's like an octree, but because the alpha channel is used too, each +node has 16 instead of 8 children. +*/ +struct ColorTree +{ + ColorTree* children[16]; /*up to 16 pointers to ColorTree of next level*/ + int index; /*the payload. Only has a meaningful value if this is in the last level*/ +}; + +static void color_tree_init(ColorTree* tree) +{ + int i; + for(i = 0; i < 16; i++) tree->children[i] = 0; + tree->index = -1; +} + +static void color_tree_cleanup(ColorTree* tree) +{ + int i; + for(i = 0; i < 16; i++) + { + if(tree->children[i]) + { + color_tree_cleanup(tree->children[i]); + lodepng_free(tree->children[i]); + } + } +} + +/*returns -1 if color not present, its index otherwise*/ +static int color_tree_get(ColorTree* tree, unsigned char r, unsigned char g, unsigned char b, unsigned char a) +{ + int bit = 0; + for(bit = 0; bit < 8; bit++) + { + int i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1) + 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1); + if(!tree->children[i]) return -1; + else tree = tree->children[i]; + } + return tree ? tree->index : -1; +} + +#ifdef LODEPNG_COMPILE_ENCODER +static int color_tree_has(ColorTree* tree, unsigned char r, unsigned char g, unsigned char b, unsigned char a) +{ + return color_tree_get(tree, r, g, b, a) >= 0; +} +#endif /*LODEPNG_COMPILE_ENCODER*/ + +/*color is not allowed to already exist. +Index should be >= 0 (it's signed to be compatible with using -1 for "doesn't exist")*/ +static void color_tree_add(ColorTree* tree, + unsigned char r, unsigned char g, unsigned char b, unsigned char a, unsigned index) +{ + int bit; + for(bit = 0; bit < 8; bit++) + { + int i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1) + 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1); + if(!tree->children[i]) + { + tree->children[i] = (ColorTree*)lodepng_malloc(sizeof(ColorTree)); + color_tree_init(tree->children[i]); + } + tree = tree->children[i]; + } + tree->index = (int)index; +} + +/*put a pixel, given its RGBA color, into image of any color type*/ +static unsigned rgba8ToPixel(unsigned char* out, size_t i, + const LodePNGColorMode* mode, ColorTree* tree /*for palette*/, + unsigned char r, unsigned char g, unsigned char b, unsigned char a) +{ + if(mode->colortype == LCT_GREY) + { + unsigned char grey = r; /*((unsigned short)r + g + b) / 3*/; + if(mode->bitdepth == 8) out[i] = grey; + else if(mode->bitdepth == 16) out[i * 2 + 0] = out[i * 2 + 1] = grey; + else + { + /*take the most significant bits of grey*/ + grey = (grey >> (8 - mode->bitdepth)) & ((1 << mode->bitdepth) - 1); + addColorBits(out, i, mode->bitdepth, grey); + } + } + else if(mode->colortype == LCT_RGB) + { + if(mode->bitdepth == 8) + { + out[i * 3 + 0] = r; + out[i * 3 + 1] = g; + out[i * 3 + 2] = b; + } + else + { + out[i * 6 + 0] = out[i * 6 + 1] = r; + out[i * 6 + 2] = out[i * 6 + 3] = g; + out[i * 6 + 4] = out[i * 6 + 5] = b; + } + } + else if(mode->colortype == LCT_PALETTE) + { + int index = color_tree_get(tree, r, g, b, a); + if(index < 0) return 82; /*color not in palette*/ + if(mode->bitdepth == 8) out[i] = index; + else addColorBits(out, i, mode->bitdepth, (unsigned)index); + } + else if(mode->colortype == LCT_GREY_ALPHA) + { + unsigned char grey = r; /*((unsigned short)r + g + b) / 3*/; + if(mode->bitdepth == 8) + { + out[i * 2 + 0] = grey; + out[i * 2 + 1] = a; + } + else if(mode->bitdepth == 16) + { + out[i * 4 + 0] = out[i * 4 + 1] = grey; + out[i * 4 + 2] = out[i * 4 + 3] = a; + } + } + else if(mode->colortype == LCT_RGBA) + { + if(mode->bitdepth == 8) + { + out[i * 4 + 0] = r; + out[i * 4 + 1] = g; + out[i * 4 + 2] = b; + out[i * 4 + 3] = a; + } + else + { + out[i * 8 + 0] = out[i * 8 + 1] = r; + out[i * 8 + 2] = out[i * 8 + 3] = g; + out[i * 8 + 4] = out[i * 8 + 5] = b; + out[i * 8 + 6] = out[i * 8 + 7] = a; + } + } + + return 0; /*no error*/ +} + +/*put a pixel, given its RGBA16 color, into image of any color 16-bitdepth type*/ +static void rgba16ToPixel(unsigned char* out, size_t i, + const LodePNGColorMode* mode, + unsigned short r, unsigned short g, unsigned short b, unsigned short a) +{ + if(mode->colortype == LCT_GREY) + { + unsigned short grey = r; /*((unsigned)r + g + b) / 3*/; + out[i * 2 + 0] = (grey >> 8) & 255; + out[i * 2 + 1] = grey & 255; + } + else if(mode->colortype == LCT_RGB) + { + out[i * 6 + 0] = (r >> 8) & 255; + out[i * 6 + 1] = r & 255; + out[i * 6 + 2] = (g >> 8) & 255; + out[i * 6 + 3] = g & 255; + out[i * 6 + 4] = (b >> 8) & 255; + out[i * 6 + 5] = b & 255; + } + else if(mode->colortype == LCT_GREY_ALPHA) + { + unsigned short grey = r; /*((unsigned)r + g + b) / 3*/; + out[i * 4 + 0] = (grey >> 8) & 255; + out[i * 4 + 1] = grey & 255; + out[i * 4 + 2] = (a >> 8) & 255; + out[i * 4 + 3] = a & 255; + } + else if(mode->colortype == LCT_RGBA) + { + out[i * 8 + 0] = (r >> 8) & 255; + out[i * 8 + 1] = r & 255; + out[i * 8 + 2] = (g >> 8) & 255; + out[i * 8 + 3] = g & 255; + out[i * 8 + 4] = (b >> 8) & 255; + out[i * 8 + 5] = b & 255; + out[i * 8 + 6] = (a >> 8) & 255; + out[i * 8 + 7] = a & 255; + } +} + +/*Get RGBA8 color of pixel with index i (y * width + x) from the raw image with given color type.*/ +static void getPixelColorRGBA8(unsigned char* r, unsigned char* g, + unsigned char* b, unsigned char* a, + const unsigned char* in, size_t i, + const LodePNGColorMode* mode) +{ + if(mode->colortype == LCT_GREY) + { + if(mode->bitdepth == 8) + { + *r = *g = *b = in[i]; + if(mode->key_defined && *r == mode->key_r) *a = 0; + else *a = 255; + } + else if(mode->bitdepth == 16) + { + *r = *g = *b = in[i * 2 + 0]; + if(mode->key_defined && 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r) *a = 0; + else *a = 255; + } + else + { + unsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/ + size_t j = i * mode->bitdepth; + unsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth); + *r = *g = *b = (value * 255) / highest; + if(mode->key_defined && value == mode->key_r) *a = 0; + else *a = 255; + } + } + else if(mode->colortype == LCT_RGB) + { + if(mode->bitdepth == 8) + { + *r = in[i * 3 + 0]; *g = in[i * 3 + 1]; *b = in[i * 3 + 2]; + if(mode->key_defined && *r == mode->key_r && *g == mode->key_g && *b == mode->key_b) *a = 0; + else *a = 255; + } + else + { + *r = in[i * 6 + 0]; + *g = in[i * 6 + 2]; + *b = in[i * 6 + 4]; + if(mode->key_defined && 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r + && 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g + && 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b) *a = 0; + else *a = 255; + } + } + else if(mode->colortype == LCT_PALETTE) + { + unsigned index; + if(mode->bitdepth == 8) index = in[i]; + else + { + size_t j = i * mode->bitdepth; + index = readBitsFromReversedStream(&j, in, mode->bitdepth); + } + + if(index >= mode->palettesize) + { + /*This is an error according to the PNG spec, but common PNG decoders make it black instead. + Done here too, slightly faster due to no error handling needed.*/ + *r = *g = *b = 0; + *a = 255; + } + else + { + *r = mode->palette[index * 4 + 0]; + *g = mode->palette[index * 4 + 1]; + *b = mode->palette[index * 4 + 2]; + *a = mode->palette[index * 4 + 3]; + } + } + else if(mode->colortype == LCT_GREY_ALPHA) + { + if(mode->bitdepth == 8) + { + *r = *g = *b = in[i * 2 + 0]; + *a = in[i * 2 + 1]; + } + else + { + *r = *g = *b = in[i * 4 + 0]; + *a = in[i * 4 + 2]; + } + } + else if(mode->colortype == LCT_RGBA) + { + if(mode->bitdepth == 8) + { + *r = in[i * 4 + 0]; + *g = in[i * 4 + 1]; + *b = in[i * 4 + 2]; + *a = in[i * 4 + 3]; + } + else + { + *r = in[i * 8 + 0]; + *g = in[i * 8 + 2]; + *b = in[i * 8 + 4]; + *a = in[i * 8 + 6]; + } + } +} + +/*Similar to getPixelColorRGBA8, but with all the for loops inside of the color +mode test cases, optimized to convert the colors much faster, when converting +to RGBA or RGB with 8 bit per cannel. buffer must be RGBA or RGB output with +enough memory, if has_alpha is true the output is RGBA. mode has the color mode +of the input buffer.*/ +static void getPixelColorsRGBA8(unsigned char* buffer, size_t numpixels, + unsigned has_alpha, const unsigned char* in, + const LodePNGColorMode* mode) +{ + unsigned num_channels = has_alpha ? 4 : 3; + size_t i; + if(mode->colortype == LCT_GREY) + { + if(mode->bitdepth == 8) + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = buffer[1] = buffer[2] = in[i]; + if(has_alpha) buffer[3] = mode->key_defined && in[i] == mode->key_r ? 0 : 255; + } + } + else if(mode->bitdepth == 16) + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = buffer[1] = buffer[2] = in[i * 2]; + if(has_alpha) buffer[3] = mode->key_defined && 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r ? 0 : 255; + } + } + else + { + unsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/ + size_t j = 0; + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + unsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth); + buffer[0] = buffer[1] = buffer[2] = (value * 255) / highest; + if(has_alpha) buffer[3] = mode->key_defined && value == mode->key_r ? 0 : 255; + } + } + } + else if(mode->colortype == LCT_RGB) + { + if(mode->bitdepth == 8) + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = in[i * 3 + 0]; + buffer[1] = in[i * 3 + 1]; + buffer[2] = in[i * 3 + 2]; + if(has_alpha) buffer[3] = mode->key_defined && buffer[0] == mode->key_r + && buffer[1]== mode->key_g && buffer[2] == mode->key_b ? 0 : 255; + } + } + else + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = in[i * 6 + 0]; + buffer[1] = in[i * 6 + 2]; + buffer[2] = in[i * 6 + 4]; + if(has_alpha) buffer[3] = mode->key_defined + && 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r + && 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g + && 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b ? 0 : 255; + } + } + } + else if(mode->colortype == LCT_PALETTE) + { + unsigned index; + size_t j = 0; + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + if(mode->bitdepth == 8) index = in[i]; + else index = readBitsFromReversedStream(&j, in, mode->bitdepth); + + if(index >= mode->palettesize) + { + /*This is an error according to the PNG spec, but most PNG decoders make it black instead. + Done here too, slightly faster due to no error handling needed.*/ + buffer[0] = buffer[1] = buffer[2] = 0; + if(has_alpha) buffer[3] = 255; + } + else + { + buffer[0] = mode->palette[index * 4 + 0]; + buffer[1] = mode->palette[index * 4 + 1]; + buffer[2] = mode->palette[index * 4 + 2]; + if(has_alpha) buffer[3] = mode->palette[index * 4 + 3]; + } + } + } + else if(mode->colortype == LCT_GREY_ALPHA) + { + if(mode->bitdepth == 8) + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = buffer[1] = buffer[2] = in[i * 2 + 0]; + if(has_alpha) buffer[3] = in[i * 2 + 1]; + } + } + else + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = buffer[1] = buffer[2] = in[i * 4 + 0]; + if(has_alpha) buffer[3] = in[i * 4 + 2]; + } + } + } + else if(mode->colortype == LCT_RGBA) + { + if(mode->bitdepth == 8) + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = in[i * 4 + 0]; + buffer[1] = in[i * 4 + 1]; + buffer[2] = in[i * 4 + 2]; + if(has_alpha) buffer[3] = in[i * 4 + 3]; + } + } + else + { + for(i = 0; i < numpixels; i++, buffer += num_channels) + { + buffer[0] = in[i * 8 + 0]; + buffer[1] = in[i * 8 + 2]; + buffer[2] = in[i * 8 + 4]; + if(has_alpha) buffer[3] = in[i * 8 + 6]; + } + } + } +} + +/*Get RGBA16 color of pixel with index i (y * width + x) from the raw image with +given color type, but the given color type must be 16-bit itself.*/ +static void getPixelColorRGBA16(unsigned short* r, unsigned short* g, unsigned short* b, unsigned short* a, + const unsigned char* in, size_t i, const LodePNGColorMode* mode) +{ + if(mode->colortype == LCT_GREY) + { + *r = *g = *b = 256 * in[i * 2 + 0] + in[i * 2 + 1]; + if(mode->key_defined && 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r) *a = 0; + else *a = 65535; + } + else if(mode->colortype == LCT_RGB) + { + *r = 256 * in[i * 6 + 0] + in[i * 6 + 1]; + *g = 256 * in[i * 6 + 2] + in[i * 6 + 3]; + *b = 256 * in[i * 6 + 4] + in[i * 6 + 5]; + if(mode->key_defined && 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r + && 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g + && 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b) *a = 0; + else *a = 65535; + } + else if(mode->colortype == LCT_GREY_ALPHA) + { + *r = *g = *b = 256 * in[i * 4 + 0] + in[i * 4 + 1]; + *a = 256 * in[i * 4 + 2] + in[i * 4 + 3]; + } + else if(mode->colortype == LCT_RGBA) + { + *r = 256 * in[i * 8 + 0] + in[i * 8 + 1]; + *g = 256 * in[i * 8 + 2] + in[i * 8 + 3]; + *b = 256 * in[i * 8 + 4] + in[i * 8 + 5]; + *a = 256 * in[i * 8 + 6] + in[i * 8 + 7]; + } +} + +unsigned lodepng_convert(unsigned char* out, const unsigned char* in, + LodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, + unsigned w, unsigned h) +{ + size_t i; + ColorTree tree; + size_t numpixels = w * h; + + if(lodepng_color_mode_equal(mode_out, mode_in)) + { + size_t numbytes = lodepng_get_raw_size(w, h, mode_in); + for(i = 0; i < numbytes; i++) out[i] = in[i]; + return 0; + } + + if(mode_out->colortype == LCT_PALETTE) + { + size_t palsize = 1u << mode_out->bitdepth; + if(mode_out->palettesize < palsize) palsize = mode_out->palettesize; + color_tree_init(&tree); + for(i = 0; i < palsize; i++) + { + unsigned char* p = &mode_out->palette[i * 4]; + color_tree_add(&tree, p[0], p[1], p[2], p[3], i); + } + } + + if(mode_in->bitdepth == 16 && mode_out->bitdepth == 16) + { + for(i = 0; i < numpixels; i++) + { + unsigned short r = 0, g = 0, b = 0, a = 0; + getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in); + rgba16ToPixel(out, i, mode_out, r, g, b, a); + } + } + else if(mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGBA) + { + getPixelColorsRGBA8(out, numpixels, 1, in, mode_in); + } + else if(mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGB) + { + getPixelColorsRGBA8(out, numpixels, 0, in, mode_in); + } + else + { + unsigned char r = 0, g = 0, b = 0, a = 0; + for(i = 0; i < numpixels; i++) + { + getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode_in); + rgba8ToPixel(out, i, mode_out, &tree, r, g, b, a); + } + } + + if(mode_out->colortype == LCT_PALETTE) + { + color_tree_cleanup(&tree); + } + + return 0; /*no error (this function currently never has one, but maybe OOM detection added later.)*/ +} + +#ifdef LODEPNG_COMPILE_ENCODER + +void lodepng_color_profile_init(LodePNGColorProfile* profile) +{ + profile->colored = 0; + profile->key = 0; + profile->alpha = 0; + profile->key_r = profile->key_g = profile->key_b = 0; + profile->numcolors = 0; + profile->bits = 1; +} + +/*function used for debug purposes with C++*/ +/*void printColorProfile(LodePNGColorProfile* p) +{ + std::cout << "colored: " << (int)p->colored << ", "; + std::cout << "key: " << (int)p->key << ", "; + std::cout << "key_r: " << (int)p->key_r << ", "; + std::cout << "key_g: " << (int)p->key_g << ", "; + std::cout << "key_b: " << (int)p->key_b << ", "; + std::cout << "alpha: " << (int)p->alpha << ", "; + std::cout << "numcolors: " << (int)p->numcolors << ", "; + std::cout << "bits: " << (int)p->bits << std::endl; +}*/ + +/*Returns how many bits needed to represent given value (max 8 bit)*/ +unsigned getValueRequiredBits(unsigned char value) +{ + if(value == 0 || value == 255) return 1; + /*The scaling of 2-bit and 4-bit values uses multiples of 85 and 17*/ + if(value % 17 == 0) return value % 85 == 0 ? 2 : 4; + return 8; +} + +/*profile must already have been inited with mode. +It's ok to set some parameters of profile to done already.*/ +unsigned get_color_profile(LodePNGColorProfile* profile, + const unsigned char* in, unsigned w, unsigned h, + const LodePNGColorMode* mode) +{ + unsigned error = 0; + size_t i; + ColorTree tree; + size_t numpixels = w * h; + + unsigned colored_done = lodepng_is_greyscale_type(mode) ? 1 : 0; + unsigned alpha_done = lodepng_can_have_alpha(mode) ? 0 : 1; + unsigned numcolors_done = 0; + unsigned bpp = lodepng_get_bpp(mode); + unsigned bits_done = bpp == 1 ? 1 : 0; + unsigned maxnumcolors = 257; + unsigned sixteen = 0; + if(bpp <= 8) maxnumcolors = bpp == 1 ? 2 : (bpp == 2 ? 4 : (bpp == 4 ? 16 : 256)); + + color_tree_init(&tree); + + /*Check if the 16-bit input is truly 16-bit*/ + if(mode->bitdepth == 16) + { + unsigned short r, g, b, a; + for(i = 0; i < numpixels; i++) + { + getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode); + if(r % 257u != 0 || g % 257u != 0 || b % 257u != 0 || a % 257u != 0) /*first and second byte differ*/ + { + sixteen = 1; + break; + } + } + } + + if(sixteen) + { + unsigned short r = 0, g = 0, b = 0, a = 0; + profile->bits = 16; + bits_done = numcolors_done = 1; /*counting colors no longer useful, palette doesn't support 16-bit*/ + + for(i = 0; i < numpixels; i++) + { + getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode); + + if(!colored_done && (r != g || r != b)) + { + profile->colored = 1; + colored_done = 1; + } + + if(!alpha_done) + { + unsigned matchkey = (r == profile->key_r && g == profile->key_g && b == profile->key_b); + if(a != 65535 && (a != 0 || (profile->key && !matchkey))) + { + profile->alpha = 1; + alpha_done = 1; + if(profile->bits < 8) profile->bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/ + } + else if(a == 0 && !profile->alpha && !profile->key) + { + profile->key = 1; + profile->key_r = r; + profile->key_g = g; + profile->key_b = b; + } + else if(a == 65535 && profile->key && matchkey) + { + /* Color key cannot be used if an opaque pixel also has that RGB color. */ + profile->alpha = 1; + alpha_done = 1; + } + } + + if(alpha_done && numcolors_done && colored_done && bits_done) break; + } + } + else /* < 16-bit */ + { + for(i = 0; i < numpixels; i++) + { + unsigned char r = 0, g = 0, b = 0, a = 0; + getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode); + + if(!bits_done && profile->bits < 8) + { + /*only r is checked, < 8 bits is only relevant for greyscale*/ + unsigned bits = getValueRequiredBits(r); + if(bits > profile->bits) profile->bits = bits; + } + bits_done = (profile->bits >= bpp); + + if(!colored_done && (r != g || r != b)) + { + profile->colored = 1; + colored_done = 1; + if(profile->bits < 8) profile->bits = 8; /*PNG has no colored modes with less than 8-bit per channel*/ + } + + if(!alpha_done) + { + unsigned matchkey = (r == profile->key_r && g == profile->key_g && b == profile->key_b); + if(a != 255 && (a != 0 || (profile->key && !matchkey))) + { + profile->alpha = 1; + alpha_done = 1; + if(profile->bits < 8) profile->bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/ + } + else if(a == 0 && !profile->alpha && !profile->key) + { + profile->key = 1; + profile->key_r = r; + profile->key_g = g; + profile->key_b = b; + } + else if(a == 255 && profile->key && matchkey) + { + /* Color key cannot be used if an opaque pixel also has that RGB color. */ + profile->alpha = 1; + alpha_done = 1; + if(profile->bits < 8) profile->bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/ + } + } + + if(!numcolors_done) + { + if(!color_tree_has(&tree, r, g, b, a)) + { + color_tree_add(&tree, r, g, b, a, profile->numcolors); + if(profile->numcolors < 256) + { + unsigned char* p = profile->palette; + unsigned n = profile->numcolors; + p[n * 4 + 0] = r; + p[n * 4 + 1] = g; + p[n * 4 + 2] = b; + p[n * 4 + 3] = a; + } + profile->numcolors++; + numcolors_done = profile->numcolors >= maxnumcolors; + } + } + + if(alpha_done && numcolors_done && colored_done && bits_done) break; + } + + /*make the profile's key always 16-bit for consistency - repeat each byte twice*/ + profile->key_r *= 257; + profile->key_g *= 257; + profile->key_b *= 257; + } + + color_tree_cleanup(&tree); + return error; +} + +/*Automatically chooses color type that gives smallest amount of bits in the +output image, e.g. grey if there are only greyscale pixels, palette if there +are less than 256 colors, ... +Updates values of mode with a potentially smaller color model. mode_out should +contain the user chosen color model, but will be overwritten with the new chosen one.*/ +unsigned lodepng_auto_choose_color(LodePNGColorMode* mode_out, + const unsigned char* image, unsigned w, unsigned h, + const LodePNGColorMode* mode_in) +{ + LodePNGColorProfile prof; + unsigned error = 0; + unsigned i, n, palettebits, grey_ok, palette_ok; + + lodepng_color_profile_init(&prof); + error = get_color_profile(&prof, image, w, h, mode_in); + if(error) return error; + mode_out->key_defined = 0; + + if(prof.key && w * h <= 16) prof.alpha = 1; /*too few pixels to justify tRNS chunk overhead*/ + grey_ok = !prof.colored && !prof.alpha; /*grey without alpha, with potentially low bits*/ + n = prof.numcolors; + palettebits = n <= 2 ? 1 : (n <= 4 ? 2 : (n <= 16 ? 