ShapeData ShapeGenerator::makeTriangle()
{
ShapeData tri;
Vertex genTri[] =
{
Vertex(QVector3D(+0.0f, +0.9f, +0.0f),//idx 0
QVector3D(+1.0f, +0.0f, +0.0f)),
Vertex(QVector3D(+0.9f, -0.9f, +0.0f),//idx 1
QVector3D(+0.0f, +1.0f, +0.0f)),
Vertex(QVector3D(-0.9f, -0.9f, +0.0f),//idx 2
QVector3D(+0.0f, +0.0f, +1.0f)),
};
tri.numVertices = NUM_ARRAY_