4 : 8)); + palette_ok = n <= 256 && (n * 2 < w * h) && prof.bits <= 8; + if(w * h < n * 2) palette_ok = 0; /*don't add palette overhead if image has only a few pixels*/ + if(grey_ok && prof.bits <= palettebits) palette_ok = 0; /*grey is less overhead*/ + + if(palette_ok) + { + unsigned char* p = prof.palette; + lodepng_palette_clear(mode_out); /*remove potential earlier palette*/ + for(i = 0; i < prof.numcolors; i++) + { + error = lodepng_palette_add(mode_out, p[i * 4 + 0], p[i * 4 + 1], p[i * 4 + 2], p[i * 4 + 3]); + if(error) break; + } + + mode_out->colortype = LCT_PALETTE; + mode_out->bitdepth = palettebits; + + if(mode_in->colortype == LCT_PALETTE && mode_in->palettesize >= mode_out->palettesize + && mode_in->bitdepth == mode_out->bitdepth) + { + /*If input should have same palette colors, keep original to preserve its order and prevent conversion*/ + lodepng_color_mode_cleanup(mode_out); + lodepng_color_mode_copy(mode_out, mode_in); + } + } + else /*8-bit or 16-bit per channel*/ + { + mode_out->bitdepth = prof.bits; + mode_out->colortype = prof.alpha ? (prof.colored ? LCT_RGBA : LCT_GREY_ALPHA) + : (prof.colored ? LCT_RGB : LCT_GREY); + + if(prof.key && !prof.alpha) + { + unsigned mask = (1u << mode_out->bitdepth) - 1u; /*profile always uses 16-bit, mask converts it*/ + mode_out->key_r = prof.key_r & mask; + mode_out->key_g = prof.key_g & mask; + mode_out->key_b = prof.key_b & mask; + mode_out->key_defined = 1; + } + } + + return error; +} + +#endif /* #ifdef LODEPNG_COMPILE_ENCODER */ + +/* +Paeth predicter, used by PNG filter type 4 +The parameters are of type short, but should come from unsigned chars, the shorts +are only needed to make the paeth calculation correct. +*/ +static unsigned char paethPredictor(short a, short b, short c) +{ + short pa = abs(b - c); + short pb = abs(a - c); + short pc = abs(a + b - c - c); + + if(pc < pa && pc < pb) return (unsigned char)c; + else if(pb < pa) return (unsigned char)b; + else return (unsigned char)a; +} + +/*shared values used by multiple Adam7 related functions*/ + +static const unsigned ADAM7_IX[7] = { 0, 4, 0, 2, 0, 1, 0 }; /*x start values*/ +static const unsigned ADAM7_IY[7] = { 0, 0, 4, 0, 2, 0, 1 }; /*y start values*/ +static const unsigned ADAM7_DX[7] = { 8, 8, 4, 4, 2, 2, 1 }; /*x delta values*/ +static const unsigned ADAM7_DY[7] = { 8, 8, 8, 4, 4, 2, 2 }; /*y delta values*/ + +/* +Outputs various dimensions and positions in the image related to the Adam7 reduced images. +passw: output containing the width of the 7 passes +passh: output containing the height of the 7 passes +filter_passstart: output containing the index of the start and end of each + reduced image with filter bytes +padded_passstart output containing the index of the start and end of each + reduced image when without filter bytes but with padded scanlines +passstart: output containing the index of the start and end of each reduced + image without padding between scanlines, but still padding between the images +w, h: width and height of non-interlaced image +bpp: bits per pixel +"padded" is only relevant if bpp is less than 8 and a scanline or image does not + end at a full byte +*/ +static void Adam7_getpassvalues(unsigned passw[7], unsigned passh[7], size_t filter_passstart[8], + size_t padded_passstart[8], size_t passstart[8], unsigned w, unsigned h, unsigned bpp) +{ + /*the passstart values have 8 values: the 8th one indicates the byte after the end of the 7th (= last) pass*/ + unsigned i; + + /*calculate width and height in pixels of each pass*/ + for(i = 0; i < 7; i++) + { + passw[i] = (w + ADAM7_DX[i] - ADAM7_IX[i] - 1) / ADAM7_DX[i]; + passh[i] = (h + ADAM7_DY[i] - ADAM7_IY[i] - 1) / ADAM7_DY[i]; + if(passw[i] == 0) passh[i] = 0; + if(passh[i] == 0) passw[i] = 0; + } + + filter_passstart[0] = padded_passstart[0] = passstart[0] = 0; + for(i = 0; i < 7; i++) + { + /*if passw[i] is 0, it's 0 bytes, not 1 (no filtertype-byte)*/ + filter_passstart[i + 1] = filter_passstart[i] + + ((passw[i] && passh[i]) ? passh[i] * (1 + (passw[i] * bpp + 7) / 8) : 0); + /*bits padded if needed to fill full byte at end of each scanline*/ + padded_passstart[i + 1] = padded_passstart[i] + passh[i] * ((passw[i] * bpp + 7) / 8); + /*only padded at end of reduced image*/ + passstart[i + 1] = passstart[i] + (passh[i] * passw[i] * bpp + 7) / 8; + } +} + +#ifdef LODEPNG_COMPILE_DECODER + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / PNG Decoder / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +/*read the information from the header and store it in the LodePNGInfo. return value is error*/ +unsigned lodepng_inspect(unsigned* w, unsigned* h, LodePNGState* state, + const unsigned char* in, size_t insize) +{ + LodePNGInfo* info = &state->info_png; + if(insize == 0 || in == 0) + { + CERROR_RETURN_ERROR(state->error, 48); /*error: the given data is empty*/ + } + if(insize < 29) + { + CERROR_RETURN_ERROR(state->error, 27); /*error: the data length is smaller than the length of a PNG header*/ + } + + /*when decoding a new PNG image, make sure all parameters created after previous decoding are reset*/ + lodepng_info_cleanup(info); + lodepng_info_init(info); + + if(in[0] != 137 || in[1] != 80 || in[2] != 78 || in[3] != 71 + || in[4] != 13 || in[5] != 10 || in[6] != 26 || in[7] != 10) + { + CERROR_RETURN_ERROR(state->error, 28); /*error: the first 8 bytes are not the correct PNG signature*/ + } + if(in[12] != 'I' || in[13] != 'H' || in[14] != 'D' || in[15] != 'R') + { + CERROR_RETURN_ERROR(state->error, 29); /*error: it doesn't start with a IHDR chunk!*/ + } + + /*read the values given in the header*/ + *w = lodepng_read32bitInt(&in[16]); + *h = lodepng_read32bitInt(&in[20]); + info->color.bitdepth = in[24]; + info->color.colortype = (LodePNGColorType)in[25]; + info->compression_method = in[26]; + info->filter_method = in[27]; + info->interlace_method = in[28]; + + if(!state->decoder.ignore_crc) + { + unsigned CRC = lodepng_read32bitInt(&in[29]); + unsigned checksum = lodepng_crc32(&in[12], 17); + if(CRC != checksum) + { + CERROR_RETURN_ERROR(state->error, 57); /*invalid CRC*/ + } + } + + /*error: only compression method 0 is allowed in the specification*/ + if(info->compression_method != 0) CERROR_RETURN_ERROR(state->error, 32); + /*error: only filter method 0 is allowed in the specification*/ + if(info->filter_method != 0) CERROR_RETURN_ERROR(state->error, 33); + /*error: only interlace methods 0 and 1 exist in the specification*/ + if(info->interlace_method > 1) CERROR_RETURN_ERROR(state->error, 34); + + state->error = checkColorValidity(info->color.colortype, info->color.bitdepth); + return state->error; +} + +static unsigned unfilterScanline(unsigned char* recon, const unsigned char* scanline, const unsigned char* precon, + size_t bytewidth, unsigned char filterType, size_t length) +{ + /* + For PNG filter method 0 + unfilter a PNG image scanline by scanline. when the pixels are smaller than 1 byte, + the filter works byte per byte (bytewidth = 1) + precon is the previous unfiltered scanline, recon the result, scanline the current one + the incoming scanlines do NOT include the filtertype byte, that one is given in the parameter filterType instead + recon and scanline MAY be the same memory address! precon must be disjoint. + */ + + size_t i; + switch(filterType) + { + case 0: + for(i = 0; i < length; i++) recon[i] = scanline[i]; + break; + case 1: + for(i = 0; i < bytewidth; i++) recon[i] = scanline[i]; + for(i = bytewidth; i < length; i++) recon[i] = scanline[i] + recon[i - bytewidth]; + break; + case 2: + if(precon) + { + for(i = 0; i < length; i++) recon[i] = scanline[i] + precon[i]; + } + else + { + for(i = 0; i < length; i++) recon[i] = scanline[i]; + } + break; + case 3: + if(precon) + { + for(i = 0; i < bytewidth; i++) recon[i] = scanline[i] + precon[i] / 2; + for(i = bytewidth; i < length; i++) recon[i] = scanline[i] + ((recon[i - bytewidth] + precon[i]) / 2); + } + else + { + for(i = 0; i < bytewidth; i++) recon[i] = scanline[i]; + for(i = bytewidth; i < length; i++) recon[i] = scanline[i] + recon[i - bytewidth] / 2; + } + break; + case 4: + if(precon) + { + for(i = 0; i < bytewidth; i++) + { + recon[i] = (scanline[i] + precon[i]); /*paethPredictor(0, precon[i], 0) is always precon[i]*/ + } + for(i = bytewidth; i < length; i++) + { + recon[i] = (scanline[i] + paethPredictor(recon[i - bytewidth], precon[i], precon[i - bytewidth])); + } + } + else + { + for(i = 0; i < bytewidth; i++) + { + recon[i] = scanline[i]; + } + for(i = bytewidth; i < length; i++) + { + /*paethPredictor(recon[i - bytewidth], 0, 0) is always recon[i - bytewidth]*/ + recon[i] = (scanline[i] + recon[i - bytewidth]); + } + } + break; + default: return 36; /*error: unexisting filter type given*/ + } + return 0; +} + +static unsigned unfilter(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, unsigned bpp) +{ + /* + For PNG filter method 0 + this function unfilters a single image (e.g. without interlacing this is called once, with Adam7 seven times) + out must have enough bytes allocated already, in must have the scanlines + 1 filtertype byte per scanline + w and h are image dimensions or dimensions of reduced image, bpp is bits per pixel + in and out are allowed to be the same memory address (but aren't the same size since in has the extra filter bytes) + */ + + unsigned y; + unsigned char* prevline = 0; + + /*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/ + size_t bytewidth = (bpp + 7) / 8; + size_t linebytes = (w * bpp + 7) / 8; + + for(y = 0; y < h; y++) + { + size_t outindex = linebytes * y; + size_t inindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/ + unsigned char filterType = in[inindex]; + + CERROR_TRY_RETURN(unfilterScanline(&out[outindex], &in[inindex + 1], prevline, bytewidth, filterType, linebytes)); + + prevline = &out[outindex]; + } + + return 0; +} + +/* +in: Adam7 interlaced image, with no padding bits between scanlines, but between + reduced images so that each reduced image starts at a byte. +out: the same pixels, but re-ordered so that they're now a non-interlaced image with size w*h +bpp: bits per pixel +out has the following size in bits: w * h * bpp. +in is possibly bigger due to padding bits between reduced images. +out must be big enough AND must be 0 everywhere if bpp < 8 in the current implementation +(because that's likely a little bit faster) +NOTE: comments about padding bits are only relevant if bpp < 8 +*/ +static void Adam7_deinterlace(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, unsigned bpp) +{ + unsigned passw[7], passh[7]; + size_t filter_passstart[8], padded_passstart[8], passstart[8]; + unsigned i; + + Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp); + + if(bpp >= 8) + { + for(i = 0; i < 7; i++) + { + unsigned x, y, b; + size_t bytewidth = bpp / 8; + for(y = 0; y < passh[i]; y++) + for(x = 0; x < passw[i]; x++) + { + size_t pixelinstart = passstart[i] + (y * passw[i] + x) * bytewidth; + size_t pixeloutstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w + ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth; + for(b = 0; b < bytewidth; b++) + { + out[pixeloutstart + b] = in[pixelinstart + b]; + } + } + } + } + else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/ + { + for(i = 0; i < 7; i++) + { + unsigned x, y, b; + unsigned ilinebits = bpp * passw[i]; + unsigned olinebits = bpp * w; + size_t obp, ibp; /*bit pointers (for out and in buffer)*/ + for(y = 0; y < passh[i]; y++) + for(x = 0; x < passw[i]; x++) + { + ibp = (8 * passstart[i]) + (y * ilinebits + x * bpp); + obp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits + (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp; + for(b = 0; b < bpp; b++) + { + unsigned char bit = readBitFromReversedStream(&ibp, in); + /*note that this function assumes the out buffer is completely 0, use setBitOfReversedStream otherwise*/ + setBitOfReversedStream0(&obp, out, bit); + } + } + } + } +} + +static void removePaddingBits(unsigned char* out, const unsigned char* in, + size_t olinebits, size_t ilinebits, unsigned h) +{ + /* + After filtering there are still padding bits if scanlines have non multiple of 8 bit amounts. They need + to be removed (except at last scanline of (Adam7-reduced) image) before working with pure image buffers + for the Adam7 code, the color convert code and the output to the user. + in and out are allowed to be the same buffer, in may also be higher but still overlapping; in must + have >= ilinebits*h bits, out must have >= olinebits*h bits, olinebits must be <= ilinebits + also used to move bits after earlier such operations happened, e.g. in a sequence of reduced images from Adam7 + only useful if (ilinebits - olinebits) is a value in the range 1..7 + */ + unsigned y; + size_t diff = ilinebits - olinebits; + size_t ibp = 0, obp = 0; /*input and output bit pointers*/ + for(y = 0; y < h; y++) + { + size_t x; + for(x = 0; x < olinebits; x++) + { + unsigned char bit = readBitFromReversedStream(&ibp, in); + setBitOfReversedStream(&obp, out, bit); + } + ibp += diff; + } +} + +/*out must be buffer big enough to contain full image, and in must contain the full decompressed data from +the IDAT chunks (with filter index bytes and possible padding bits) +return value is error*/ +static unsigned postProcessScanlines(unsigned char* out, unsigned char* in, + unsigned w, unsigned h, const LodePNGInfo* info_png) +{ + /* + This function converts the filtered-padded-interlaced data into pure 2D image buffer with the PNG's colortype. + Steps: + *) if no Adam7: 1) unfilter 2) remove padding bits (= posible extra bits per scanline if bpp < 8) + *) if adam7: 1) 7x unfilter 2) 7x remove padding bits 3) Adam7_deinterlace + NOTE: the in buffer will be overwritten with intermediate data! + */ + unsigned bpp = lodepng_get_bpp(&info_png->color); + if(bpp == 0) return 31; /*error: invalid colortype*/ + + if(info_png->interlace_method == 0) + { + if(bpp < 8 && w * bpp != ((w * bpp + 7) / 8) * 8) + { + CERROR_TRY_RETURN(unfilter(in, in, w, h, bpp)); + removePaddingBits(out, in, w * bpp, ((w * bpp + 7) / 8) * 8, h); + } + /*we can immediatly filter into the out buffer, no other steps needed*/ + else CERROR_TRY_RETURN(unfilter(out, in, w, h, bpp)); + } + else /*interlace_method is 1 (Adam7)*/ + { + unsigned passw[7], passh[7]; size_t filter_passstart[8], padded_passstart[8], passstart[8]; + unsigned i; + + Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp); + + for(i = 0; i < 7; i++) + { + CERROR_TRY_RETURN(unfilter(&in[padded_passstart[i]], &in[filter_passstart[i]], passw[i], passh[i], bpp)); + /*TODO: possible efficiency improvement: if in this reduced image the bits fit nicely in 1 scanline, + move bytes instead of bits or move not at all*/ + if(bpp < 8) + { + /*remove padding bits in scanlines; after this there still may be padding + bits between the different reduced images: each reduced image still starts nicely at a byte*/ + removePaddingBits(&in[passstart[i]], &in[padded_passstart[i]], passw[i] * bpp, + ((passw[i] * bpp + 7) / 8) * 8, passh[i]); + } + } + + Adam7_deinterlace(out, in, w, h, bpp); + } + + return 0; +} + +static unsigned readChunk_PLTE(LodePNGColorMode* color, const unsigned char* data, size_t chunkLength) +{ + unsigned pos = 0, i; + if(color->palette) lodepng_free(color->palette); + color->palettesize = chunkLength / 3; + color->palette = (unsigned char*)lodepng_malloc(4 * color->palettesize); + if(!color->palette && color->palettesize) + { + color->palettesize = 0; + return 83; /*alloc fail*/ + } + if(color->palettesize > 256) return 38; /*error: palette too big*/ + + for(i = 0; i < color->palettesize; i++) + { + color->palette[4 * i + 0] = data[pos++]; /*R*/ + color->palette[4 * i + 1] = data[pos++]; /*G*/ + color->palette[4 * i + 2] = data[pos++]; /*B*/ + color->palette[4 * i + 3] = 255; /*alpha*/ + } + + return 0; /* OK */ +} + +static unsigned readChunk_tRNS(LodePNGColorMode* color, const unsigned char* data, size_t chunkLength) +{ + unsigned i; + if(color->colortype == LCT_PALETTE) + { + /*error: more alpha values given than there are palette entries*/ + if(chunkLength > color->palettesize) return 38; + + for(i = 0; i < chunkLength; i++) color->palette[4 * i + 3] = data[i]; + } + else if(color->colortype == LCT_GREY) + { + /*error: this chunk must be 2 bytes for greyscale image*/ + if(chunkLength != 2) return 30; + + color->key_defined = 1; + color->key_r = color->key_g = color->key_b = 256u * data[0] + data[1]; + } + else if(color->colortype == LCT_RGB) + { + /*error: this chunk must be 6 bytes for RGB image*/ + if(chunkLength != 6) return 41; + + color->key_defined = 1; + color->key_r = 256u * data[0] + data[1]; + color->key_g = 256u * data[2] + data[3]; + color->key_b = 256u * data[4] + data[5]; + } + else return 42; /*error: tRNS chunk not allowed for other color models*/ + + return 0; /* OK */ +} + + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS +/*background color chunk (bKGD)*/ +static unsigned readChunk_bKGD(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) +{ + if(info->color.colortype == LCT_PALETTE) + { + /*error: this chunk must be 1 byte for indexed color image*/ + if(chunkLength != 1) return 43; + + info->background_defined = 1; + info->background_r = info->background_g = info->background_b = data[0]; + } + else if(info->color.colortype == LCT_GREY || info->color.colortype == LCT_GREY_ALPHA) + { + /*error: this chunk must be 2 bytes for greyscale image*/ + if(chunkLength != 2) return 44; + + info->background_defined = 1; + info->background_r = info->background_g = info->background_b = 256u * data[0] + data[1]; + } + else if(info->color.colortype == LCT_RGB || info->color.colortype == LCT_RGBA) + { + /*error: this chunk must be 6 bytes for greyscale image*/ + if(chunkLength != 6) return 45; + + info->background_defined = 1; + info->background_r = 256u * data[0] + data[1]; + info->background_g = 256u * data[2] + data[3]; + info->background_b = 256u * data[4] + data[5]; + } + + return 0; /* OK */ +} + +/*text chunk (tEXt)*/ +static unsigned readChunk_tEXt(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) +{ + unsigned error = 0; + char *key = 0, *str = 0; + unsigned i; + + while(!error) /*not really a while loop, only used to break on error*/ + { + unsigned length, string2_begin; + + length = 0; + while(length < chunkLength && data[length] != 0) length++; + /*even though it's not allowed by the standard, no error is thrown if + there's no null termination char, if the text is empty*/ + if(length < 1 || length > 79) CERROR_BREAK(error, 89); /*keyword too short or long*/ + + key = (char*)lodepng_malloc(length + 1); + if(!key) CERROR_BREAK(error, 83); /*alloc fail*/ + + key[length] = 0; + for(i = 0; i < length; i++) key[i] = (char)data[i]; + + string2_begin = length + 1; /*skip keyword null terminator*/ + + length = chunkLength < string2_begin ? 0 : chunkLength - string2_begin; + str = (char*)lodepng_malloc(length + 1); + if(!str) CERROR_BREAK(error, 83); /*alloc fail*/ + + str[length] = 0; + for(i = 0; i < length; i++) str[i] = (char)data[string2_begin + i]; + + error = lodepng_add_text(info, key, str); + + break; + } + + lodepng_free(key); + lodepng_free(str); + + return error; +} + +/*compressed text chunk (zTXt)*/ +static unsigned readChunk_zTXt(LodePNGInfo* info, const LodePNGDecompressSettings* zlibsettings, + const unsigned char* data, size_t chunkLength) +{ + unsigned error = 0; + unsigned i; + + unsigned length, string2_begin; + char *key = 0; + ucvector decoded; + + ucvector_init(&decoded); + + while(!error) /*not really a while loop, only used to break on error*/ + { + for(length = 0; length < chunkLength && data[length] != 0; length++) ; + if(length + 2 >= chunkLength) CERROR_BREAK(error, 75); /*no null termination, corrupt?*/ + if(length < 1 || length > 79) CERROR_BREAK(error, 89); /*keyword too short or long*/ + + key = (char*)lodepng_malloc(length + 1); + if(!key) CERROR_BREAK(error, 83); /*alloc fail*/ + + key[length] = 0; + for(i = 0; i < length; i++) key[i] = (char)data[i]; + + if(data[length + 1] != 0) CERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/ + + string2_begin = length + 2; + if(string2_begin > chunkLength) CERROR_BREAK(error, 75); /*no null termination, corrupt?*/ + + length = chunkLength - string2_begin; + /*will fail if zlib error, e.g. if length is too small*/ + error = zlib_decompress(&decoded.data, &decoded.size, + (unsigned char*)(&data[string2_begin]), + length, zlibsettings); + if(error) break; + ucvector_push_back(&decoded, 0); + + error = lodepng_add_text(info, key, (char*)decoded.data); + + break; + } + + lodepng_free(key); + ucvector_cleanup(&decoded); + + return error; +} + +/*international text chunk (iTXt)*/ +static unsigned readChunk_iTXt(LodePNGInfo* info, const LodePNGDecompressSettings* zlibsettings, + const unsigned char* data, size_t chunkLength) +{ + unsigned error = 0; + unsigned i; + + unsigned length, begin, compressed; + char *key = 0, *langtag = 0, *transkey = 0; + ucvector decoded; + ucvector_init(&decoded); + + while(!error) /*not really a while loop, only used to break on error*/ + { + /*Quick check if the chunk length isn't too small. Even without check + it'd still fail with other error checks below if it's too short. This just gives a different error code.*/ + if(chunkLength < 5) CERROR_BREAK(error, 30); /*iTXt chunk too short*/ + + /*read the key*/ + for(length = 0; length < chunkLength && data[length] != 0; length++) ; + if(length + 3 >= chunkLength) CERROR_BREAK(error, 75); /*no null termination char, corrupt?*/ + if(length < 1 || length > 79) CERROR_BREAK(error, 89); /*keyword too short or long*/ + + key = (char*)lodepng_malloc(length + 1); + if(!key) CERROR_BREAK(error, 83); /*alloc fail*/ + + key[length] = 0; + for(i = 0; i < length; i++) key[i] = (char)data[i]; + + /*read the compression method*/ + compressed = data[length + 1]; + if(data[length + 2] != 0) CERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/ + + /*even though it's not allowed by the standard, no error is thrown if + there's no null termination char, if the text is empty for the next 3 texts*/ + + /*read the langtag*/ + begin = length + 3; + length = 0; + for(i = begin; i < chunkLength && data[i] != 0; i++) length++; + + langtag = (char*)lodepng_malloc(length + 1); + if(!langtag) CERROR_BREAK(error, 83); /*alloc fail*/ + + langtag[length] = 0; + for(i = 0; i < length; i++) langtag[i] = (char)data[begin + i]; + + /*read the transkey*/ + begin += length + 1; + length = 0; + for(i = begin; i < chunkLength && data[i] != 0; i++) length++; + + transkey = (char*)lodepng_malloc(length + 1); + if(!transkey) CERROR_BREAK(error, 83); /*alloc fail*/ + + transkey[length] = 0; + for(i = 0; i < length; i++) transkey[i] = (char)data[begin + i]; + + /*read the actual text*/ + begin += length + 1; + + length = chunkLength < begin ? 0 : chunkLength - begin; + + if(compressed) + { + /*will fail if zlib error, e.g. if length is too small*/ + error = zlib_decompress(&decoded.data, &decoded.size, + (unsigned char*)(&data[begin]), + length, zlibsettings); + if(error) break; + if(decoded.allocsize < decoded.size) decoded.allocsize = decoded.size; + ucvector_push_back(&decoded, 0); + } + else + { + if(!ucvector_resize(&decoded, length + 1)) CERROR_BREAK(error, 83 /*alloc fail*/); + + decoded.data[length] = 0; + for(i = 0; i < length; i++) decoded.data[i] = data[begin + i]; + } + + error = lodepng_add_itext(info, key, langtag, transkey, (char*)decoded.data); + + break; + } + + lodepng_free(key); + lodepng_free(langtag); + lodepng_free(transkey); + ucvector_cleanup(&decoded); + + return error; +} + +static unsigned readChunk_tIME(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) +{ + if(chunkLength != 7) return 73; /*invalid tIME chunk size*/ + + info->time_defined = 1; + info->time.year = 256u * data[0] + data[1]; + info->time.month = data[2]; + info->time.day = data[3]; + info->time.hour = data[4]; + info->time.minute = data[5]; + info->time.second = data[6]; + + return 0; /* OK */ +} + +static unsigned readChunk_pHYs(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) +{ + if(chunkLength != 9) return 74; /*invalid pHYs chunk size*/ + + info->phys_defined = 1; + info->phys_x = 16777216u * data[0] + 65536u * data[1] + 256u * data[2] + data[3]; + info->phys_y = 16777216u * data[4] + 65536u * data[5] + 256u * data[6] + data[7]; + info->phys_unit = data[8]; + + return 0; /* OK */ +} +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + +/*read a PNG, the result will be in the same color type as the PNG (hence "generic")*/ +static void decodeGeneric(unsigned char** out, unsigned* w, unsigned* h, + LodePNGState* state, + const unsigned char* in, size_t insize) +{ + unsigned char IEND = 0; + const unsigned char* chunk; + size_t i; + ucvector idat; /*the data from idat chunks*/ + ucvector scanlines; + size_t predict; + + /*for unknown chunk order*/ + unsigned unknown = 0; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + unsigned critical_pos = 1; /*1 = after IHDR, 2 = after PLTE, 3 = after IDAT*/ +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + + /*provide some proper output values if error will happen*/ + *out = 0; + + state->error = lodepng_inspect(w, h, state, in, insize); /*reads header and resets other parameters in state->info_png*/ + if(state->error) return; + + ucvector_init(&idat); + chunk = &in[33]; /*first byte of the first chunk after the header*/ + + /*loop through the chunks, ignoring unknown chunks and stopping at IEND chunk. + IDAT data is put at the start of the in buffer*/ + while(!IEND && !state->error) + { + unsigned chunkLength; + const unsigned char* data; /*the data in the chunk*/ + + /*error: size of the in buffer too small to contain next chunk*/ + if((size_t)((chunk - in) + 12) > insize || chunk < in) CERROR_BREAK(state->error, 30); + + /*length of the data of the chunk, excluding the length bytes, chunk type and CRC bytes*/ + chunkLength = lodepng_chunk_length(chunk); + /*error: chunk length larger than the max PNG chunk size*/ + if(chunkLength > 2147483647) CERROR_BREAK(state->error, 63); + + if((size_t)((chunk - in) + chunkLength + 12) > insize || (chunk + chunkLength + 12) < in) + { + CERROR_BREAK(state->error, 64); /*error: size of the in buffer too small to contain next chunk*/ + } + + data = lodepng_chunk_data_const(chunk); + + /*IDAT chunk, containing compressed image data*/ + if(lodepng_chunk_type_equals(chunk, "IDAT")) + { + size_t oldsize = idat.size; + if(!ucvector_resize(&idat, oldsize + chunkLength)) CERROR_BREAK(state->error, 83 /*alloc fail*/); + for(i = 0; i < chunkLength; i++) idat.data[oldsize + i] = data[i]; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + critical_pos = 3; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + } + /*IEND chunk*/ + else if(lodepng_chunk_type_equals(chunk, "IEND")) + { + IEND = 1; + } + /*palette chunk (PLTE)*/ + else if(lodepng_chunk_type_equals(chunk, "PLTE")) + { + state->error = readChunk_PLTE(&state->info_png.color, data, chunkLength); + if(state->error) break; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + critical_pos = 2; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + } + /*palette transparency chunk (tRNS)*/ + else if(lodepng_chunk_type_equals(chunk, "tRNS")) + { + state->error = readChunk_tRNS(&state->info_png.color, data, chunkLength); + if(state->error) break; + } +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + /*background color chunk (bKGD)*/ + else if(lodepng_chunk_type_equals(chunk, "bKGD")) + { + state->error = readChunk_bKGD(&state->info_png, data, chunkLength); + if(state->error) break; + } + /*text chunk (tEXt)*/ + else if(lodepng_chunk_type_equals(chunk, "tEXt")) + { + if(state->decoder.read_text_chunks) + { + state->error = readChunk_tEXt(&state->info_png, data, chunkLength); + if(state->error) break; + } + } + /*compressed text chunk (zTXt)*/ + else if(lodepng_chunk_type_equals(chunk, "zTXt")) + { + if(state->decoder.read_text_chunks) + { + state->error = readChunk_zTXt(&state->info_png, &state->decoder.zlibsettings, data, chunkLength); + if(state->error) break; + } + } + /*international text chunk (iTXt)*/ + else if(lodepng_chunk_type_equals(chunk, "iTXt")) + { + if(state->decoder.read_text_chunks) + { + state->error = readChunk_iTXt(&state->info_png, &state->decoder.zlibsettings, data, chunkLength); + if(state->error) break; + } + } + else if(lodepng_chunk_type_equals(chunk, "tIME")) + { + state->error = readChunk_tIME(&state->info_png, data, chunkLength); + if(state->error) break; + } + else if(lodepng_chunk_type_equals(chunk, "pHYs")) + { + state->error = readChunk_pHYs(&state->info_png, data, chunkLength); + if(state->error) break; + } +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + else /*it's not an implemented chunk type, so ignore it: skip over the data*/ + { + /*error: unknown critical chunk (5th bit of first byte of chunk type is 0)*/ + if(!lodepng_chunk_ancillary(chunk)) CERROR_BREAK(state->error, 69); + + unknown = 1; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + if(state->decoder.remember_unknown_chunks) + { + state->error = lodepng_chunk_append(&state->info_png.unknown_chunks_data[critical_pos - 1], + &state->info_png.unknown_chunks_size[critical_pos - 1], chunk); + if(state->error) break; + } +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + } + + if(!state->decoder.ignore_crc && !unknown) /*check CRC if wanted, only on known chunk types*/ + { + if(lodepng_chunk_check_crc(chunk)) CERROR_BREAK(state->error, 57); /*invalid CRC*/ + } + + if(!IEND) chunk = lodepng_chunk_next_const(chunk); + } + + ucvector_init(&scanlines); + /*predict output size, to allocate exact size for output buffer to avoid more dynamic allocation. + The prediction is currently not correct for interlaced PNG images.*/ + predict = lodepng_get_raw_size_idat(*w, *h, &state->info_png.color) + *h; + if(!state->error && !ucvector_reserve(&scanlines, predict)) state->error = 83; /*alloc fail*/ + if(!state->error) + { + state->error = zlib_decompress(&scanlines.data, &scanlines.size, idat.data, + idat.size, &state->decoder.zlibsettings); + } + ucvector_cleanup(&idat); + + if(!state->error) + { + ucvector outv; + ucvector_init(&outv); + if(!ucvector_resizev(&outv, + lodepng_get_raw_size(*w, *h, &state->info_png.color), 0)) state->error = 83; /*alloc fail*/ + if(!state->error) state->error = postProcessScanlines(outv.data, scanlines.data, *w, *h, &state->info_png); + *out = outv.data; + } + ucvector_cleanup(&scanlines); +} + +unsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h, + LodePNGState* state, + const unsigned char* in, size_t insize) +{ + *out = 0; + decodeGeneric(out, w, h, state, in, insize); + if(state->error) return state->error; + if(!state->decoder.color_convert || lodepng_color_mode_equal(&state->info_raw, &state->info_png.color)) + { + /*same color type, no copying or converting of data needed*/ + /*store the info_png color settings on the info_raw so that the info_raw still reflects what colortype + the raw image has to the end user*/ + if(!state->decoder.color_convert) + { + state->error = lodepng_color_mode_copy(&state->info_raw, &state->info_png.color); + if(state->error) return state->error; + } + } + else + { + /*color conversion needed; sort of copy of the data*/ + unsigned char* data = *out; + size_t outsize; + + /*TODO: check if this works according to the statement in the documentation: "The converter can convert + from greyscale input color type, to 8-bit greyscale or greyscale with alpha"*/ + if(!(state->info_raw.colortype == LCT_RGB || state->info_raw.colortype == LCT_RGBA) + && !(state->info_raw.bitdepth == 8)) + { + return 56; /*unsupported color mode conversion*/ + } + + outsize = lodepng_get_raw_size(*w, *h, &state->info_raw); + *out = (unsigned char*)lodepng_malloc(outsize); + if(!(*out)) + { + state->error = 83; /*alloc fail*/ + } + else state->error = lodepng_convert(*out, data, &state->info_raw, + &state->info_png.color, *w, *h); + lodepng_free(data); + } + return state->error; +} + +unsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h, const unsigned char* in, + size_t insize, LodePNGColorType colortype, unsigned bitdepth) +{ + unsigned error; + LodePNGState state; + lodepng_state_init(&state); + state.info_raw.colortype = colortype; + state.info_raw.bitdepth = bitdepth; + error = lodepng_decode(out, w, h, &state, in, insize); + lodepng_state_cleanup(&state); + return error; +} + +unsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h, const unsigned char* in, size_t insize) +{ + return lodepng_decode_memory(out, w, h, in, insize, LCT_RGBA, 8); +} + +unsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h, const unsigned char* in, size_t insize) +{ + return lodepng_decode_memory(out, w, h, in, insize, LCT_RGB, 8); +} + +#ifdef LODEPNG_COMPILE_DISK +unsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h, const char* filename, + LodePNGColorType colortype, unsigned bitdepth) +{ + unsigned char* buffer; + size_t buffersize; + unsigned error; + error = lodepng_load_file(&buffer, &buffersize, filename); + if(!error) error = lodepng_decode_memory(out, w, h, buffer, buffersize, colortype, bitdepth); + lodepng_free(buffer); + return error; +} + +unsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h, const char* filename) +{ + return lodepng_decode_file(out, w, h, filename, LCT_RGBA, 8); +} + +unsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h, const char* filename) +{ + return lodepng_decode_file(out, w, h, filename, LCT_RGB, 8); +} +#endif /*LODEPNG_COMPILE_DISK*/ + +void lodepng_decoder_settings_init(LodePNGDecoderSettings* settings) +{ + settings->color_convert = 1; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + settings->read_text_chunks = 1; + settings->remember_unknown_chunks = 0; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + settings->ignore_crc = 0; + lodepng_decompress_settings_init(&settings->zlibsettings); +} + +#endif /*LODEPNG_COMPILE_DECODER*/ + +#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) + +void lodepng_state_init(LodePNGState* state) +{ +#ifdef LODEPNG_COMPILE_DECODER + lodepng_decoder_settings_init(&state->decoder); +#endif /*LODEPNG_COMPILE_DECODER*/ +#ifdef LODEPNG_COMPILE_ENCODER + lodepng_encoder_settings_init(&state->encoder); +#endif /*LODEPNG_COMPILE_ENCODER*/ + lodepng_color_mode_init(&state->info_raw); + lodepng_info_init(&state->info_png); + state->error = 1; +} + +void lodepng_state_cleanup(LodePNGState* state) +{ + lodepng_color_mode_cleanup(&state->info_raw); + lodepng_info_cleanup(&state->info_png); +} + +void lodepng_state_copy(LodePNGState* dest, const LodePNGState* source) +{ + lodepng_state_cleanup(dest); + *dest = *source; + lodepng_color_mode_init(&dest->info_raw); + lodepng_info_init(&dest->info_png); + dest->error = lodepng_color_mode_copy(&dest->info_raw, &source->info_raw); if(dest->error) return; + dest->error = lodepng_info_copy(&dest->info_png, &source->info_png); if(dest->error) return; +} + +#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */ + +#ifdef LODEPNG_COMPILE_ENCODER + +/* ////////////////////////////////////////////////////////////////////////// */ +/* / PNG Encoder / */ +/* ////////////////////////////////////////////////////////////////////////// */ + +/*chunkName must be string of 4 characters*/ +static unsigned addChunk(ucvector* out, const char* chunkName, const unsigned char* data, size_t length) +{ + CERROR_TRY_RETURN(lodepng_chunk_create(&out->data, &out->size, (unsigned)length, chunkName, data)); + out->allocsize = out->size; /*fix the allocsize again*/ + return 0; +} + +static void writeSignature(ucvector* out) +{ + /*8 bytes PNG signature, aka the magic bytes*/ + ucvector_push_back(out, 137); + ucvector_push_back(out, 80); + ucvector_push_back(out, 78); + ucvector_push_back(out, 71); + ucvector_push_back(out, 13); + ucvector_push_back(out, 10); + ucvector_push_back(out, 26); + ucvector_push_back(out, 10); +} + +static unsigned addChunk_IHDR(ucvector* out, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth, unsigned interlace_method) +{ + unsigned error = 0; + ucvector header; + ucvector_init(&header); + + lodepng_add32bitInt(&header, w); /*width*/ + lodepng_add32bitInt(&header, h); /*height*/ + ucvector_push_back(&header, (unsigned char)bitdepth); /*bit depth*/ + ucvector_push_back(&header, (unsigned char)colortype); /*color type*/ + ucvector_push_back(&header, 0); /*compression method*/ + ucvector_push_back(&header, 0); /*filter method*/ + ucvector_push_back(&header, interlace_method); /*interlace method*/ + + error = addChunk(out, "IHDR", header.data, header.size); + ucvector_cleanup(&header); + + return error; +} + +static unsigned addChunk_PLTE(ucvector* out, const LodePNGColorMode* info) +{ + unsigned error = 0; + size_t i; + ucvector PLTE; + ucvector_init(&PLTE); + for(i = 0; i < info->palettesize * 4; i++) + { + /*add all channels except alpha channel*/ + if(i % 4 != 3) ucvector_push_back(&PLTE, info->palette[i]); + } + error = addChunk(out, "PLTE", PLTE.data, PLTE.size); + ucvector_cleanup(&PLTE); + + return error; +} + +static unsigned addChunk_tRNS(ucvector* out, const LodePNGColorMode* info) +{ + unsigned error = 0; + size_t i; + ucvector tRNS; + ucvector_init(&tRNS); + if(info->colortype == LCT_PALETTE) + { + size_t amount = info->palettesize; + /*the tail of palette values that all have 255 as alpha, does not have to be encoded*/ + for(i = info->palettesize; i > 0; i--) + { + if(info->palette[4 * (i - 1) + 3] == 255) amount--; + else break; + } + /*add only alpha channel*/ + for(i = 0; i < amount; i++) ucvector_push_back(&tRNS, info->palette[4 * i + 3]); + } + else if(info->colortype == LCT_GREY) + { + if(info->key_defined) + { + ucvector_push_back(&tRNS, (unsigned char)(info->key_r / 256)); + ucvector_push_back(&tRNS, (unsigned char)(info->key_r % 256)); + } + } + else if(info->colortype == LCT_RGB) + { + if(info->key_defined) + { + ucvector_push_back(&tRNS, (unsigned char)(info->key_r / 256)); + ucvector_push_back(&tRNS, (unsigned char)(info->key_r % 256)); + ucvector_push_back(&tRNS, (unsigned char)(info->key_g / 256)); + ucvector_push_back(&tRNS, (unsigned char)(info->key_g % 256)); + ucvector_push_back(&tRNS, (unsigned char)(info->key_b / 256)); + ucvector_push_back(&tRNS, (unsigned char)(info->key_b % 256)); + } + } + + error = addChunk(out, "tRNS", tRNS.data, tRNS.size); + ucvector_cleanup(&tRNS); + + return error; +} + +static unsigned addChunk_IDAT(ucvector* out, const unsigned char* data, size_t datasize, + LodePNGCompressSettings* zlibsettings) +{ + ucvector zlibdata; + unsigned error = 0; + + /*compress with the Zlib compressor*/ + ucvector_init(&zlibdata); + error = zlib_compress(&zlibdata.data, &zlibdata.size, data, datasize, zlibsettings); + if(!error) error = addChunk(out, "IDAT", zlibdata.data, zlibdata.size); + ucvector_cleanup(&zlibdata); + + return error; +} + +static unsigned addChunk_IEND(ucvector* out) +{ + unsigned error = 0; + error = addChunk(out, "IEND", 0, 0); + return error; +} + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + +static unsigned addChunk_tEXt(ucvector* out, const char* keyword, const char* textstring) +{ + unsigned error = 0; + size_t i; + ucvector text; + ucvector_init(&text); + for(i = 0; keyword[i] != 0; i++) ucvector_push_back(&text, (unsigned char)keyword[i]); + if(i < 1 || i > 79) return 89; /*error: invalid keyword size*/ + ucvector_push_back(&text, 0); /*0 termination char*/ + for(i = 0; textstring[i] != 0; i++) ucvector_push_back(&text, (unsigned char)textstring[i]); + error = addChunk(out, "tEXt", text.data, text.size); + ucvector_cleanup(&text); + + return error; +} + +static unsigned addChunk_zTXt(ucvector* out, const char* keyword, const char* textstring, + LodePNGCompressSettings* zlibsettings) +{ + unsigned error = 0; + ucvector data, compressed; + size_t i, textsize = strlen(textstring); + + ucvector_init(&data); + ucvector_init(&compressed); + for(i = 0; keyword[i] != 0; i++) ucvector_push_back(&data, (unsigned char)keyword[i]); + if(i < 1 || i > 79) return 89; /*error: invalid keyword size*/ + ucvector_push_back(&data, 0); /*0 termination char*/ + ucvector_push_back(&data, 0); /*compression method: 0*/ + + error = zlib_compress(&compressed.data, &compressed.size, + (unsigned char*)textstring, textsize, zlibsettings); + if(!error) + { + for(i = 0; i < compressed.size; i++) ucvector_push_back(&data, compressed.data[i]); + error = addChunk(out, "zTXt", data.data, data.size); + } + + ucvector_cleanup(&compressed); + ucvector_cleanup(&data); + return error; +} + +static unsigned addChunk_iTXt(ucvector* out, unsigned compressed, const char* keyword, const char* langtag, + const char* transkey, const char* textstring, LodePNGCompressSettings* zlibsettings) +{ + unsigned error = 0; + ucvector data; + size_t i, textsize = strlen(textstring); + + ucvector_init(&data); + + for(i = 0; keyword[i] != 0; i++) ucvector_push_back(&data, (unsigned char)keyword[i]); + if(i < 1 || i > 79) return 89; /*error: invalid keyword size*/ + ucvector_push_back(&data, 0); /*null termination char*/ + ucvector_push_back(&data, compressed ? 1 : 0); /*compression flag*/ + ucvector_push_back(&data, 0); /*compression method*/ + for(i = 0; langtag[i] != 0; i++) ucvector_push_back(&data, (unsigned char)langtag[i]); + ucvector_push_back(&data, 0); /*null termination char*/ + for(i = 0; transkey[i] != 0; i++) ucvector_push_back(&data, (unsigned char)transkey[i]); + ucvector_push_back(&data, 0); /*null termination char*/ + + if(compressed) + { + ucvector compressed_data; + ucvector_init(&compressed_data); + error = zlib_compress(&compressed_data.data, &compressed_data.size, + (unsigned char*)textstring, textsize, zlibsettings); + if(!error) + { + for(i = 0; i < compressed_data.size; i++) ucvector_push_back(&data, compressed_data.data[i]); + } + ucvector_cleanup(&compressed_data); + } + else /*not compressed*/ + { + for(i = 0; textstring[i] != 0; i++) ucvector_push_back(&data, (unsigned char)textstring[i]); + } + + if(!error) error = addChunk(out, "iTXt", data.data, data.size); + ucvector_cleanup(&data); + return error; +} + +static unsigned addChunk_bKGD(ucvector* out, const LodePNGInfo* info) +{ + unsigned error = 0; + ucvector bKGD; + ucvector_init(&bKGD); + if(info->color.colortype == LCT_GREY || info->color.colortype == LCT_GREY_ALPHA) + { + ucvector_push_back(&bKGD, (unsigned char)(info->background_r / 256)); + ucvector_push_back(&bKGD, (unsigned char)(info->background_r % 256)); + } + else if(info->color.colortype == LCT_RGB || info->color.colortype == LCT_RGBA) + { + ucvector_push_back(&bKGD, (unsigned char)(info->background_r / 256)); + ucvector_push_back(&bKGD, (unsigned char)(info->background_r % 256)); + ucvector_push_back(&bKGD, (unsigned char)(info->background_g / 256)); + ucvector_push_back(&bKGD, (unsigned char)(info->background_g % 256)); + ucvector_push_back(&bKGD, (unsigned char)(info->background_b / 256)); + ucvector_push_back(&bKGD, (unsigned char)(info->background_b % 256)); + } + else if(info->color.colortype == LCT_PALETTE) + { + ucvector_push_back(&bKGD, (unsigned char)(info->background_r % 256)); /*palette index*/ + } + + error = addChunk(out, "bKGD", bKGD.data, bKGD.size); + ucvector_cleanup(&bKGD); + + return error; +} + +static unsigned addChunk_tIME(ucvector* out, const LodePNGTime* time) +{ + unsigned error = 0; + unsigned char* data = (unsigned char*)lodepng_malloc(7); + if(!data) return 83; /*alloc fail*/ + data[0] = (unsigned char)(time->year / 256); + data[1] = (unsigned char)(time->year % 256); + data[2] = (unsigned char)time->month; + data[3] = (unsigned char)time->day; + data[4] = (unsigned char)time->hour; + data[5] = (unsigned char)time->minute; + data[6] = (unsigned char)time->second; + error = addChunk(out, "tIME", data, 7); + lodepng_free(data); + return error; +} + +static unsigned addChunk_pHYs(ucvector* out, const LodePNGInfo* info) +{ + unsigned error = 0; + ucvector data; + ucvector_init(&data); + + lodepng_add32bitInt(&data, info->phys_x); + lodepng_add32bitInt(&data, info->phys_y); + ucvector_push_back(&data, info->phys_unit); + + error = addChunk(out, "pHYs", data.data, data.size); + ucvector_cleanup(&data); + + return error; +} + +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + +static void filterScanline(unsigned char* out, const unsigned char* scanline, const unsigned char* prevline, + size_t length, size_t bytewidth, unsigned char filterType) +{ + size_t i; + switch(filterType) + { + case 0: /*None*/ + for(i = 0; i < length; i++) out[i] = scanline[i]; + break; + case 1: /*Sub*/ + if(prevline) + { + for(i = 0; i < bytewidth; i++) out[i] = scanline[i]; + for(i = bytewidth; i < length; i++) out[i] = scanline[i] - scanline[i - bytewidth]; + } + else + { + for(i = 0; i < bytewidth; i++) out[i] = scanline[i]; + for(i = bytewidth; i < length; i++) out[i] = scanline[i] - scanline[i - bytewidth]; + } + break; + case 2: /*Up*/ + if(prevline) + { + for(i = 0; i < length; i++) out[i] = scanline[i] - prevline[i]; + } + else + { + for(i = 0; i < length; i++) out[i] = scanline[i]; + } + break; + case 3: /*Average*/ + if(prevline) + { + for(i = 0; i < bytewidth; i++) out[i] = scanline[i] - prevline[i] / 2; + for(i = bytewidth; i < length; i++) out[i] = scanline[i] - ((scanline[i - bytewidth] + prevline[i]) / 2); + } + else + { + for(i = 0; i < bytewidth; i++) out[i] = scanline[i]; + for(i = bytewidth; i < length; i++) out[i] = scanline[i] - scanline[i - bytewidth] / 2; + } + break; + case 4: /*Paeth*/ + if(prevline) + { + /*paethPredictor(0, prevline[i], 0) is always prevline[i]*/ + for(i = 0; i < bytewidth; i++) out[i] = (scanline[i] - prevline[i]); + for(i = bytewidth; i < length; i++) + { + out[i] = (scanline[i] - paethPredictor(scanline[i - bytewidth], prevline[i], prevline[i - bytewidth])); + } + } + else + { + for(i = 0; i < bytewidth; i++) out[i] = scanline[i]; + /*paethPredictor(scanline[i - bytewidth], 0, 0) is always scanline[i - bytewidth]*/ + for(i = bytewidth; i < length; i++) out[i] = (scanline[i] - scanline[i - bytewidth]); + } + break; + default: return; /*unexisting filter type given*/ + } +} + +/* log2 approximation. A slight bit faster than std::log. */ +static float flog2(float f) +{ + float result = 0; + while(f > 32) { result += 4; f /= 16; } + while(f > 2) { result++; f /= 2; } + return result + 1.442695f * (f * f * f / 3 - 3 * f * f / 2 + 3 * f - 1.83333f); +} + +static unsigned filter(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, + const LodePNGColorMode* info, const LodePNGEncoderSettings* settings) +{ + /* + For PNG filter method 0 + out must be a buffer with as size: h + (w * h * bpp + 7) / 8, because there are + the scanlines with 1 extra byte per scanline + */ + + unsigned bpp = lodepng_get_bpp(info); + /*the width of a scanline in bytes, not including the filter type*/ + size_t linebytes = (w * bpp + 7) / 8; + /*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/ + size_t bytewidth = (bpp + 7) / 8; + const unsigned char* prevline = 0; + unsigned x, y; + unsigned error = 0; + LodePNGFilterStrategy strategy = settings->filter_strategy; + + /* + There is a heuristic called the minimum sum of absolute differences heuristic, suggested by the PNG standard: + * If the image type is Palette, or the bit depth is smaller than 8, then do not filter the image (i.e. + use fixed filtering, with the filter None). + * (The other case) If the image type is Grayscale or RGB (with or without Alpha), and the bit depth is + not smaller than 8, then use adaptive filtering heuristic as follows: independently for each row, apply + all five filters and select the filter that produces the smallest sum of absolute values per row. + This heuristic is used if filter strategy is LFS_MINSUM and filter_palette_zero is true. + + If filter_palette_zero is true and filter_strategy is not LFS_MINSUM, the above heuristic is followed, + but for "the other case", whatever strategy filter_strategy is set to instead of the minimum sum + heuristic is used. + */ + if(settings->filter_palette_zero && + (info->colortype == LCT_PALETTE || info->bitdepth < 8)) strategy = LFS_ZERO; + + if(bpp == 0) return 31; /*error: invalid color type*/ + + if(strategy == LFS_ZERO) + { + for(y = 0; y < h; y++) + { + size_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/ + size_t inindex = linebytes * y; + out[outindex] = 0; /*filter type byte*/ + filterScanline(&out[outindex + 1], &in[inindex], prevline, linebytes, bytewidth, 0); + prevline = &in[inindex]; + } + } + else if(strategy == LFS_MINSUM) + { + /*adaptive filtering*/ + size_t sum[5]; + ucvector attempt[5]; /*five filtering attempts, one for each filter type*/ + size_t smallest = 0; + unsigned char type, bestType = 0; + + for(type = 0; type < 5; type++) + { + ucvector_init(&attempt[type]); + if(!ucvector_resize(&attempt[type], linebytes)) return 83; /*alloc fail*/ + } + + if(!error) + { + for(y = 0; y < h; y++) + { + /*try the 5 filter types*/ + for(type = 0; type < 5; type++) + { + filterScanline(attempt[type].data, &in[y * linebytes], prevline, linebytes, bytewidth, type); + + /*calculate the sum of the result*/ + sum[type] = 0; + if(type == 0) + { + for(x = 0; x < linebytes; x++) sum[type] += (unsigned char)(attempt[type].data[x]); + } + else + { + for(x = 0; x < linebytes; x++) + { + /*For differences, each byte should be treated as signed, values above 127 are negative + (converted to signed char). Filtertype 0 isn't a difference though, so use unsigned there. + This means filtertype 0 is almost never chosen, but that is justified.*/ + unsigned char s = attempt[type].data[x]; + sum[type] += s < 128 ? s : (255U - s); + } + } + + /*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/ + if(type == 0 || sum[type] < smallest) + { + bestType = type; + smallest = sum[type]; + } + } + + prevline = &in[y * linebytes]; + + /*now fill the out values*/ + out[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/ + for(x = 0; x < linebytes; x++) out[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x]; + } + } + + for(type = 0; type < 5; type++) ucvector_cleanup(&attempt[type]); + } + else if(strategy == LFS_ENTROPY) + { + float sum[5]; + ucvector attempt[5]; /*five filtering attempts, one for each filter type*/ + float smallest = 0; + unsigned type, bestType = 0; + unsigned count[256]; + + for(type = 0; type < 5; type++) + { + ucvector_init(&attempt[type]); + if(!ucvector_resize(&attempt[type], linebytes)) return 83; /*alloc fail*/ + } + + for(y = 0; y < h; y++) + { + /*try the 5 filter types*/ + for(type = 0; type < 5; type++) + { + filterScanline(attempt[type].data, &in[y * linebytes], prevline, linebytes, bytewidth, type); + for(x = 0; x < 256; x++) count[x] = 0; + for(x = 0; x < linebytes; x++) count[attempt[type].data[x]]++; + count[type]++; /*the filter type itself is part of the scanline*/ + sum[type] = 0; + for(x = 0; x < 256; x++) + { + float p = count[x] / (float)(linebytes + 1); + sum[type] += count[x] == 0 ? 0 : flog2(1 / p) * p; + } + /*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/ + if(type == 0 || sum[type] < smallest) + { + bestType = type; + smallest = sum[type]; + } + } + + prevline = &in[y * linebytes]; + + /*now fill the out values*/ + out[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/ + for(x = 0; x < linebytes; x++) out[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x]; + } + + for(type = 0; type < 5; type++) ucvector_cleanup(&attempt[type]); + } + else if(strategy == LFS_PREDEFINED) + { + for(y = 0; y < h; y++) + { + size_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/ + size_t inindex = linebytes * y; + unsigned char type = settings->predefined_filters[y]; + out[outindex] = type; /*filter type byte*/ + filterScanline(&out[outindex + 1], &in[inindex], prevline, linebytes, bytewidth, type); + prevline = &in[inindex]; + } + } + else if(strategy == LFS_BRUTE_FORCE) + { + /*brute force filter chooser. + deflate the scanline after every filter attempt to see which one deflates best. + This is very slow and gives only slightly smaller, sometimes even larger, result*/ + size_t size[5]; + ucvector attempt[5]; /*five filtering attempts, one for each filter type*/ + size_t smallest = 0; + unsigned type = 0, bestType = 0; + unsigned char* dummy; + LodePNGCompressSettings zlibsettings = settings->zlibsettings; + /*use fixed tree on the attempts so that the tree is not adapted to the filtertype on purpose, + to simulate the true case where the tree is the same for the whole image. Sometimes it gives + better result with dynamic tree anyway. Using the fixed tree sometimes gives worse, but in rare + cases better compression. It does make this a bit less slow, so it's worth doing this.*/ + zlibsettings.btype = 1; + /*a custom encoder likely doesn't read the btype setting and is optimized for complete PNG + images only, so disable it*/ + zlibsettings.custom_zlib = 0; + zlibsettings.custom_deflate = 0; + for(type = 0; type < 5; type++) + { + ucvector_init(&attempt[type]); + ucvector_resize(&attempt[type], linebytes); /*todo: give error if resize failed*/ + } + for(y = 0; y < h; y++) /*try the 5 filter types*/ + { + for(type = 0; type < 5; type++) + { + unsigned testsize = attempt[type].size; + /*if(testsize > 8) testsize /= 8;*/ /*it already works good enough by testing a part of the row*/ + + filterScanline(attempt[type].data, &in[y * linebytes], prevline, linebytes, bytewidth, type); + size[type] = 0; + dummy = 0; + zlib_compress(&dummy, &size[type], attempt[type].data, testsize, &zlibsettings); + lodepng_free(dummy); + /*check if this is smallest size (or if type == 0 it's the first case so always store the values)*/ + if(type == 0 || size[type] < smallest) + { + bestType = type; + smallest = size[type]; + } + } + prevline = &in[y * linebytes]; + out[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/ + for(x = 0; x < linebytes; x++) out[y * (linebytes + 1) + 1 + x] = attempt[bestType].data[x]; + } + for(type = 0; type < 5; type++) ucvector_cleanup(&attempt[type]); + } + else return 88; /* unknown filter strategy */ + + return error; +} + +static void addPaddingBits(unsigned char* out, const unsigned char* in, + size_t olinebits, size_t ilinebits, unsigned h) +{ + /*The opposite of the removePaddingBits function + olinebits must be >= ilinebits*/ + unsigned y; + size_t diff = olinebits - ilinebits; + size_t obp = 0, ibp = 0; /*bit pointers*/ + for(y = 0; y < h; y++) + { + size_t x; + for(x = 0; x < ilinebits; x++) + { + unsigned char bit = readBitFromReversedStream(&ibp, in); + setBitOfReversedStream(&obp, out, bit); + } + /*obp += diff; --> no, fill in some value in the padding bits too, to avoid + "Use of uninitialised value of size ###" warning from valgrind*/ + for(x = 0; x < diff; x++) setBitOfReversedStream(&obp, out, 0); + } +} + +/* +in: non-interlaced image with size w*h +out: the same pixels, but re-ordered according to PNG's Adam7 interlacing, with + no padding bits between scanlines, but between reduced images so that each + reduced image starts at a byte. +bpp: bits per pixel +there are no padding bits, not between scanlines, not between reduced images +in has the following size in bits: w * h * bpp. +out is possibly bigger due to padding bits between reduced images +NOTE: comments about padding bits are only relevant if bpp < 8 +*/ +static void Adam7_interlace(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, unsigned bpp) +{ + unsigned passw[7], passh[7]; + size_t filter_passstart[8], padded_passstart[8], passstart[8]; + unsigned i; + + Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp); + + if(bpp >= 8) + { + for(i = 0; i < 7; i++) + { + unsigned x, y, b; + size_t bytewidth = bpp / 8; + for(y = 0; y < passh[i]; y++) + for(x = 0; x < passw[i]; x++) + { + size_t pixelinstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w + ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth; + size_t pixeloutstart = passstart[i] + (y * passw[i] + x) * bytewidth; + for(b = 0; b < bytewidth; b++) + { + out[pixeloutstart + b] = in[pixelinstart + b]; + } + } + } + } + else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/ + { + for(i = 0; i < 7; i++) + { + unsigned x, y, b; + unsigned ilinebits = bpp * passw[i]; + unsigned olinebits = bpp * w; + size_t obp, ibp; /*bit pointers (for out and in buffer)*/ + for(y = 0; y < passh[i]; y++) + for(x = 0; x < passw[i]; x++) + { + ibp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits + (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp; + obp = (8 * passstart[i]) + (y * ilinebits + x * bpp); + for(b = 0; b < bpp; b++) + { + unsigned char bit = readBitFromReversedStream(&ibp, in); + setBitOfReversedStream(&obp, out, bit); + } + } + } + } +} + +/*out must be buffer big enough to contain uncompressed IDAT chunk data, and in must contain the full image. +return value is error**/ +static unsigned preProcessScanlines(unsigned char** out, size_t* outsize, const unsigned char* in, + unsigned w, unsigned h, + const LodePNGInfo* info_png, const LodePNGEncoderSettings* settings) +{ + /* + This function converts the pure 2D image with the PNG's colortype, into filtered-padded-interlaced data. Steps: + *) if no Adam7: 1) add padding bits (= posible extra bits per scanline if bpp < 8) 2) filter + *) if adam7: 1) Adam7_interlace 2) 7x add padding bits 3) 7x filter + */ + unsigned bpp = lodepng_get_bpp(&info_png->color); + unsigned error = 0; + + if(info_png->interlace_method == 0) + { + *outsize = h + (h * ((w * bpp + 7) / 8)); /*image size plus an extra byte per scanline + possible padding bits*/ + *out = (unsigned char*)lodepng_malloc(*outsize); + if(!(*out) && (*outsize)) error = 83; /*alloc fail*/ + + if(!error) + { + /*non multiple of 8 bits per scanline, padding bits needed per scanline*/ + if(bpp < 8 && w * bpp != ((w * bpp + 7) / 8) * 8) + { + unsigned char* padded = (unsigned char*)lodepng_malloc(h * ((w * bpp + 7) / 8)); + if(!padded) error = 83; /*alloc fail*/ + if(!error) + { + addPaddingBits(padded, in, ((w * bpp + 7) / 8) * 8, w * bpp, h); + error = filter(*out, padded, w, h, &info_png->color, settings); + } + lodepng_free(padded); + } + else + { + /*we can immediatly filter into the out buffer, no other steps needed*/ + error = filter(*out, in, w, h, &info_png->color, settings); + } + } + } + else /*interlace_method is 1 (Adam7)*/ + { + unsigned passw[7], passh[7]; + size_t filter_passstart[8], padded_passstart[8], passstart[8]; + unsigned char* adam7; + + Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp); + + *outsize = filter_passstart[7]; /*image size plus an extra byte per scanline + possible padding bits*/ + *out = (unsigned char*)lodepng_malloc(*outsize); + if(!(*out)) error = 83; /*alloc fail*/ + + adam7 = (unsigned char*)lodepng_malloc(passstart[7]); + if(!adam7 && passstart[7]) error = 83; /*alloc fail*/ + + if(!error) + { + unsigned i; + + Adam7_interlace(adam7, in, w, h, bpp); + for(i = 0; i < 7; i++) + { + if(bpp < 8) + { + unsigned char* padded = (unsigned char*)lodepng_malloc(padded_passstart[i + 1] - padded_passstart[i]); + if(!padded) ERROR_BREAK(83); /*alloc fail*/ + addPaddingBits(padded, &adam7[passstart[i]], + ((passw[i] * bpp + 7) / 8) * 8, passw[i] * bpp, passh[i]); + error = filter(&(*out)[filter_passstart[i]], padded, + passw[i], passh[i], &info_png->color, settings); + lodepng_free(padded); + } + else + { + error = filter(&(*out)[filter_passstart[i]], &adam7[padded_passstart[i]], + passw[i], passh[i], &info_png->color, settings); + } + + if(error) break; + } + } + + lodepng_free(adam7); + } + + return error; +} + +/* +palette must have 4 * palettesize bytes allocated, and given in format RGBARGBARGBARGBA... +returns 0 if the palette is opaque, +returns 1 if the palette has a single color with alpha 0 ==> color key +returns 2 if the palette is semi-translucent. +*/ +static unsigned getPaletteTranslucency(const unsigned char* palette, size_t palettesize) +{ + size_t i; + unsigned key = 0; + unsigned r = 0, g = 0, b = 0; /*the value of the color with alpha 0, so long as color keying is possible*/ + for(i = 0; i < palettesize; i++) + { + if(!key && palette[4 * i + 3] == 0) + { + r = palette[4 * i + 0]; g = palette[4 * i + 1]; b = palette[4 * i + 2]; + key = 1; + i = (size_t)(-1); /*restart from beginning, to detect earlier opaque colors with key's value*/ + } + else if(palette[4 * i + 3] != 255) return 2; + /*when key, no opaque RGB may have key's RGB*/ + else if(key && r == palette[i * 4 + 0] && g == palette[i * 4 + 1] && b == palette[i * 4 + 2]) return 2; + } + return key; +} + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS +static unsigned addUnknownChunks(ucvector* out, unsigned char* data, size_t datasize) +{ + unsigned char* inchunk = data; + while((size_t)(inchunk - data) < datasize) + { + CERROR_TRY_RETURN(lodepng_chunk_append(&out->data, &out->size, inchunk)); + out->allocsize = out->size; /*fix the allocsize again*/ + inchunk = lodepng_chunk_next(inchunk); + } + return 0; +} +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + +unsigned lodepng_encode(unsigned char** out, size_t* outsize, + const unsigned char* image, unsigned w, unsigned h, + LodePNGState* state) +{ + LodePNGInfo info; + ucvector outv; + unsigned char* data = 0; /*uncompressed version of the IDAT chunk data*/ + size_t datasize = 0; + + /*provide some proper output values if error will happen*/ + *out = 0; + *outsize = 0; + state->error = 0; + + lodepng_info_init(&info); + lodepng_info_copy(&info, &state->info_png); + + if((info.color.colortype == LCT_PALETTE || state->encoder.force_palette) + && (info.color.palettesize == 0 || info.color.palettesize > 256)) + { + state->error = 68; /*invalid palette size, it is only allowed to be 1-256*/ + return state->error; + } + + if(state->encoder.auto_convert) + { + state->error = lodepng_auto_choose_color(&info.color, image, w, h, &state->info_raw); + } + if(state->error) return state->error; + + if(state->encoder.zlibsettings.btype > 2) + { + CERROR_RETURN_ERROR(state->error, 61); /*error: unexisting btype*/ + } + if(state->info_png.interlace_method > 1) + { + CERROR_RETURN_ERROR(state->error, 71); /*error: unexisting interlace mode*/ + } + + state->error = checkColorValidity(info.color.colortype, info.color.bitdepth); + if(state->error) return state->error; /*error: unexisting color type given*/ + state->error = checkColorValidity(state->info_raw.colortype, state->info_raw.bitdepth); + if(state->error) return state->error; /*error: unexisting color type given*/ + + if(!lodepng_color_mode_equal(&state->info_raw, &info.color)) + { + unsigned char* converted; + size_t size = (w * h * lodepng_get_bpp(&info.color) + 7) / 8; + + converted = (unsigned char*)lodepng_malloc(size); + if(!converted && size) state->error = 83; /*alloc fail*/ + if(!state->error) + { + state->error = lodepng_convert(converted, image, &info.color, &state->info_raw, w, h); + } + if(!state->error) preProcessScanlines(&data, &datasize, converted, w, h, &info, &state->encoder); + lodepng_free(converted); + } + else preProcessScanlines(&data, &datasize, image, w, h, &info, &state->encoder); + + ucvector_init(&outv); + while(!state->error) /*while only executed once, to break on error*/ + { +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + size_t i; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + /*write signature and chunks*/ + writeSignature(&outv); + /*IHDR*/ + addChunk_IHDR(&outv, w, h, info.color.colortype, info.color.bitdepth, info.interlace_method); +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + /*unknown chunks between IHDR and PLTE*/ + if(info.unknown_chunks_data[0]) + { + state->error = addUnknownChunks(&outv, info.unknown_chunks_data[0], info.unknown_chunks_size[0]); + if(state->error) break; + } +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + /*PLTE*/ + if(info.color.colortype == LCT_PALETTE) + { + addChunk_PLTE(&outv, &info.color); + } + if(state->encoder.force_palette && (info.color.colortype == LCT_RGB || info.color.colortype == LCT_RGBA)) + { + addChunk_PLTE(&outv, &info.color); + } + /*tRNS*/ + if(info.color.colortype == LCT_PALETTE && getPaletteTranslucency(info.color.palette, info.color.palettesize) != 0) + { + addChunk_tRNS(&outv, &info.color); + } + if((info.color.colortype == LCT_GREY || info.color.colortype == LCT_RGB) && info.color.key_defined) + { + addChunk_tRNS(&outv, &info.color); + } +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + /*bKGD (must come between PLTE and the IDAt chunks*/ + if(info.background_defined) addChunk_bKGD(&outv, &info); + /*pHYs (must come before the IDAT chunks)*/ + if(info.phys_defined) addChunk_pHYs(&outv, &info); + + /*unknown chunks between PLTE and IDAT*/ + if(info.unknown_chunks_data[1]) + { + state->error = addUnknownChunks(&outv, info.unknown_chunks_data[1], info.unknown_chunks_size[1]); + if(state->error) break; + } +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + /*IDAT (multiple IDAT chunks must be consecutive)*/ + state->error = addChunk_IDAT(&outv, data, datasize, &state->encoder.zlibsettings); + if(state->error) break; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + /*tIME*/ + if(info.time_defined) addChunk_tIME(&outv, &info.time); + /*tEXt and/or zTXt*/ + for(i = 0; i < info.text_num; i++) + { + if(strlen(info.text_keys[i]) > 79) + { + state->error = 66; /*text chunk too large*/ + break; + } + if(strlen(info.text_keys[i]) < 1) + { + state->error = 67; /*text chunk too small*/ + break; + } + if(state->encoder.text_compression) + { + addChunk_zTXt(&outv, info.text_keys[i], info.text_strings[i], &state->encoder.zlibsettings); + } + else + { + addChunk_tEXt(&outv, info.text_keys[i], info.text_strings[i]); + } + } + /*LodePNG version id in text chunk*/ + if(state->encoder.add_id) + { + unsigned alread_added_id_text = 0; + for(i = 0; i < info.text_num; i++) + { + if(!strcmp(info.text_keys[i], "LodePNG")) + { + alread_added_id_text = 1; + break; + } + } + if(alread_added_id_text == 0) + { + addChunk_tEXt(&outv, "LodePNG", VERSION_STRING); /*it's shorter as tEXt than as zTXt chunk*/ + } + } + /*iTXt*/ + for(i = 0; i < info.itext_num; i++) + { + if(strlen(info.itext_keys[i]) > 79) + { + state->error = 66; /*text chunk too large*/ + break; + } + if(strlen(info.itext_keys[i]) < 1) + { + state->error = 67; /*text chunk too small*/ + break; + } + addChunk_iTXt(&outv, state->encoder.text_compression, + info.itext_keys[i], info.itext_langtags[i], info.itext_transkeys[i], info.itext_strings[i], + &state->encoder.zlibsettings); + } + + /*unknown chunks between IDAT and IEND*/ + if(info.unknown_chunks_data[2]) + { + state->error = addUnknownChunks(&outv, info.unknown_chunks_data[2], info.unknown_chunks_size[2]); + if(state->error) break; + } +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + addChunk_IEND(&outv); + + break; /*this isn't really a while loop; no error happened so break out now!*/ + } + + lodepng_info_cleanup(&info); + lodepng_free(data); + /*instead of cleaning the vector up, give it to the output*/ + *out = outv.data; + *outsize = outv.size; + + return state->error; +} + +unsigned lodepng_encode_memory(unsigned char** out, size_t* outsize, const unsigned char* image, + unsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) +{ + unsigned error; + LodePNGState state; + lodepng_state_init(&state); + state.info_raw.colortype = colortype; + state.info_raw.bitdepth = bitdepth; + state.info_png.color.colortype = colortype; + state.info_png.color.bitdepth = bitdepth; + lodepng_encode(out, outsize, image, w, h, &state); + error = state.error; + lodepng_state_cleanup(&state); + return error; +} + +unsigned lodepng_encode32(unsigned char** out, size_t* outsize, const unsigned char* image, unsigned w, unsigned h) +{ + return lodepng_encode_memory(out, outsize, image, w, h, LCT_RGBA, 8); +} + +unsigned lodepng_encode24(unsigned char** out, size_t* outsize, const unsigned char* image, unsigned w, unsigned h) +{ + return lodepng_encode_memory(out, outsize, image, w, h, LCT_RGB, 8); +} + +#ifdef LODEPNG_COMPILE_DISK +unsigned lodepng_encode_file(const char* filename, const unsigned char* image, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth) +{ + unsigned char* buffer; + size_t buffersize; + unsigned error = lodepng_encode_memory(&buffer, &buffersize, image, w, h, colortype, bitdepth); + if(!error) error = lodepng_save_file(buffer, buffersize, filename); + lodepng_free(buffer); + return error; +} + +unsigned lodepng_encode32_file(const char* filename, const unsigned char* image, unsigned w, unsigned h) +{ + return lodepng_encode_file(filename, image, w, h, LCT_RGBA, 8); +} + +unsigned lodepng_encode24_file(const char* filename, const unsigned char* image, unsigned w, unsigned h) +{ + return lodepng_encode_file(filename, image, w, h, LCT_RGB, 8); +} +#endif /*LODEPNG_COMPILE_DISK*/ + +void lodepng_encoder_settings_init(LodePNGEncoderSettings* settings) +{ + lodepng_compress_settings_init(&settings->zlibsettings); + settings->filter_palette_zero = 1; + settings->filter_strategy = LFS_MINSUM; + settings->auto_convert = 1; + settings->force_palette = 0; + settings->predefined_filters = 0; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + settings->add_id = 0; + settings->text_compression = 1; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +} + +#endif /*LODEPNG_COMPILE_ENCODER*/ +#endif /*LODEPNG_COMPILE_PNG*/ + +#ifdef LODEPNG_COMPILE_ERROR_TEXT +/* +This returns the description of a numerical error code in English. This is also +the documentation of all the error codes. +*/ +const char* lodepng_error_text(unsigned code) +{ + switch(code) + { + case 0: return "no error, everything went ok"; + case 1: return "nothing done yet"; /*the Encoder/Decoder has done nothing yet, error checking makes no sense yet*/ + case 10: return "end of input memory reached without huffman end code"; /*while huffman decoding*/ + case 11: return "error in code tree made it jump outside of huffman tree"; /*while huffman decoding*/ + case 13: return "problem while processing dynamic deflate block"; + case 14: return "problem while processing dynamic deflate block"; + case 15: return "problem while processing dynamic deflate block"; + case 16: return "unexisting code while processing dynamic deflate block"; + case 17: return "end of out buffer memory reached while inflating"; + case 18: return "invalid distance code while inflating"; + case 19: return "end of out buffer memory reached while inflating"; + case 20: return "invalid deflate block BTYPE encountered while decoding"; + case 21: return "NLEN is not ones complement of LEN in a deflate block"; + /*end of out buffer memory reached while inflating: + This can happen if the inflated deflate data is longer than the amount of bytes required to fill up + all the pixels of the image, given the color depth and image dimensions. Something that doesn't + happen in a normal, well encoded, PNG image.*/ + case 22: return "end of out buffer memory reached while inflating"; + case 23: return "end of in buffer memory reached while inflating"; + case 24: return "invalid FCHECK in zlib header"; + case 25: return "invalid compression method in zlib header"; + case 26: return "FDICT encountered in zlib header while it's not used for PNG"; + case 27: return "PNG file is smaller than a PNG header"; + /*Checks the magic file header, the first 8 bytes of the PNG file*/ + case 28: return "incorrect PNG signature, it's no PNG or corrupted"; + case 29: return "first chunk is not the header chunk"; + case 30: return "chunk length too large, chunk broken off at end of file"; + case 31: return "illegal PNG color type or bpp"; + case 32: return "illegal PNG compression method"; + case 33: return "illegal PNG filter method"; + case 34: return "illegal PNG interlace method"; + case 35: return "chunk length of a chunk is too large or the chunk too small"; + case 36: return "illegal PNG filter type encountered"; + case 37: return "illegal bit depth for this color type given"; + case 38: return "the palette is too big"; /*more than 256 colors*/ + case 39: return "more palette alpha values given in tRNS chunk than there are colors in the palette"; + case 40: return "tRNS chunk has wrong size for greyscale image"; + case 41: return "tRNS chunk has wrong size for RGB image"; + case 42: return "tRNS chunk appeared while it was not allowed for this color type"; + case 43: return "bKGD chunk has wrong size for palette image"; + case 44: return "bKGD chunk has wrong size for greyscale image"; + case 45: return "bKGD chunk has wrong size for RGB image"; + /*the input data is empty, maybe a PNG file doesn't exist or is in the wrong path*/ + case 48: return "empty input or file doesn't exist"; + case 49: return "jumped past memory while generating dynamic huffman tree"; + case 50: return "jumped past memory while generating dynamic huffman tree"; + case 51: return "jumped past memory while inflating huffman block"; + case 52: return "jumped past memory while inflating"; + case 53: return "size of zlib data too small"; + case 54: return "repeat symbol in tree while there was no value symbol yet"; + /*jumped past tree while generating huffman tree, this could be when the + tree will have more leaves than symbols after generating it out of the + given lenghts. They call this an oversubscribed dynamic bit lengths tree in zlib.*/ + case 55: return "jumped past tree while generating huffman tree"; + case 56: return "given output image colortype or bitdepth not supported for color conversion"; + case 57: return "invalid CRC encountered (checking CRC can be disabled)"; + case 58: return "invalid ADLER32 encountered (checking ADLER32 can be disabled)"; + case 59: return "requested color conversion not supported"; + case 60: return "invalid window size given in the settings of the encoder (must be 0-32768)"; + case 61: return "invalid BTYPE given in the settings of the encoder (only 0, 1 and 2 are allowed)"; + /*LodePNG leaves the choice of RGB to greyscale conversion formula to the user.*/ + case 62: return "conversion from color to greyscale not supported"; + case 63: return "length of a chunk too long, max allowed for PNG is 2147483647 bytes per chunk"; /*(2^31-1)*/ + /*this would result in the inability of a deflated block to ever contain an end code. It must be at least 1.*/ + case 64: return "the length of the END symbol 256 in the Huffman tree is 0"; + case 66: return "the length of a text chunk keyword given to the encoder is longer than the maximum of 79 bytes"; + case 67: return "the length of a text chunk keyword given to the encoder is smaller than the minimum of 1 byte"; + case 68: return "tried to encode a PLTE chunk with a palette that has less than 1 or more than 256 colors"; + case 69: return "unknown chunk type with 'critical' flag encountered by the decoder"; + case 71: return "unexisting interlace mode given to encoder (must be 0 or 1)"; + case 72: return "while decoding, unexisting compression method encountering in zTXt or iTXt chunk (it must be 0)"; + case 73: return "invalid tIME chunk size"; + case 74: return "invalid pHYs chunk size"; + /*length could be wrong, or data chopped off*/ + case 75: return "no null termination char found while decoding text chunk"; + case 76: return "iTXt chunk too short to contain required bytes"; + case 77: return "integer overflow in buffer size"; + case 78: return "failed to open file for reading"; /*file doesn't exist or couldn't be opened for reading*/ + case 79: return "failed to open file for writing"; + case 80: return "tried creating a tree of 0 symbols"; + case 81: return "lazy matching at pos 0 is impossible"; + case 82: return "color conversion to palette requested while a color isn't in palette"; + case 83: return "memory allocation failed"; + case 84: return "given image too small to contain all pixels to be encoded"; + case 86: return "impossible offset in lz77 encoding (internal bug)"; + case 87: return "must provide custom zlib function pointer if LODEPNG_COMPILE_ZLIB is not defined"; + case 88: return "invalid filter strategy given for LodePNGEncoderSettings.filter_strategy"; + case 89: return "text chunk keyword too short or long: must have size 1-79"; + /*the windowsize in the LodePNGCompressSettings. Requiring POT(==> & instead of %) makes encoding 12% faster.*/ + case 90: return "windowsize must be a power of two"; + } + return "unknown error code"; +} +#endif /*LODEPNG_COMPILE_ERROR_TEXT*/ + +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* // C++ Wrapper // */ +/* ////////////////////////////////////////////////////////////////////////// */ +/* ////////////////////////////////////////////////////////////////////////// */ + +#ifdef LODEPNG_COMPILE_CPP +namespace lodepng +{ + +#ifdef LODEPNG_COMPILE_DISK +void load_file(std::vector& buffer, const std::string& filename) +{ + std::ifstream file(filename.c_str(), std::ios::in|std::ios::binary|std::ios::ate); + + /*get filesize*/ + std::streamsize size = 0; + if(file.seekg(0, std::ios::end).good()) size = file.tellg(); + if(file.seekg(0, std::ios::beg).good()) size -= file.tellg(); + + /*read contents of the file into the vector*/ + buffer.resize(size_t(size)); + if(size > 0) file.read((char*)(&buffer[0]), size); +} + +/*write given buffer to the file, overwriting the file, it doesn't append to it.*/ +void save_file(const std::vector& buffer, const std::string& filename) +{ + std::ofstream file(filename.c_str(), std::ios::out|std::ios::binary); + file.write(buffer.empty() ? 0 : (char*)&buffer[0], std::streamsize(buffer.size())); +} +#endif //LODEPNG_COMPILE_DISK + +#ifdef LODEPNG_COMPILE_ZLIB +#ifdef LODEPNG_COMPILE_DECODER +unsigned decompress(std::vector& out, const unsigned char* in, size_t insize, + const LodePNGDecompressSettings& settings) +{ + unsigned char* buffer = 0; + size_t buffersize = 0; + unsigned error = zlib_decompress(&buffer, &buffersize, in, insize, &settings); + if(buffer) + { + out.insert(out.end(), &buffer[0], &buffer[buffersize]); + lodepng_free(buffer); + } + return error; +} + +unsigned decompress(std::vector& out, const std::vector& in, + const LodePNGDecompressSettings& settings) +{ + return decompress(out, in.empty() ? 0 : &in[0], in.size(), settings); +} +#endif //LODEPNG_COMPILE_DECODER + +#ifdef LODEPNG_COMPILE_ENCODER +unsigned compress(std::vector& out, const unsigned char* in, size_t insize, + const LodePNGCompressSettings& settings) +{ + unsigned char* buffer = 0; + size_t buffersize = 0; + unsigned error = zlib_compress(&buffer, &buffersize, in, insize, &settings); + if(buffer) + { + out.insert(out.end(), &buffer[0], &buffer[buffersize]); + lodepng_free(buffer); + } + return error; +} + +unsigned compress(std::vector& out, const std::vector& in, + const LodePNGCompressSettings& settings) +{ + return compress(out, in.empty() ? 0 : &in[0], in.size(), settings); +} +#endif //LODEPNG_COMPILE_ENCODER +#endif //LODEPNG_COMPILE_ZLIB + + +#ifdef LODEPNG_COMPILE_PNG + +State::State() +{ + lodepng_state_init(this); +} + +State::State(const State& other) +{ + lodepng_state_init(this); + lodepng_state_copy(this, &other); +} + +State::~State() +{ + lodepng_state_cleanup(this); +} + +State& State::operator=(const State& other) +{ + lodepng_state_copy(this, &other); + return *this; +} + +#ifdef LODEPNG_COMPILE_DECODER + +unsigned decode(std::vector& out, unsigned& w, unsigned& h, const unsigned char* in, + size_t insize, LodePNGColorType colortype, unsigned bitdepth) +{ + unsigned char* buffer; + unsigned error = lodepng_decode_memory(&buffer, &w, &h, in, insize, colortype, bitdepth); + if(buffer && !error) + { + State state; + state.info_raw.colortype = colortype; + state.info_raw.bitdepth = bitdepth; + size_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw); + out.insert(out.end(), &buffer[0], &buffer[buffersize]); + lodepng_free(buffer); + } + return error; +} + +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + const std::vector& in, LodePNGColorType colortype, unsigned bitdepth) +{ + return decode(out, w, h, in.empty() ? 0 : &in[0], (unsigned)in.size(), colortype, bitdepth); +} + +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + State& state, + const unsigned char* in, size_t insize) +{ + unsigned char* buffer = NULL; + unsigned error = lodepng_decode(&buffer, &w, &h, &state, in, insize); + if(buffer && !error) + { + size_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw); + out.insert(out.end(), &buffer[0], &buffer[buffersize]); + } + lodepng_free(buffer); + return error; +} + +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + State& state, + const std::vector& in) +{ + return decode(out, w, h, state, in.empty() ? 0 : &in[0], in.size()); +} + +#ifdef LODEPNG_COMPILE_DISK +unsigned decode(std::vector& out, unsigned& w, unsigned& h, const std::string& filename, + LodePNGColorType colortype, unsigned bitdepth) +{ + std::vector buffer; + load_file(buffer, filename); + return decode(out, w, h, buffer, colortype, bitdepth); +} +#endif //LODEPNG_COMPILE_DECODER +#endif //LODEPNG_COMPILE_DISK + +#ifdef LODEPNG_COMPILE_ENCODER +unsigned encode(std::vector& out, const unsigned char* in, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth) +{ + unsigned char* buffer; + size_t buffersize; + unsigned error = lodepng_encode_memory(&buffer, &buffersize, in, w, h, colortype, bitdepth); + if(buffer) + { + out.insert(out.end(), &buffer[0], &buffer[buffersize]); + lodepng_free(buffer); + } + return error; +} + +unsigned encode(std::vector& out, + const std::vector& in, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth) +{ + if(lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size()) return 84; + return encode(out, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth); +} + +unsigned encode(std::vector& out, + const unsigned char* in, unsigned w, unsigned h, + State& state) +{ + unsigned char* buffer; + size_t buffersize; + unsigned error = lodepng_encode(&buffer, &buffersize, in, w, h, &state); + if(buffer) + { + out.insert(out.end(), &buffer[0], &buffer[buffersize]); + lodepng_free(buffer); + } + return error; +} + +unsigned encode(std::vector& out, + const std::vector& in, unsigned w, unsigned h, + State& state) +{ + if(lodepng_get_raw_size(w, h, &state.info_raw) > in.size()) return 84; + return encode(out, in.empty() ? 0 : &in[0], w, h, state); +} + +#ifdef LODEPNG_COMPILE_DISK +unsigned encode(const std::string& filename, + const unsigned char* in, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth) +{ + std::vector buffer; + unsigned error = encode(buffer, in, w, h, colortype, bitdepth); + if(!error) save_file(buffer, filename); + return error; +} + +unsigned encode(const std::string& filename, + const std::vector& in, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth) +{ + if(lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size()) return 84; + return encode(filename, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth); +} +#endif //LODEPNG_COMPILE_DISK +#endif //LODEPNG_COMPILE_ENCODER +#endif //LODEPNG_COMPILE_PNG +} //namespace lodepng +#endif /*LODEPNG_COMPILE_CPP*/ diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/lodepng.h b/examples/ThirdPartyLibs/openvr/samples/shared/lodepng.h new file mode 100644 index 000000000..ef2c82067 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/samples/shared/lodepng.h @@ -0,0 +1,1702 @@ +/* +LodePNG version 20140823 + +Copyright (c) 2005-2014 Lode Vandevenne + +This software is provided 'as-is', without any express or implied +warranty. In no event will the authors be held liable for any damages +arising from the use of this software. + +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it +freely, subject to the following restrictions: + + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + + 2. Altered source versions must be plainly marked as such, and must not be + misrepresented as being the original software. + + 3. This notice may not be removed or altered from any source + distribution. +*/ + +#ifndef LODEPNG_H +#define LODEPNG_H + +#include /*for size_t*/ + +#ifdef __cplusplus +#include +#include +#endif /*__cplusplus*/ + +/* +The following #defines are used to create code sections. They can be disabled +to disable code sections, which can give faster compile time and smaller binary. +The "NO_COMPILE" defines are designed to be used to pass as defines to the +compiler command to disable them without modifying this header, e.g. +-DLODEPNG_NO_COMPILE_ZLIB for gcc. +*/ +/*deflate & zlib. If disabled, you must specify alternative zlib functions in +the custom_zlib field of the compress and decompress settings*/ +#ifndef LODEPNG_NO_COMPILE_ZLIB +#define LODEPNG_COMPILE_ZLIB +#endif +/*png encoder and png decoder*/ +#ifndef LODEPNG_NO_COMPILE_PNG +#define LODEPNG_COMPILE_PNG +#endif +/*deflate&zlib decoder and png decoder*/ +#ifndef LODEPNG_NO_COMPILE_DECODER +#define LODEPNG_COMPILE_DECODER +#endif +/*deflate&zlib encoder and png encoder*/ +#ifndef LODEPNG_NO_COMPILE_ENCODER +#define LODEPNG_COMPILE_ENCODER +#endif +/*the optional built in harddisk file loading and saving functions*/ +#ifndef LODEPNG_NO_COMPILE_DISK +#define LODEPNG_COMPILE_DISK +#endif +/*support for chunks other than IHDR, IDAT, PLTE, tRNS, IEND: ancillary and unknown chunks*/ +#ifndef LODEPNG_NO_COMPILE_ANCILLARY_CHUNKS +#define LODEPNG_COMPILE_ANCILLARY_CHUNKS +#endif +/*ability to convert error numerical codes to English text string*/ +#ifndef LODEPNG_NO_COMPILE_ERROR_TEXT +#define LODEPNG_COMPILE_ERROR_TEXT +#endif +/*Compile the default allocators (C's free, malloc and realloc). If you disable this, +you can define the functions lodepng_free, lodepng_malloc and lodepng_realloc in your +source files with custom allocators.*/ +#ifndef LODEPNG_NO_COMPILE_ALLOCATORS +#define LODEPNG_COMPILE_ALLOCATORS +#endif +/*compile the C++ version (you can disable the C++ wrapper here even when compiling for C++)*/ +#ifdef __cplusplus +#ifndef LODEPNG_NO_COMPILE_CPP +#define LODEPNG_COMPILE_CPP +#endif +#endif + +#ifdef LODEPNG_COMPILE_PNG +/*The PNG color types (also used for raw).*/ +typedef enum LodePNGColorType +{ + LCT_GREY = 0, /*greyscale: 1,2,4,8,16 bit*/ + LCT_RGB = 2, /*RGB: 8,16 bit*/ + LCT_PALETTE = 3, /*palette: 1,2,4,8 bit*/ + LCT_GREY_ALPHA = 4, /*greyscale with alpha: 8,16 bit*/ + LCT_RGBA = 6 /*RGB with alpha: 8,16 bit*/ +} LodePNGColorType; + +#ifdef LODEPNG_COMPILE_DECODER +/* +Converts PNG data in memory to raw pixel data. +out: Output parameter. Pointer to buffer that will contain the raw pixel data. + After decoding, its size is w * h * (bytes per pixel) bytes larger than + initially. Bytes per pixel depends on colortype and bitdepth. + Must be freed after usage with free(*out). + Note: for 16-bit per channel colors, uses big endian format like PNG does. +w: Output parameter. Pointer to width of pixel data. +h: Output parameter. Pointer to height of pixel data. +in: Memory buffer with the PNG file. +insize: size of the in buffer. +colortype: the desired color type for the raw output image. See explanation on PNG color types. +bitdepth: the desired bit depth for the raw output image. See explanation on PNG color types. +Return value: LodePNG error code (0 means no error). +*/ +unsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h, + const unsigned char* in, size_t insize, + LodePNGColorType colortype, unsigned bitdepth); + +/*Same as lodepng_decode_memory, but always decodes to 32-bit RGBA raw image*/ +unsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h, + const unsigned char* in, size_t insize); + +/*Same as lodepng_decode_memory, but always decodes to 24-bit RGB raw image*/ +unsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h, + const unsigned char* in, size_t insize); + +#ifdef LODEPNG_COMPILE_DISK +/* +Load PNG from disk, from file with given name. +Same as the other decode functions, but instead takes a filename as input. +*/ +unsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h, + const char* filename, + LodePNGColorType colortype, unsigned bitdepth); + +/*Same as lodepng_decode_file, but always decodes to 32-bit RGBA raw image.*/ +unsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h, + const char* filename); + +/*Same as lodepng_decode_file, but always decodes to 24-bit RGB raw image.*/ +unsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h, + const char* filename); +#endif /*LODEPNG_COMPILE_DISK*/ +#endif /*LODEPNG_COMPILE_DECODER*/ + + +#ifdef LODEPNG_COMPILE_ENCODER +/* +Converts raw pixel data into a PNG image in memory. The colortype and bitdepth + of the output PNG image cannot be chosen, they are automatically determined + by the colortype, bitdepth and content of the input pixel data. + Note: for 16-bit per channel colors, needs big endian format like PNG does. +out: Output parameter. Pointer to buffer that will contain the PNG image data. + Must be freed after usage with free(*out). +outsize: Output parameter. Pointer to the size in bytes of the out buffer. +image: The raw pixel data to encode. The size of this buffer should be + w * h * (bytes per pixel), bytes per pixel depends on colortype and bitdepth. +w: width of the raw pixel data in pixels. +h: height of the raw pixel data in pixels. +colortype: the color type of the raw input image. See explanation on PNG color types. +bitdepth: the bit depth of the raw input image. See explanation on PNG color types. +Return value: LodePNG error code (0 means no error). +*/ +unsigned lodepng_encode_memory(unsigned char** out, size_t* outsize, + const unsigned char* image, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth); + +/*Same as lodepng_encode_memory, but always encodes from 32-bit RGBA raw image.*/ +unsigned lodepng_encode32(unsigned char** out, size_t* outsize, + const unsigned char* image, unsigned w, unsigned h); + +/*Same as lodepng_encode_memory, but always encodes from 24-bit RGB raw image.*/ +unsigned lodepng_encode24(unsigned char** out, size_t* outsize, + const unsigned char* image, unsigned w, unsigned h); + +#ifdef LODEPNG_COMPILE_DISK +/* +Converts raw pixel data into a PNG file on disk. +Same as the other encode functions, but instead takes a filename as output. +NOTE: This overwrites existing files without warning! +*/ +unsigned lodepng_encode_file(const char* filename, + const unsigned char* image, unsigned w, unsigned h, + LodePNGColorType colortype, unsigned bitdepth); + +/*Same as lodepng_encode_file, but always encodes from 32-bit RGBA raw image.*/ +unsigned lodepng_encode32_file(const char* filename, + const unsigned char* image, unsigned w, unsigned h); + +/*Same as lodepng_encode_file, but always encodes from 24-bit RGB raw image.*/ +unsigned lodepng_encode24_file(const char* filename, + const unsigned char* image, unsigned w, unsigned h); +#endif /*LODEPNG_COMPILE_DISK*/ +#endif /*LODEPNG_COMPILE_ENCODER*/ + + +#ifdef LODEPNG_COMPILE_CPP +namespace lodepng +{ +#ifdef LODEPNG_COMPILE_DECODER +/*Same as lodepng_decode_memory, but decodes to an std::vector. The colortype +is the format to output the pixels to. Default is RGBA 8-bit per channel.*/ +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + const unsigned char* in, size_t insize, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + const std::vector& in, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +#ifdef LODEPNG_COMPILE_DISK +/* +Converts PNG file from disk to raw pixel data in memory. +Same as the other decode functions, but instead takes a filename as input. +*/ +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + const std::string& filename, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +#endif //LODEPNG_COMPILE_DISK +#endif //LODEPNG_COMPILE_DECODER + +#ifdef LODEPNG_COMPILE_ENCODER +/*Same as lodepng_encode_memory, but encodes to an std::vector. colortype +is that of the raw input data. The output PNG color type will be auto chosen.*/ +unsigned encode(std::vector& out, + const unsigned char* in, unsigned w, unsigned h, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +unsigned encode(std::vector& out, + const std::vector& in, unsigned w, unsigned h, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +#ifdef LODEPNG_COMPILE_DISK +/* +Converts 32-bit RGBA raw pixel data into a PNG file on disk. +Same as the other encode functions, but instead takes a filename as output. +NOTE: This overwrites existing files without warning! +*/ +unsigned encode(const std::string& filename, + const unsigned char* in, unsigned w, unsigned h, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +unsigned encode(const std::string& filename, + const std::vector& in, unsigned w, unsigned h, + LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8); +#endif //LODEPNG_COMPILE_DISK +#endif //LODEPNG_COMPILE_ENCODER +} //namespace lodepng +#endif /*LODEPNG_COMPILE_CPP*/ +#endif /*LODEPNG_COMPILE_PNG*/ + +#ifdef LODEPNG_COMPILE_ERROR_TEXT +/*Returns an English description of the numerical error code.*/ +const char* lodepng_error_text(unsigned code); +#endif /*LODEPNG_COMPILE_ERROR_TEXT*/ + +#ifdef LODEPNG_COMPILE_DECODER +/*Settings for zlib decompression*/ +typedef struct LodePNGDecompressSettings LodePNGDecompressSettings; +struct LodePNGDecompressSettings +{ + unsigned ignore_adler32; /*if 1, continue and don't give an error message if the Adler32 checksum is corrupted*/ + + /*use custom zlib decoder instead of built in one (default: null)*/ + unsigned (*custom_zlib)(unsigned char**, size_t*, + const unsigned char*, size_t, + const LodePNGDecompressSettings*); + /*use custom deflate decoder instead of built in one (default: null) + if custom_zlib is used, custom_deflate is ignored since only the built in + zlib function will call custom_deflate*/ + unsigned (*custom_inflate)(unsigned char**, size_t*, + const unsigned char*, size_t, + const LodePNGDecompressSettings*); + + const void* custom_context; /*optional custom settings for custom functions*/ +}; + +extern const LodePNGDecompressSettings lodepng_default_decompress_settings; +void lodepng_decompress_settings_init(LodePNGDecompressSettings* settings); +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_ENCODER +/* +Settings for zlib compression. Tweaking these settings tweaks the balance +between speed and compression ratio. +*/ +typedef struct LodePNGCompressSettings LodePNGCompressSettings; +struct LodePNGCompressSettings /*deflate = compress*/ +{ + /*LZ77 related settings*/ + unsigned btype; /*the block type for LZ (0, 1, 2 or 3, see zlib standard). Should be 2 for proper compression.*/ + unsigned use_lz77; /*whether or not to use LZ77. Should be 1 for proper compression.*/ + unsigned windowsize; /*must be a power of two <= 32768. higher compresses more but is slower. Default value: 2048.*/ + unsigned minmatch; /*mininum lz77 length. 3 is normally best, 6 can be better for some PNGs. Default: 0*/ + unsigned nicematch; /*stop searching if >= this length found. Set to 258 for best compression. Default: 128*/ + unsigned lazymatching; /*use lazy matching: better compression but a bit slower. Default: true*/ + + /*use custom zlib encoder instead of built in one (default: null)*/ + unsigned (*custom_zlib)(unsigned char**, size_t*, + const unsigned char*, size_t, + const LodePNGCompressSettings*); + /*use custom deflate encoder instead of built in one (default: null) + if custom_zlib is used, custom_deflate is ignored since only the built in + zlib function will call custom_deflate*/ + unsigned (*custom_deflate)(unsigned char**, size_t*, + const unsigned char*, size_t, + const LodePNGCompressSettings*); + + const void* custom_context; /*optional custom settings for custom functions*/ +}; + +extern const LodePNGCompressSettings lodepng_default_compress_settings; +void lodepng_compress_settings_init(LodePNGCompressSettings* settings); +#endif /*LODEPNG_COMPILE_ENCODER*/ + +#ifdef LODEPNG_COMPILE_PNG +/* +Color mode of an image. Contains all information required to decode the pixel +bits to RGBA colors. This information is the same as used in the PNG file +format, and is used both for PNG and raw image data in LodePNG. +*/ +typedef struct LodePNGColorMode +{ + /*header (IHDR)*/ + LodePNGColorType colortype; /*color type, see PNG standard or documentation further in this header file*/ + unsigned bitdepth; /*bits per sample, see PNG standard or documentation further in this header file*/ + + /* + palette (PLTE and tRNS) + + Dynamically allocated with the colors of the palette, including alpha. + When encoding a PNG, to store your colors in the palette of the LodePNGColorMode, first use + lodepng_palette_clear, then for each color use lodepng_palette_add. + If you encode an image without alpha with palette, don't forget to put value 255 in each A byte of the palette. + + When decoding, by default you can ignore this palette, since LodePNG already + fills the palette colors in the pixels of the raw RGBA output. + + The palette is only supported for color type 3. + */ + unsigned char* palette; /*palette in RGBARGBA... order. When allocated, must be either 0, or have size 1024*/ + size_t palettesize; /*palette size in number of colors (amount of bytes is 4 * palettesize)*/ + + /* + transparent color key (tRNS) + + This color uses the same bit depth as the bitdepth value in this struct, which can be 1-bit to 16-bit. + For greyscale PNGs, r, g and b will all 3 be set to the same. + + When decoding, by default you can ignore this information, since LodePNG sets + pixels with this key to transparent already in the raw RGBA output. + + The color key is only supported for color types 0 and 2. + */ + unsigned key_defined; /*is a transparent color key given? 0 = false, 1 = true*/ + unsigned key_r; /*red/greyscale component of color key*/ + unsigned key_g; /*green component of color key*/ + unsigned key_b; /*blue component of color key*/ +} LodePNGColorMode; + +/*init, cleanup and copy functions to use with this struct*/ +void lodepng_color_mode_init(LodePNGColorMode* info); +void lodepng_color_mode_cleanup(LodePNGColorMode* info); +/*return value is error code (0 means no error)*/ +unsigned lodepng_color_mode_copy(LodePNGColorMode* dest, const LodePNGColorMode* source); + +void lodepng_palette_clear(LodePNGColorMode* info); +/*add 1 color to the palette*/ +unsigned lodepng_palette_add(LodePNGColorMode* info, + unsigned char r, unsigned char g, unsigned char b, unsigned char a); + +/*get the total amount of bits per pixel, based on colortype and bitdepth in the struct*/ +unsigned lodepng_get_bpp(const LodePNGColorMode* info); +/*get the amount of color channels used, based on colortype in the struct. +If a palette is used, it counts as 1 channel.*/ +unsigned lodepng_get_channels(const LodePNGColorMode* info); +/*is it a greyscale type? (only colortype 0 or 4)*/ +unsigned lodepng_is_greyscale_type(const LodePNGColorMode* info); +/*has it got an alpha channel? (only colortype 2 or 6)*/ +unsigned lodepng_is_alpha_type(const LodePNGColorMode* info); +/*has it got a palette? (only colortype 3)*/ +unsigned lodepng_is_palette_type(const LodePNGColorMode* info); +/*only returns true if there is a palette and there is a value in the palette with alpha < 255. +Loops through the palette to check this.*/ +unsigned lodepng_has_palette_alpha(const LodePNGColorMode* info); +/* +Check if the given color info indicates the possibility of having non-opaque pixels in the PNG image. +Returns true if the image can have translucent or invisible pixels (it still be opaque if it doesn't use such pixels). +Returns false if the image can only have opaque pixels. +In detail, it returns true only if it's a color type with alpha, or has a palette with non-opaque values, +or if "key_defined" is true. +*/ +unsigned lodepng_can_have_alpha(const LodePNGColorMode* info); +/*Returns the byte size of a raw image buffer with given width, height and color mode*/ +size_t lodepng_get_raw_size(unsigned w, unsigned h, const LodePNGColorMode* color); + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS +/*The information of a Time chunk in PNG.*/ +typedef struct LodePNGTime +{ + unsigned year; /*2 bytes used (0-65535)*/ + unsigned month; /*1-12*/ + unsigned day; /*1-31*/ + unsigned hour; /*0-23*/ + unsigned minute; /*0-59*/ + unsigned second; /*0-60 (to allow for leap seconds)*/ +} LodePNGTime; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + +/*Information about the PNG image, except pixels, width and height.*/ +typedef struct LodePNGInfo +{ + /*header (IHDR), palette (PLTE) and transparency (tRNS) chunks*/ + unsigned compression_method;/*compression method of the original file. Always 0.*/ + unsigned filter_method; /*filter method of the original file*/ + unsigned interlace_method; /*interlace method of the original file*/ + LodePNGColorMode color; /*color type and bits, palette and transparency of the PNG file*/ + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + /* + suggested background color chunk (bKGD) + This color uses the same color mode as the PNG (except alpha channel), which can be 1-bit to 16-bit. + + For greyscale PNGs, r, g and b will all 3 be set to the same. When encoding + the encoder writes the red one. For palette PNGs: When decoding, the RGB value + will be stored, not a palette index. But when encoding, specify the index of + the palette in background_r, the other two are then ignored. + + The decoder does not use this background color to edit the color of pixels. + */ + unsigned background_defined; /*is a suggested background color given?*/ + unsigned background_r; /*red component of suggested background color*/ + unsigned background_g; /*green component of suggested background color*/ + unsigned background_b; /*blue component of suggested background color*/ + + /* + non-international text chunks (tEXt and zTXt) + + The char** arrays each contain num strings. The actual messages are in + text_strings, while text_keys are keywords that give a short description what + the actual text represents, e.g. Title, Author, Description, or anything else. + + A keyword is minimum 1 character and maximum 79 characters long. It's + discouraged to use a single line length longer than 79 characters for texts. + + Don't allocate these text buffers yourself. Use the init/cleanup functions + correctly and use lodepng_add_text and lodepng_clear_text. + */ + size_t text_num; /*the amount of texts in these char** buffers (there may be more texts in itext)*/ + char** text_keys; /*the keyword of a text chunk (e.g. "Comment")*/ + char** text_strings; /*the actual text*/ + + /* + international text chunks (iTXt) + Similar to the non-international text chunks, but with additional strings + "langtags" and "transkeys". + */ + size_t itext_num; /*the amount of international texts in this PNG*/ + char** itext_keys; /*the English keyword of the text chunk (e.g. "Comment")*/ + char** itext_langtags; /*language tag for this text's language, ISO/IEC 646 string, e.g. ISO 639 language tag*/ + char** itext_transkeys; /*keyword translated to the international language - UTF-8 string*/ + char** itext_strings; /*the actual international text - UTF-8 string*/ + + /*time chunk (tIME)*/ + unsigned time_defined; /*set to 1 to make the encoder generate a tIME chunk*/ + LodePNGTime time; + + /*phys chunk (pHYs)*/ + unsigned phys_defined; /*if 0, there is no pHYs chunk and the values below are undefined, if 1 else there is one*/ + unsigned phys_x; /*pixels per unit in x direction*/ + unsigned phys_y; /*pixels per unit in y direction*/ + unsigned phys_unit; /*may be 0 (unknown unit) or 1 (metre)*/ + + /* + unknown chunks + There are 3 buffers, one for each position in the PNG where unknown chunks can appear + each buffer contains all unknown chunks for that position consecutively + The 3 buffers are the unknown chunks between certain critical chunks: + 0: IHDR-PLTE, 1: PLTE-IDAT, 2: IDAT-IEND + Do not allocate or traverse this data yourself. Use the chunk traversing functions declared + later, such as lodepng_chunk_next and lodepng_chunk_append, to read/write this struct. + */ + unsigned char* unknown_chunks_data[3]; + size_t unknown_chunks_size[3]; /*size in bytes of the unknown chunks, given for protection*/ +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +} LodePNGInfo; + +/*init, cleanup and copy functions to use with this struct*/ +void lodepng_info_init(LodePNGInfo* info); +void lodepng_info_cleanup(LodePNGInfo* info); +/*return value is error code (0 means no error)*/ +unsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source); + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS +void lodepng_clear_text(LodePNGInfo* info); /*use this to clear the texts again after you filled them in*/ +unsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str); /*push back both texts at once*/ + +void lodepng_clear_itext(LodePNGInfo* info); /*use this to clear the itexts again after you filled them in*/ +unsigned lodepng_add_itext(LodePNGInfo* info, const char* key, const char* langtag, + const char* transkey, const char* str); /*push back the 4 texts of 1 chunk at once*/ +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ + +/* +Converts raw buffer from one color type to another color type, based on +LodePNGColorMode structs to describe the input and output color type. +See the reference manual at the end of this header file to see which color conversions are supported. +return value = LodePNG error code (0 if all went ok, an error if the conversion isn't supported) +The out buffer must have size (w * h * bpp + 7) / 8, where bpp is the bits per pixel +of the output color type (lodepng_get_bpp). +For < 8 bpp images, there should not be padding bits at the end of scanlines. +For 16-bit per channel colors, uses big endian format like PNG does. +Return value is LodePNG error code +*/ +unsigned lodepng_convert(unsigned char* out, const unsigned char* in, + LodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, + unsigned w, unsigned h); + +#ifdef LODEPNG_COMPILE_DECODER +/* +Settings for the decoder. This contains settings for the PNG and the Zlib +decoder, but not the Info settings from the Info structs. +*/ +typedef struct LodePNGDecoderSettings +{ + LodePNGDecompressSettings zlibsettings; /*in here is the setting to ignore Adler32 checksums*/ + + unsigned ignore_crc; /*ignore CRC checksums*/ + + unsigned color_convert; /*whether to convert the PNG to the color type you want. Default: yes*/ + +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + unsigned read_text_chunks; /*if false but remember_unknown_chunks is true, they're stored in the unknown chunks*/ + /*store all bytes from unknown chunks in the LodePNGInfo (off by default, useful for a png editor)*/ + unsigned remember_unknown_chunks; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +} LodePNGDecoderSettings; + +void lodepng_decoder_settings_init(LodePNGDecoderSettings* settings); +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_ENCODER +/*automatically use color type with less bits per pixel if losslessly possible. Default: AUTO*/ +typedef enum LodePNGFilterStrategy +{ + /*every filter at zero*/ + LFS_ZERO, + /*Use filter that gives minumum sum, as described in the official PNG filter heuristic.*/ + LFS_MINSUM, + /*Use the filter type that gives smallest Shannon entropy for this scanline. Depending + on the image, this is better or worse than minsum.*/ + LFS_ENTROPY, + /* + Brute-force-search PNG filters by compressing each filter for each scanline. + Experimental, very slow, and only rarely gives better compression than MINSUM. + */ + LFS_BRUTE_FORCE, + /*use predefined_filters buffer: you specify the filter type for each scanline*/ + LFS_PREDEFINED +} LodePNGFilterStrategy; + +/*Gives characteristics about the colors of the image, which helps decide which color model to use for encoding. +Used internally by default if "auto_convert" is enabled. Public because it's useful for custom algorithms.*/ +typedef struct LodePNGColorProfile +{ + unsigned colored; /*not greyscale*/ + unsigned key; /*if true, image is not opaque. Only if true and alpha is false, color key is possible.*/ + unsigned short key_r; /*these values are always in 16-bit bitdepth in the profile*/ + unsigned short key_g; + unsigned short key_b; + unsigned alpha; /*alpha channel or alpha palette required*/ + unsigned numcolors; /*amount of colors, up to 257. Not valid if bits == 16.*/ + unsigned char palette[1024]; /*Remembers up to the first 256 RGBA colors, in no particular order*/ + unsigned bits; /*bits per channel (not for palette). 1,2 or 4 for greyscale only. 16 if 16-bit per channel required.*/ +} LodePNGColorProfile; + +void lodepng_color_profile_init(LodePNGColorProfile* profile); + +/*Get a LodePNGColorProfile of the image.*/ +unsigned get_color_profile(LodePNGColorProfile* profile, + const unsigned char* image, unsigned w, unsigned h, + const LodePNGColorMode* mode_in); +/*The function LodePNG uses internally to decide the PNG color with auto_convert. +Chooses an optimal color model, e.g. grey if only grey pixels, palette if < 256 colors, ...*/ +unsigned lodepng_auto_choose_color(LodePNGColorMode* mode_out, + const unsigned char* image, unsigned w, unsigned h, + const LodePNGColorMode* mode_in); + +/*Settings for the encoder.*/ +typedef struct LodePNGEncoderSettings +{ + LodePNGCompressSettings zlibsettings; /*settings for the zlib encoder, such as window size, ...*/ + + unsigned auto_convert; /*automatically choose output PNG color type. Default: true*/ + + /*If true, follows the official PNG heuristic: if the PNG uses a palette or lower than + 8 bit depth, set all filters to zero. Otherwise use the filter_strategy. Note that to + completely follow the official PNG heuristic, filter_palette_zero must be true and + filter_strategy must be LFS_MINSUM*/ + unsigned filter_palette_zero; + /*Which filter strategy to use when not using zeroes due to filter_palette_zero. + Set filter_palette_zero to 0 to ensure always using your chosen strategy. Default: LFS_MINSUM*/ + LodePNGFilterStrategy filter_strategy; + /*used if filter_strategy is LFS_PREDEFINED. In that case, this must point to a buffer with + the same length as the amount of scanlines in the image, and each value must <= 5. You + have to cleanup this buffer, LodePNG will never free it. Don't forget that filter_palette_zero + must be set to 0 to ensure this is also used on palette or low bitdepth images.*/ + const unsigned char* predefined_filters; + + /*force creating a PLTE chunk if colortype is 2 or 6 (= a suggested palette). + If colortype is 3, PLTE is _always_ created.*/ + unsigned force_palette; +#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS + /*add LodePNG identifier and version as a text chunk, for debugging*/ + unsigned add_id; + /*encode text chunks as zTXt chunks instead of tEXt chunks, and use compression in iTXt chunks*/ + unsigned text_compression; +#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/ +} LodePNGEncoderSettings; + +void lodepng_encoder_settings_init(LodePNGEncoderSettings* settings); +#endif /*LODEPNG_COMPILE_ENCODER*/ + + +#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) +/*The settings, state and information for extended encoding and decoding.*/ +typedef struct LodePNGState +{ +#ifdef LODEPNG_COMPILE_DECODER + LodePNGDecoderSettings decoder; /*the decoding settings*/ +#endif /*LODEPNG_COMPILE_DECODER*/ +#ifdef LODEPNG_COMPILE_ENCODER + LodePNGEncoderSettings encoder; /*the encoding settings*/ +#endif /*LODEPNG_COMPILE_ENCODER*/ + LodePNGColorMode info_raw; /*specifies the format in which you would like to get the raw pixel buffer*/ + LodePNGInfo info_png; /*info of the PNG image obtained after decoding*/ + unsigned error; +#ifdef LODEPNG_COMPILE_CPP + //For the lodepng::State subclass. + virtual ~LodePNGState(){} +#endif +} LodePNGState; + +/*init, cleanup and copy functions to use with this struct*/ +void lodepng_state_init(LodePNGState* state); +void lodepng_state_cleanup(LodePNGState* state); +void lodepng_state_copy(LodePNGState* dest, const LodePNGState* source); +#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */ + +#ifdef LODEPNG_COMPILE_DECODER +/* +Same as lodepng_decode_memory, but uses a LodePNGState to allow custom settings and +getting much more information about the PNG image and color mode. +*/ +unsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h, + LodePNGState* state, + const unsigned char* in, size_t insize); + +/* +Read the PNG header, but not the actual data. This returns only the information +that is in the header chunk of the PNG, such as width, height and color type. The +information is placed in the info_png field of the LodePNGState. +*/ +unsigned lodepng_inspect(unsigned* w, unsigned* h, + LodePNGState* state, + const unsigned char* in, size_t insize); +#endif /*LODEPNG_COMPILE_DECODER*/ + + +#ifdef LODEPNG_COMPILE_ENCODER +/*This function allocates the out buffer with standard malloc and stores the size in *outsize.*/ +unsigned lodepng_encode(unsigned char** out, size_t* outsize, + const unsigned char* image, unsigned w, unsigned h, + LodePNGState* state); +#endif /*LODEPNG_COMPILE_ENCODER*/ + +/* +The lodepng_chunk functions are normally not needed, except to traverse the +unknown chunks stored in the LodePNGInfo struct, or add new ones to it. +It also allows traversing the chunks of an encoded PNG file yourself. + +PNG standard chunk naming conventions: +First byte: uppercase = critical, lowercase = ancillary +Second byte: uppercase = public, lowercase = private +Third byte: must be uppercase +Fourth byte: uppercase = unsafe to copy, lowercase = safe to copy +*/ + +/*get the length of the data of the chunk. Total chunk length has 12 bytes more.*/ +unsigned lodepng_chunk_length(const unsigned char* chunk); + +/*puts the 4-byte type in null terminated string*/ +void lodepng_chunk_type(char type[5], const unsigned char* chunk); + +/*check if the type is the given type*/ +unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type); + +/*0: it's one of the critical chunk types, 1: it's an ancillary chunk (see PNG standard)*/ +unsigned char lodepng_chunk_ancillary(const unsigned char* chunk); + +/*0: public, 1: private (see PNG standard)*/ +unsigned char lodepng_chunk_private(const unsigned char* chunk); + +/*0: the chunk is unsafe to copy, 1: the chunk is safe to copy (see PNG standard)*/ +unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk); + +/*get pointer to the data of the chunk, where the input points to the header of the chunk*/ +unsigned char* lodepng_chunk_data(unsigned char* chunk); +const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk); + +/*returns 0 if the crc is correct, 1 if it's incorrect (0 for OK as usual!)*/ +unsigned lodepng_chunk_check_crc(const unsigned char* chunk); + +/*generates the correct CRC from the data and puts it in the last 4 bytes of the chunk*/ +void lodepng_chunk_generate_crc(unsigned char* chunk); + +/*iterate to next chunks. don't use on IEND chunk, as there is no next chunk then*/ +unsigned char* lodepng_chunk_next(unsigned char* chunk); +const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk); + +/* +Appends chunk to the data in out. The given chunk should already have its chunk header. +The out variable and outlength are updated to reflect the new reallocated buffer. +Returns error code (0 if it went ok) +*/ +unsigned lodepng_chunk_append(unsigned char** out, size_t* outlength, const unsigned char* chunk); + +/* +Appends new chunk to out. The chunk to append is given by giving its length, type +and data separately. The type is a 4-letter string. +The out variable and outlength are updated to reflect the new reallocated buffer. +Returne error code (0 if it went ok) +*/ +unsigned lodepng_chunk_create(unsigned char** out, size_t* outlength, unsigned length, + const char* type, const unsigned char* data); + + +/*Calculate CRC32 of buffer*/ +unsigned lodepng_crc32(const unsigned char* buf, size_t len); +#endif /*LODEPNG_COMPILE_PNG*/ + + +#ifdef LODEPNG_COMPILE_ZLIB +/* +This zlib part can be used independently to zlib compress and decompress a +buffer. It cannot be used to create gzip files however, and it only supports the +part of zlib that is required for PNG, it does not support dictionaries. +*/ + +#ifdef LODEPNG_COMPILE_DECODER +/*Inflate a buffer. Inflate is the decompression step of deflate. Out buffer must be freed after use.*/ +unsigned lodepng_inflate(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGDecompressSettings* settings); + +/* +Decompresses Zlib data. Reallocates the out buffer and appends the data. The +data must be according to the zlib specification. +Either, *out must be NULL and *outsize must be 0, or, *out must be a valid +buffer and *outsize its size in bytes. out must be freed by user after usage. +*/ +unsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGDecompressSettings* settings); +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_ENCODER +/* +Compresses data with Zlib. Reallocates the out buffer and appends the data. +Zlib adds a small header and trailer around the deflate data. +The data is output in the format of the zlib specification. +Either, *out must be NULL and *outsize must be 0, or, *out must be a valid +buffer and *outsize its size in bytes. out must be freed by user after usage. +*/ +unsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGCompressSettings* settings); + +/* +Find length-limited Huffman code for given frequencies. This function is in the +public interface only for tests, it's used internally by lodepng_deflate. +*/ +unsigned lodepng_huffman_code_lengths(unsigned* lengths, const unsigned* frequencies, + size_t numcodes, unsigned maxbitlen); + +/*Compress a buffer with deflate. See RFC 1951. Out buffer must be freed after use.*/ +unsigned lodepng_deflate(unsigned char** out, size_t* outsize, + const unsigned char* in, size_t insize, + const LodePNGCompressSettings* settings); + +#endif /*LODEPNG_COMPILE_ENCODER*/ +#endif /*LODEPNG_COMPILE_ZLIB*/ + +#ifdef LODEPNG_COMPILE_DISK +/* +Load a file from disk into buffer. The function allocates the out buffer, and +after usage you should free it. +out: output parameter, contains pointer to loaded buffer. +outsize: output parameter, size of the allocated out buffer +filename: the path to the file to load +return value: error code (0 means ok) +*/ +unsigned lodepng_load_file(unsigned char** out, size_t* outsize, const char* filename); + +/* +Save a file from buffer to disk. Warning, if it exists, this function overwrites +the file without warning! +buffer: the buffer to write +buffersize: size of the buffer to write +filename: the path to the file to save to +return value: error code (0 means ok) +*/ +unsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize, const char* filename); +#endif /*LODEPNG_COMPILE_DISK*/ + +#ifdef LODEPNG_COMPILE_CPP +//The LodePNG C++ wrapper uses std::vectors instead of manually allocated memory buffers. +namespace lodepng +{ +#ifdef LODEPNG_COMPILE_PNG +class State : public LodePNGState +{ + public: + State(); + State(const State& other); + virtual ~State(); + State& operator=(const State& other); +}; + +#ifdef LODEPNG_COMPILE_DECODER +//Same as other lodepng::decode, but using a State for more settings and information. +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + State& state, + const unsigned char* in, size_t insize); +unsigned decode(std::vector& out, unsigned& w, unsigned& h, + State& state, + const std::vector& in); +#endif /*LODEPNG_COMPILE_DECODER*/ + +#ifdef LODEPNG_COMPILE_ENCODER +//Same as other lodepng::encode, but using a State for more settings and information. +unsigned encode(std::vector& out, + const unsigned char* in, unsigned w, unsigned h, + State& state); +unsigned encode(std::vector& out, + const std::vector& in, unsigned w, unsigned h, + State& state); +#endif /*LODEPNG_COMPILE_ENCODER*/ + +#ifdef LODEPNG_COMPILE_DISK +/* +Load a file from disk into an std::vector. If the vector is empty, then either +the file doesn't exist or is an empty file. +*/ +void load_file(std::vector& buffer, const std::string& filename); + +/* +Save the binary data in an std::vector to a file on disk. The file is overwritten +without warning. +*/ +void save_file(const std::vector& buffer, const std::string& filename); +#endif //LODEPNG_COMPILE_DISK +#endif //LODEPNG_COMPILE_PNG + +#ifdef LODEPNG_COMPILE_ZLIB +#ifdef LODEPNG_COMPILE_DECODER +//Zlib-decompress an unsigned char buffer +unsigned decompress(std::vector& out, const unsigned char* in, size_t insize, + const LodePNGDecompressSettings& settings = lodepng_default_decompress_settings); + +//Zlib-decompress an std::vector +unsigned decompress(std::vector& out, const std::vector& in, + const LodePNGDecompressSettings& settings = lodepng_default_decompress_settings); +#endif //LODEPNG_COMPILE_DECODER + +#ifdef LODEPNG_COMPILE_ENCODER +//Zlib-compress an unsigned char buffer +unsigned compress(std::vector& out, const unsigned char* in, size_t insize, + const LodePNGCompressSettings& settings = lodepng_default_compress_settings); + +//Zlib-compress an std::vector +unsigned compress(std::vector& out, const std::vector& in, + const LodePNGCompressSettings& settings = lodepng_default_compress_settings); +#endif //LODEPNG_COMPILE_ENCODER +#endif //LODEPNG_COMPILE_ZLIB +} //namespace lodepng +#endif /*LODEPNG_COMPILE_CPP*/ + +/* +TODO: +[.] test if there are no memory leaks or security exploits - done a lot but needs to be checked often +[.] check compatibility with vareous compilers - done but needs to be redone for every newer version +[X] converting color to 16-bit per channel types +[ ] read all public PNG chunk types (but never let the color profile and gamma ones touch RGB values) +[ ] make sure encoder generates no chunks with size > (2^31)-1 +[ ] partial decoding (stream processing) +[X] let the "isFullyOpaque" function check color keys and transparent palettes too +[X] better name for the variables "codes", "codesD", "codelengthcodes", "clcl" and "lldl" +[ ] don't stop decoding on errors like 69, 57, 58 (make warnings) +[ ] make option to choose if the raw image with non multiple of 8 bits per scanline should have padding bits or not +[ ] let the C++ wrapper catch exceptions coming from the standard library and return LodePNG error codes +*/ + +#endif /*LODEPNG_H inclusion guard*/ + +/* +LodePNG Documentation +--------------------- + +0. table of contents +-------------------- + + 1. about + 1.1. supported features + 1.2. features not supported + 2. C and C++ version + 3. security + 4. decoding + 5. encoding + 6. color conversions + 6.1. PNG color types + 6.2. color conversions + 6.3. padding bits + 6.4. A note about 16-bits per channel and endianness + 7. error values + 8. chunks and PNG editing + 9. compiler support + 10. examples + 10.1. decoder C++ example + 10.2. decoder C example + 11. changes + 12. contact information + + +1. about +-------- + +PNG is a file format to store raster images losslessly with good compression, +supporting different color types and alpha channel. + +LodePNG is a PNG codec according to the Portable Network Graphics (PNG) +Specification (Second Edition) - W3C Recommendation 10 November 2003. + +The specifications used are: + +*) Portable Network Graphics (PNG) Specification (Second Edition): + http://www.w3.org/TR/2003/REC-PNG-20031110 +*) RFC 1950 ZLIB Compressed Data Format version 3.3: + http://www.gzip.org/zlib/rfc-zlib.html +*) RFC 1951 DEFLATE Compressed Data Format Specification ver 1.3: + http://www.gzip.org/zlib/rfc-deflate.html + +The most recent version of LodePNG can currently be found at +http://lodev.org/lodepng/ + +LodePNG works both in C (ISO C90) and C++, with a C++ wrapper that adds +extra functionality. + +LodePNG exists out of two files: +-lodepng.h: the header file for both C and C++ +-lodepng.c(pp): give it the name lodepng.c or lodepng.cpp (or .cc) depending on your usage + +If you want to start using LodePNG right away without reading this doc, get the +examples from the LodePNG website to see how to use it in code, or check the +smaller examples in chapter 13 here. + +LodePNG is simple but only supports the basic requirements. To achieve +simplicity, the following design choices were made: There are no dependencies +on any external library. There are functions to decode and encode a PNG with +a single function call, and extended versions of these functions taking a +LodePNGState struct allowing to specify or get more information. By default +the colors of the raw image are always RGB or RGBA, no matter what color type +the PNG file uses. To read and write files, there are simple functions to +convert the files to/from buffers in memory. + +This all makes LodePNG suitable for loading textures in games, demos and small +programs, ... It's less suitable for full fledged image editors, loading PNGs +over network (it requires all the image data to be available before decoding can +begin), life-critical systems, ... + +1.1. supported features +----------------------- + +The following features are supported by the decoder: + +*) decoding of PNGs with any color type, bit depth and interlace mode, to a 24- or 32-bit color raw image, + or the same color type as the PNG +*) encoding of PNGs, from any raw image to 24- or 32-bit color, or the same color type as the raw image +*) Adam7 interlace and deinterlace for any color type +*) loading the image from harddisk or decoding it from a buffer from other sources than harddisk +*) support for alpha channels, including RGBA color model, translucent palettes and color keying +*) zlib decompression (inflate) +*) zlib compression (deflate) +*) CRC32 and ADLER32 checksums +*) handling of unknown chunks, allowing making a PNG editor that stores custom and unknown chunks. +*) the following chunks are supported (generated/interpreted) by both encoder and decoder: + IHDR: header information + PLTE: color palette + IDAT: pixel data + IEND: the final chunk + tRNS: transparency for palettized images + tEXt: textual information + zTXt: compressed textual information + iTXt: international textual information + bKGD: suggested background color + pHYs: physical dimensions + tIME: modification time + +1.2. features not supported +--------------------------- + +The following features are _not_ supported: + +*) some features needed to make a conformant PNG-Editor might be still missing. +*) partial loading/stream processing. All data must be available and is processed in one call. +*) The following public chunks are not supported but treated as unknown chunks by LodePNG + cHRM, gAMA, iCCP, sRGB, sBIT, hIST, sPLT + Some of these are not supported on purpose: LodePNG wants to provide the RGB values + stored in the pixels, not values modified by system dependent gamma or color models. + + +2. C and C++ version +-------------------- + +The C version uses buffers allocated with alloc that you need to free() +yourself. You need to use init and cleanup functions for each struct whenever +using a struct from the C version to avoid exploits and memory leaks. + +The C++ version has extra functions with std::vectors in the interface and the +lodepng::State class which is a LodePNGState with constructor and destructor. + +These files work without modification for both C and C++ compilers because all +the additional C++ code is in "#ifdef __cplusplus" blocks that make C-compilers +ignore it, and the C code is made to compile both with strict ISO C90 and C++. + +To use the C++ version, you need to rename the source file to lodepng.cpp +(instead of lodepng.c), and compile it with a C++ compiler. + +To use the C version, you need to rename the source file to lodepng.c (instead +of lodepng.cpp), and compile it with a C compiler. + + +3. Security +----------- + +Even if carefully designed, it's always possible that LodePNG contains possible +exploits. If you discover one, please let me know, and it will be fixed. + +When using LodePNG, care has to be taken with the C version of LodePNG, as well +as the C-style structs when working with C++. The following conventions are used +for all C-style structs: + +-if a struct has a corresponding init function, always call the init function when making a new one +-if a struct has a corresponding cleanup function, call it before the struct disappears to avoid memory leaks +-if a struct has a corresponding copy function, use the copy function instead of "=". + The destination must also be inited already. + + +4. Decoding +----------- + +Decoding converts a PNG compressed image to a raw pixel buffer. + +Most documentation on using the decoder is at its declarations in the header +above. For C, simple decoding can be done with functions such as +lodepng_decode32, and more advanced decoding can be done with the struct +LodePNGState and lodepng_decode. For C++, all decoding can be done with the +various lodepng::decode functions, and lodepng::State can be used for advanced +features. + +When using the LodePNGState, it uses the following fields for decoding: +*) LodePNGInfo info_png: it stores extra information about the PNG (the input) in here +*) LodePNGColorMode info_raw: here you can say what color mode of the raw image (the output) you want to get +*) LodePNGDecoderSettings decoder: you can specify a few extra settings for the decoder to use + +LodePNGInfo info_png +-------------------- + +After decoding, this contains extra information of the PNG image, except the actual +pixels, width and height because these are already gotten directly from the decoder +functions. + +It contains for example the original color type of the PNG image, text comments, +suggested background color, etc... More details about the LodePNGInfo struct are +at its declaration documentation. + +LodePNGColorMode info_raw +------------------------- + +When decoding, here you can specify which color type you want +the resulting raw image to be. If this is different from the colortype of the +PNG, then the decoder will automatically convert the result. This conversion +always works, except if you want it to convert a color PNG to greyscale or to +a palette with missing colors. + +By default, 32-bit color is used for the result. + +LodePNGDecoderSettings decoder +------------------------------ + +The settings can be used to ignore the errors created by invalid CRC and Adler32 +chunks, and to disable the decoding of tEXt chunks. + +There's also a setting color_convert, true by default. If false, no conversion +is done, the resulting data will be as it was in the PNG (after decompression) +and you'll have to puzzle the colors of the pixels together yourself using the +color type information in the LodePNGInfo. + + +5. Encoding +----------- + +Encoding converts a raw pixel buffer to a PNG compressed image. + +Most documentation on using the encoder is at its declarations in the header +above. For C, simple encoding can be done with functions such as +lodepng_encode32, and more advanced decoding can be done with the struct +LodePNGState and lodepng_encode. For C++, all encoding can be done with the +various lodepng::encode functions, and lodepng::State can be used for advanced +features. + +Like the decoder, the encoder can also give errors. However it gives less errors +since the encoder input is trusted, the decoder input (a PNG image that could +be forged by anyone) is not trusted. + +When using the LodePNGState, it uses the following fields for encoding: +*) LodePNGInfo info_png: here you specify how you want the PNG (the output) to be. +*) LodePNGColorMode info_raw: here you say what color type of the raw image (the input) has +*) LodePNGEncoderSettings encoder: you can specify a few settings for the encoder to use + +LodePNGInfo info_png +-------------------- + +When encoding, you use this the opposite way as when decoding: for encoding, +you fill in the values you want the PNG to have before encoding. By default it's +not needed to specify a color type for the PNG since it's automatically chosen, +but it's possible to choose it yourself given the right settings. + +The encoder will not always exactly match the LodePNGInfo struct you give, +it tries as close as possible. Some things are ignored by the encoder. The +encoder uses, for example, the following settings from it when applicable: +colortype and bitdepth, text chunks, time chunk, the color key, the palette, the +background color, the interlace method, unknown chunks, ... + +When encoding to a PNG with colortype 3, the encoder will generate a PLTE chunk. +If the palette contains any colors for which the alpha channel is not 255 (so +there are translucent colors in the palette), it'll add a tRNS chunk. + +LodePNGColorMode info_raw +------------------------- + +You specify the color type of the raw image that you give to the input here, +including a possible transparent color key and palette you happen to be using in +your raw image data. + +By default, 32-bit color is assumed, meaning your input has to be in RGBA +format with 4 bytes (unsigned chars) per pixel. + +LodePNGEncoderSettings encoder +------------------------------ + +The following settings are supported (some are in sub-structs): +*) auto_convert: when this option is enabled, the encoder will +automatically choose the smallest possible color mode (including color key) that +can encode the colors of all pixels without information loss. +*) btype: the block type for LZ77. 0 = uncompressed, 1 = fixed huffman tree, + 2 = dynamic huffman tree (best compression). Should be 2 for proper + compression. +*) use_lz77: whether or not to use LZ77 for compressed block types. Should be + true for proper compression. +*) windowsize: the window size used by the LZ77 encoder (1 - 32768). Has value + 2048 by default, but can be set to 32768 for better, but slow, compression. +*) force_palette: if colortype is 2 or 6, you can make the encoder write a PLTE + chunk if force_palette is true. This can used as suggested palette to convert + to by viewers that don't support more than 256 colors (if those still exist) +*) add_id: add text chunk "Encoder: LodePNG " to the image. +*) text_compression: default 1. If 1, it'll store texts as zTXt instead of tEXt chunks. + zTXt chunks use zlib compression on the text. This gives a smaller result on + large texts but a larger result on small texts (such as a single program name). + It's all tEXt or all zTXt though, there's no separate setting per text yet. + + +6. color conversions +-------------------- + +An important thing to note about LodePNG, is that the color type of the PNG, and +the color type of the raw image, are completely independent. By default, when +you decode a PNG, you get the result as a raw image in the color type you want, +no matter whether the PNG was encoded with a palette, greyscale or RGBA color. +And if you encode an image, by default LodePNG will automatically choose the PNG +color type that gives good compression based on the values of colors and amount +of colors in the image. It can be configured to let you control it instead as +well, though. + +To be able to do this, LodePNG does conversions from one color mode to another. +It can convert from almost any color type to any other color type, except the +following conversions: RGB to greyscale is not supported, and converting to a +palette when the palette doesn't have a required color is not supported. This is +not supported on purpose: this is information loss which requires a color +reduction algorithm that is beyong the scope of a PNG encoder (yes, RGB to grey +is easy, but there are multiple ways if you want to give some channels more +weight). + +By default, when decoding, you get the raw image in 32-bit RGBA or 24-bit RGB +color, no matter what color type the PNG has. And by default when encoding, +LodePNG automatically picks the best color model for the output PNG, and expects +the input image to be 32-bit RGBA or 24-bit RGB. So, unless you want to control +the color format of the images yourself, you can skip this chapter. + +6.1. PNG color types +-------------------- + +A PNG image can have many color types, ranging from 1-bit color to 64-bit color, +as well as palettized color modes. After the zlib decompression and unfiltering +in the PNG image is done, the raw pixel data will have that color type and thus +a certain amount of bits per pixel. If you want the output raw image after +decoding to have another color type, a conversion is done by LodePNG. + +The PNG specification gives the following color types: + +0: greyscale, bit depths 1, 2, 4, 8, 16 +2: RGB, bit depths 8 and 16 +3: palette, bit depths 1, 2, 4 and 8 +4: greyscale with alpha, bit depths 8 and 16 +6: RGBA, bit depths 8 and 16 + +Bit depth is the amount of bits per pixel per color channel. So the total amount +of bits per pixel is: amount of channels * bitdepth. + +6.2. color conversions +---------------------- + +As explained in the sections about the encoder and decoder, you can specify +color types and bit depths in info_png and info_raw to change the default +behaviour. + +If, when decoding, you want the raw image to be something else than the default, +you need to set the color type and bit depth you want in the LodePNGColorMode, +or the parameters colortype and bitdepth of the simple decoding function. + +If, when encoding, you use another color type than the default in the raw input +image, you need to specify its color type and bit depth in the LodePNGColorMode +of the raw image, or use the parameters colortype and bitdepth of the simple +encoding function. + +If, when encoding, you don't want LodePNG to choose the output PNG color type +but control it yourself, you need to set auto_convert in the encoder settings +to false, and specify the color type you want in the LodePNGInfo of the +encoder (including palette: it can generate a palette if auto_convert is true, +otherwise not). + +If the input and output color type differ (whether user chosen or auto chosen), +LodePNG will do a color conversion, which follows the rules below, and may +sometimes result in an error. + +To avoid some confusion: +-the decoder converts from PNG to raw image +-the encoder converts from raw image to PNG +-the colortype and bitdepth in LodePNGColorMode info_raw, are those of the raw image +-the colortype and bitdepth in the color field of LodePNGInfo info_png, are those of the PNG +-when encoding, the color type in LodePNGInfo is ignored if auto_convert + is enabled, it is automatically generated instead +-when decoding, the color type in LodePNGInfo is set by the decoder to that of the original + PNG image, but it can be ignored since the raw image has the color type you requested instead +-if the color type of the LodePNGColorMode and PNG image aren't the same, a conversion + between the color types is done if the color types are supported. If it is not + supported, an error is returned. If the types are the same, no conversion is done. +-even though some conversions aren't supported, LodePNG supports loading PNGs from any + colortype and saving PNGs to any colortype, sometimes it just requires preparing + the raw image correctly before encoding. +-both encoder and decoder use the same color converter. + +Non supported color conversions: +-color to greyscale: no error is thrown, but the result will look ugly because +only the red channel is taken +-anything to palette when that palette does not have that color in it: in this +case an error is thrown + +Supported color conversions: +-anything to 8-bit RGB, 8-bit RGBA, 16-bit RGB, 16-bit RGBA +-any grey or grey+alpha, to grey or grey+alpha +-anything to a palette, as long as the palette has the requested colors in it +-removing alpha channel +-higher to smaller bitdepth, and vice versa + +If you want no color conversion to be done (e.g. for speed or control): +-In the encoder, you can make it save a PNG with any color type by giving the +raw color mode and LodePNGInfo the same color mode, and setting auto_convert to +false. +-In the decoder, you can make it store the pixel data in the same color type +as the PNG has, by setting the color_convert setting to false. Settings in +info_raw are then ignored. + +The function lodepng_convert does the color conversion. It is available in the +interface but normally isn't needed since the encoder and decoder already call +it. + +6.3. padding bits +----------------- + +In the PNG file format, if a less than 8-bit per pixel color type is used and the scanlines +have a bit amount that isn't a multiple of 8, then padding bits are used so that each +scanline starts at a fresh byte. But that is NOT true for the LodePNG raw input and output. +The raw input image you give to the encoder, and the raw output image you get from the decoder +will NOT have these padding bits, e.g. in the case of a 1-bit image with a width +of 7 pixels, the first pixel of the second scanline will the the 8th bit of the first byte, +not the first bit of a new byte. + +6.4. A note about 16-bits per channel and endianness +---------------------------------------------------- + +LodePNG uses unsigned char arrays for 16-bit per channel colors too, just like +for any other color format. The 16-bit values are stored in big endian (most +significant byte first) in these arrays. This is the opposite order of the +little endian used by x86 CPU's. + +LodePNG always uses big endian because the PNG file format does so internally. +Conversions to other formats than PNG uses internally are not supported by +LodePNG on purpose, there are myriads of formats, including endianness of 16-bit +colors, the order in which you store R, G, B and A, and so on. Supporting and +converting to/from all that is outside the scope of LodePNG. + +This may mean that, depending on your use case, you may want to convert the big +endian output of LodePNG to little endian with a for loop. This is certainly not +always needed, many applications and libraries support big endian 16-bit colors +anyway, but it means you cannot simply cast the unsigned char* buffer to an +unsigned short* buffer on x86 CPUs. + + +7. error values +--------------- + +All functions in LodePNG that return an error code, return 0 if everything went +OK, or a non-zero code if there was an error. + +The meaning of the LodePNG error values can be retrieved with the function +lodepng_error_text: given the numerical error code, it returns a description +of the error in English as a string. + +Check the implementation of lodepng_error_text to see the meaning of each code. + + +8. chunks and PNG editing +------------------------- + +If you want to add extra chunks to a PNG you encode, or use LodePNG for a PNG +editor that should follow the rules about handling of unknown chunks, or if your +program is able to read other types of chunks than the ones handled by LodePNG, +then that's possible with the chunk functions of LodePNG. + +A PNG chunk has the following layout: + +4 bytes length +4 bytes type name +length bytes data +4 bytes CRC + +8.1. iterating through chunks +----------------------------- + +If you have a buffer containing the PNG image data, then the first chunk (the +IHDR chunk) starts at byte number 8 of that buffer. The first 8 bytes are the +signature of the PNG and are not part of a chunk. But if you start at byte 8 +then you have a chunk, and can check the following things of it. + +NOTE: none of these functions check for memory buffer boundaries. To avoid +exploits, always make sure the buffer contains all the data of the chunks. +When using lodepng_chunk_next, make sure the returned value is within the +allocated memory. + +unsigned lodepng_chunk_length(const unsigned char* chunk): + +Get the length of the chunk's data. The total chunk length is this length + 12. + +void lodepng_chunk_type(char type[5], const unsigned char* chunk): +unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type): + +Get the type of the chunk or compare if it's a certain type + +unsigned char lodepng_chunk_critical(const unsigned char* chunk): +unsigned char lodepng_chunk_private(const unsigned char* chunk): +unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk): + +Check if the chunk is critical in the PNG standard (only IHDR, PLTE, IDAT and IEND are). +Check if the chunk is private (public chunks are part of the standard, private ones not). +Check if the chunk is safe to copy. If it's not, then, when modifying data in a critical +chunk, unsafe to copy chunks of the old image may NOT be saved in the new one if your +program doesn't handle that type of unknown chunk. + +unsigned char* lodepng_chunk_data(unsigned char* chunk): +const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk): + +Get a pointer to the start of the data of the chunk. + +unsigned lodepng_chunk_check_crc(const unsigned char* chunk): +void lodepng_chunk_generate_crc(unsigned char* chunk): + +Check if the crc is correct or generate a correct one. + +unsigned char* lodepng_chunk_next(unsigned char* chunk): +const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk): + +Iterate to the next chunk. This works if you have a buffer with consecutive chunks. Note that these +functions do no boundary checking of the allocated data whatsoever, so make sure there is enough +data available in the buffer to be able to go to the next chunk. + +unsigned lodepng_chunk_append(unsigned char** out, size_t* outlength, const unsigned char* chunk): +unsigned lodepng_chunk_create(unsigned char** out, size_t* outlength, unsigned length, + const char* type, const unsigned char* data): + +These functions are used to create new chunks that are appended to the data in *out that has +length *outlength. The append function appends an existing chunk to the new data. The create +function creates a new chunk with the given parameters and appends it. Type is the 4-letter +name of the chunk. + +8.2. chunks in info_png +----------------------- + +The LodePNGInfo struct contains fields with the unknown chunk in it. It has 3 +buffers (each with size) to contain 3 types of unknown chunks: +the ones that come before the PLTE chunk, the ones that come between the PLTE +and the IDAT chunks, and the ones that come after the IDAT chunks. +It's necessary to make the distionction between these 3 cases because the PNG +standard forces to keep the ordering of unknown chunks compared to the critical +chunks, but does not force any other ordering rules. + +info_png.unknown_chunks_data[0] is the chunks before PLTE +info_png.unknown_chunks_data[1] is the chunks after PLTE, before IDAT +info_png.unknown_chunks_data[2] is the chunks after IDAT + +The chunks in these 3 buffers can be iterated through and read by using the same +way described in the previous subchapter. + +When using the decoder to decode a PNG, you can make it store all unknown chunks +if you set the option settings.remember_unknown_chunks to 1. By default, this +option is off (0). + +The encoder will always encode unknown chunks that are stored in the info_png. +If you need it to add a particular chunk that isn't known by LodePNG, you can +use lodepng_chunk_append or lodepng_chunk_create to the chunk data in +info_png.unknown_chunks_data[x]. + +Chunks that are known by LodePNG should not be added in that way. E.g. to make +LodePNG add a bKGD chunk, set background_defined to true and add the correct +parameters there instead. + + +9. compiler support +------------------- + +No libraries other than the current standard C library are needed to compile +LodePNG. For the C++ version, only the standard C++ library is needed on top. +Add the files lodepng.c(pp) and lodepng.h to your project, include +lodepng.h where needed, and your program can read/write PNG files. + +It is compatible with C90 and up, and C++03 and up. + +If performance is important, use optimization when compiling! For both the +encoder and decoder, this makes a large difference. + +Make sure that LodePNG is compiled with the same compiler of the same version +and with the same settings as the rest of the program, or the interfaces with +std::vectors and std::strings in C++ can be incompatible. + +CHAR_BITS must be 8 or higher, because LodePNG uses unsigned chars for octets. + +*) gcc and g++ + +LodePNG is developed in gcc so this compiler is natively supported. It gives no +warnings with compiler options "-Wall -Wextra -pedantic -ansi", with gcc and g++ +version 4.7.1 on Linux, 32-bit and 64-bit. + +*) Clang + +Fully supported and warning-free. + +*) Mingw + +The Mingw compiler (a port of gcc for Windows) should be fully supported by +LodePNG. + +*) Visual Studio and Visual C++ Express Edition + +LodePNG should be warning-free with warning level W4. Two warnings were disabled +with pragmas though: warning 4244 about implicit conversions, and warning 4996 +where it wants to use a non-standard function fopen_s instead of the standard C +fopen. + +Visual Studio may want "stdafx.h" files to be included in each source file and +give an error "unexpected end of file while looking for precompiled header". +This is not standard C++ and will not be added to the stock LodePNG. You can +disable it for lodepng.cpp only by right clicking it, Properties, C/C++, +Precompiled Headers, and set it to Not Using Precompiled Headers there. + +NOTE: Modern versions of VS should be fully supported, but old versions, e.g. +VS6, are not guaranteed to work. + +*) Compilers on Macintosh + +LodePNG has been reported to work both with gcc and LLVM for Macintosh, both for +C and C++. + +*) Other Compilers + +If you encounter problems on any compilers, feel free to let me know and I may +try to fix it if the compiler is modern and standards complient. + + +10. examples +------------ + +This decoder example shows the most basic usage of LodePNG. More complex +examples can be found on the LodePNG website. + +10.1. decoder C++ example +------------------------- + +#include "lodepng.h" +#include + +int main(int argc, char *argv[]) +{ + const char* filename = argc > 1 ? argv[1] : "test.png"; + + //load and decode + std::vector image; + unsigned width, height; + unsigned error = lodepng::decode(image, width, height, filename); + + //if there's an error, display it + if(error) std::cout << "decoder error " << error << ": " << lodepng_error_text(error) << std::endl; + + //the pixels are now in the vector "image", 4 bytes per pixel, ordered RGBARGBA..., use it as texture, draw it, ... +} + +10.2. decoder C example +----------------------- + +#include "lodepng.h" + +int main(int argc, char *argv[]) +{ + unsigned error; + unsigned char* image; + size_t width, height; + const char* filename = argc > 1 ? argv[1] : "test.png"; + + error = lodepng_decode32_file(&image, &width, &height, filename); + + if(error) printf("decoder error %u: %s\n", error, lodepng_error_text(error)); + + / * use image here * / + + free(image); + return 0; +} + + +11. changes +----------- + +The version number of LodePNG is the date of the change given in the format +yyyymmdd. + +Some changes aren't backwards compatible. Those are indicated with a (!) +symbol. + +*) 23 aug 2014: Reduced needless memory usage of decoder. +*) 28 jun 2014: Removed fix_png setting, always support palette OOB for + simplicity. Made ColorProfile public. +*) 09 jun 2014: Faster encoder by fixing hash bug and more zeros optimization. +*) 22 dec 2013: Power of two windowsize required for optimization. +*) 15 apr 2013: Fixed bug with LAC_ALPHA and color key. +*) 25 mar 2013: Added an optional feature to ignore some PNG errors (fix_png). +*) 11 mar 2013 (!): Bugfix with custom free. Changed from "my" to "lodepng_" + prefix for the custom allocators and made it possible with a new #define to + use custom ones in your project without needing to change lodepng's code. +*) 28 jan 2013: Bugfix with color key. +*) 27 okt 2012: Tweaks in text chunk keyword length error handling. +*) 8 okt 2012 (!): Added new filter strategy (entropy) and new auto color mode. + (no palette). Better deflate tree encoding. New compression tweak settings. + Faster color conversions while decoding. Some internal cleanups. +*) 23 sep 2012: Reduced warnings in Visual Studio a little bit. +*) 1 sep 2012 (!): Removed #define's for giving custom (de)compression functions + and made it work with function pointers instead. +*) 23 jun 2012: Added more filter strategies. Made it easier to use custom alloc + and free functions and toggle #defines from compiler flags. Small fixes. +*) 6 may 2012 (!): Made plugging in custom zlib/deflate functions more flexible. +*) 22 apr 2012 (!): Made interface more consistent, renaming a lot. Removed + redundant C++ codec classes. Reduced amount of structs. Everything changed, + but it is cleaner now imho and functionality remains the same. Also fixed + several bugs and shrinked the implementation code. Made new samples. +*) 6 nov 2011 (!): By default, the encoder now automatically chooses the best + PNG color model and bit depth, based on the amount and type of colors of the + raw image. For this, autoLeaveOutAlphaChannel replaced by auto_choose_color. +*) 9 okt 2011: simpler hash chain implementation for the encoder. +*) 8 sep 2011: lz77 encoder lazy matching instead of greedy matching. +*) 23 aug 2011: tweaked the zlib compression parameters after benchmarking. + A bug with the PNG filtertype heuristic was fixed, so that it chooses much + better ones (it's quite significant). A setting to do an experimental, slow, + brute force search for PNG filter types is added. +*) 17 aug 2011 (!): changed some C zlib related function names. +*) 16 aug 2011: made the code less wide (max 120 characters per line). +*) 17 apr 2011: code cleanup. Bugfixes. Convert low to 16-bit per sample colors. +*) 21 feb 2011: fixed compiling for C90. Fixed compiling with sections disabled. +*) 11 dec 2010: encoding is made faster, based on suggestion by Peter Eastman + to optimize long sequences of zeros. +*) 13 nov 2010: added LodePNG_InfoColor_hasPaletteAlpha and + LodePNG_InfoColor_canHaveAlpha functions for convenience. +*) 7 nov 2010: added LodePNG_error_text function to get error code description. +*) 30 okt 2010: made decoding slightly faster +*) 26 okt 2010: (!) changed some C function and struct names (more consistent). + Reorganized the documentation and the declaration order in the header. +*) 08 aug 2010: only changed some comments and external samples. +*) 05 jul 2010: fixed bug thanks to warnings in the new gcc version. +*) 14 mar 2010: fixed bug where too much memory was allocated for char buffers. +*) 02 sep 2008: fixed bug where it could create empty tree that linux apps could + read by ignoring the problem but windows apps couldn't. +*) 06 jun 2008: added more error checks for out of memory cases. +*) 26 apr 2008: added a few more checks here and there to ensure more safety. +*) 06 mar 2008: crash with encoding of strings fixed +*) 02 feb 2008: support for international text chunks added (iTXt) +*) 23 jan 2008: small cleanups, and #defines to divide code in sections +*) 20 jan 2008: support for unknown chunks allowing using LodePNG for an editor. +*) 18 jan 2008: support for tIME and pHYs chunks added to encoder and decoder. +*) 17 jan 2008: ability to encode and decode compressed zTXt chunks added + Also vareous fixes, such as in the deflate and the padding bits code. +*) 13 jan 2008: Added ability to encode Adam7-interlaced images. Improved + filtering code of encoder. +*) 07 jan 2008: (!) changed LodePNG to use ISO C90 instead of C++. A + C++ wrapper around this provides an interface almost identical to before. + Having LodePNG be pure ISO C90 makes it more portable. The C and C++ code + are together in these files but it works both for C and C++ compilers. +*) 29 dec 2007: (!) changed most integer types to unsigned int + other tweaks +*) 30 aug 2007: bug fixed which makes this Borland C++ compatible +*) 09 aug 2007: some VS2005 warnings removed again +*) 21 jul 2007: deflate code placed in new namespace separate from zlib code +*) 08 jun 2007: fixed bug with 2- and 4-bit color, and small interlaced images +*) 04 jun 2007: improved support for Visual Studio 2005: crash with accessing + invalid std::vector element [0] fixed, and level 3 and 4 warnings removed +*) 02 jun 2007: made the encoder add a tag with version by default +*) 27 may 2007: zlib and png code separated (but still in the same file), + simple encoder/decoder functions added for more simple usage cases +*) 19 may 2007: minor fixes, some code cleaning, new error added (error 69), + moved some examples from here to lodepng_examples.cpp +*) 12 may 2007: palette decoding bug fixed +*) 24 apr 2007: changed the license from BSD to the zlib license +*) 11 mar 2007: very simple addition: ability to encode bKGD chunks. +*) 04 mar 2007: (!) tEXt chunk related fixes, and support for encoding + palettized PNG images. Plus little interface change with palette and texts. +*) 03 mar 2007: Made it encode dynamic Huffman shorter with repeat codes. + Fixed a bug where the end code of a block had length 0 in the Huffman tree. +*) 26 feb 2007: Huffman compression with dynamic trees (BTYPE 2) now implemented + and supported by the encoder, resulting in smaller PNGs at the output. +*) 27 jan 2007: Made the Adler-32 test faster so that a timewaste is gone. +*) 24 jan 2007: gave encoder an error interface. Added color conversion from any + greyscale type to 8-bit greyscale with or without alpha. +*) 21 jan 2007: (!) Totally changed the interface. It allows more color types + to convert to and is more uniform. See the manual for how it works now. +*) 07 jan 2007: Some cleanup & fixes, and a few changes over the last days: + encode/decode custom tEXt chunks, separate classes for zlib & deflate, and + at last made the decoder give errors for incorrect Adler32 or Crc. +*) 01 jan 2007: Fixed bug with encoding PNGs with less than 8 bits per channel. +*) 29 dec 2006: Added support for encoding images without alpha channel, and + cleaned out code as well as making certain parts faster. +*) 28 dec 2006: Added "Settings" to the encoder. +*) 26 dec 2006: The encoder now does LZ77 encoding and produces much smaller files now. + Removed some code duplication in the decoder. Fixed little bug in an example. +*) 09 dec 2006: (!) Placed output parameters of public functions as first parameter. + Fixed a bug of the decoder with 16-bit per color. +*) 15 okt 2006: Changed documentation structure +*) 09 okt 2006: Encoder class added. It encodes a valid PNG image from the + given image buffer, however for now it's not compressed. +*) 08 sep 2006: (!) Changed to interface with a Decoder class +*) 30 jul 2006: (!) LodePNG_InfoPng , width and height are now retrieved in different + way. Renamed decodePNG to decodePNGGeneric. +*) 29 jul 2006: (!) Changed the interface: image info is now returned as a + struct of type LodePNG::LodePNG_Info, instead of a vector, which was a bit clumsy. +*) 28 jul 2006: Cleaned the code and added new error checks. + Corrected terminology "deflate" into "inflate". +*) 23 jun 2006: Added SDL example in the documentation in the header, this + example allows easy debugging by displaying the PNG and its transparency. +*) 22 jun 2006: (!) Changed way to obtain error value. Added + loadFile function for convenience. Made decodePNG32 faster. +*) 21 jun 2006: (!) Changed type of info vector to unsigned. + Changed position of palette in info vector. Fixed an important bug that + happened on PNGs with an uncompressed block. +*) 16 jun 2006: Internally changed unsigned into unsigned where + needed, and performed some optimizations. +*) 07 jun 2006: (!) Renamed functions to decodePNG and placed them + in LodePNG namespace. Changed the order of the parameters. Rewrote the + documentation in the header. Renamed files to lodepng.cpp and lodepng.h +*) 22 apr 2006: Optimized and improved some code +*) 07 sep 2005: (!) Changed to std::vector interface +*) 12 aug 2005: Initial release (C++, decoder only) + + +12. contact information +----------------------- + +Feel free to contact me with suggestions, problems, comments, ... concerning +LodePNG. If you encounter a PNG image that doesn't work properly with this +decoder, feel free to send it and I'll use it to find and fix the problem. + +My email address is (puzzle the account and domain together with an @ symbol): +Domain: gmail dot com. +Account: lode dot vandevenne. + + +Copyright (c) 2005-2014 Lode Vandevenne +*/ diff --git a/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp new file mode 100644 index 000000000..d148a5d84 --- /dev/null +++ b/examples/ThirdPartyLibs/openvr/samples/shared/pathtools.cpp @@ -0,0 +1,560 @@ +//========= Copyright Valve Corporation ============// +#include "pathtools.h" +//#include "hmdplatform_private.h" +//#include "vrcommon/strtools.h" + +#if defined( _WIN32) +#include +#include +#include +#include +#elif defined OSX +#include +#include +#include "osxfilebridge.h" +#define _S_IFDIR S_IFDIR // really from tier0/platform.h which we dont have yet +#define _MAX_PATH MAX_PATH // yet another form of _PATH define we use +#elif defined(LINUX) +#include +#include +#endif + +#include + +#include + +/** Returns the path (including filename) to the current executable */ +std::string Path_GetExecutablePath() +{ + bool bSuccess = false; + char rchPath[ 1024 ]; + size_t nBuff = sizeof(rchPath); +#if defined( _WIN32 ) + bSuccess = ::GetModuleFileNameA(NULL, rchPath, (DWORD)nBuff) > 0; +#elif defined OSX + uint32_t _nBuff = nBuff; + bSuccess = _NSGetExecutablePath(rchPath, &_nBuff) == 0; + rchPath[nBuff-1] = '\0'; +#elif defined LINUX + ssize_t nRead = readlink("/proc/self/exe", rchPath, nBuff-1 ); + if ( nRead != -1 ) + { + rchPath[ nRead ] = 0; + bSuccess = true; + } + else + { + rchPath[ 0 ] = '\0'; + } +#else + AssertMsg( false, "Implement Plat_GetExecutablePath" ); +#endif + + if( bSuccess ) + return rchPath; + else + return ""; +} + +/** Returns the path of the current working directory */ +std::string Path_GetWorkingDirectory() +{ + std::string sPath; + char buf[ 1024 ]; +#if defined( _WIN32 ) + sPath = _getcwd( buf, sizeof( buf ) ); +#else + sPath = getcwd( buf, sizeof( buf ) ); +#endif + return sPath; +} + +/** Sets the path of the current working directory. Returns true if this was successful. */ +bool Path_SetWorkingDirectory( const std::string & sPath ) +{ + bool bSuccess; +#if defined( _WIN32 ) + bSuccess = 0 == _chdir( sPath.c_str() ); +#else + bSuccess = 0 == chdir( sPath.c_str() ); +#endif + return bSuccess; +} + +std::string Path_GetModulePath() +{ +#if defined( _WIN32 ) + char path[32768]; + HMODULE hm = NULL; + + if (!GetModuleHandleExA(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS, + (LPCSTR) &Path_GetModulePath, + &hm)) + { + int ret = GetLastError(); + fprintf(stderr, "GetModuleHandle returned %d\n", ret); + return ""; + } + GetModuleFileNameA(hm, path, sizeof(path)); + FreeLibrary( hm ); + return path; +#else + Dl_info dl_info; + dladdr((void *)Path_GetModulePath, &dl_info); + return dl_info.dli_fname; +#endif +} + +/** Returns the specified path without its filename */ +std::string Path_StripFilename( const std::string & sPath, char slash ) +{ + if( slash == 0 ) + slash = Path_GetSlash(); + + std::string::size_type n = sPath.find_last_of( slash ); + if( n == std::string::npos ) + return sPath; + else + return std::string( sPath.begin(), sPath.begin() + n ); +} + +/** returns just the filename from the provided full or relative path. */ +std::string Path_StripDirectory( const std::string & sPath, char slash ) +{ + if( slash == 0 ) + slash = Path_GetSlash(); + + std::string::size_type n = sPath.find_last_of( slash ); + if( n == std::string::npos ) + return sPath; + else + return std::string( sPath.begin() + n + 1, sPath.end() ); +} + +/** returns just the filename with no extension of the provided filename. +* If there is a path the path is left intact. */ +std::string Path_StripExtension( const std::string & sPath ) +{ + for( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ ) + { + if( *i == '.' ) + { + return std::string( sPath.begin(), i.base() - 1 ); + } + + // if we find a slash there is no extension + if( *i == '\\' || *i == '/' ) + break; + } + + // we didn't find an extension + return sPath; +} + + +bool Path_IsAbsolute( const std::string & sPath ) +{ + if( sPath.empty() ) + return false; + + if( sPath.find( ':' ) != std::string::npos ) + return true; + + if( sPath[0] == '\\' || sPath[0] == '/' ) + return true; + + return false; +} + + +/** Makes an absolute path from a relative path and a base path */ +std::string Path_MakeAbsolute( const std::string & sRelativePath, const std::string & sBasePath, char slash ) +{ + if( slash == 0 ) + slash = Path_GetSlash(); + + if( Path_IsAbsolute( sRelativePath ) ) + return sRelativePath; + else + { + if( !Path_IsAbsolute( sBasePath ) ) + return ""; + + std::string sCompacted = Path_Compact( Path_Join( sBasePath, sRelativePath, slash ), slash ); + if( Path_IsAbsolute( sCompacted ) ) + return sCompacted; + else + return ""; + } +} + + +/** Fixes the directory separators for the current platform */ +std::string Path_FixSlashes( const std::string & sPath, char slash ) +{ + if( slash == 0 ) + slash = Path_GetSlash(); + + std::string sFixed = sPath; + for( std::string::iterator i = sFixed.begin(); i != sFixed.end(); i++ ) + { + if( *i == '/' || *i == '\\' ) + *i = slash; + } + + return sFixed; +} + + +char Path_GetSlash() +{ +#if defined(_WIN32) + return '\\'; +#else + return '/'; +#endif +} + +/** Jams two paths together with the right kind of slash */ +std::string Path_Join( const std::string & first, const std::string & second, char slash ) +{ + if( slash == 0 ) + slash = Path_GetSlash(); + + // only insert a slash if we don't already have one + std::string::size_type nLen = first.length(); +#if defined(_WIN32) + if( first.back() == '\\' || first.back() == '/' ) + nLen--; +#else + char last_char = first[first.length()-1]; + if (last_char == '\\' || last_char == '/') + nLen--; +#endif + + return first.substr( 0, nLen ) + std::string( 1, slash ) + second; +} + + +std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, char slash ) +{ + return Path_Join( Path_Join( first, second, slash ), third, slash ); +} + +std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, const std::string &fourth, char slash ) +{ + return Path_Join( Path_Join( Path_Join( first, second, slash ), third, slash ), fourth, slash ); +} + +std::string Path_Join( + const std::string & first, + const std::string & second, + const std::string & third, + const std::string & fourth, + const std::string & fifth, + char slash ) +{ + return Path_Join( Path_Join( Path_Join( Path_Join( first, second, slash ), third, slash ), fourth, slash ), fifth, slash ); +} + +/** Removes redundant

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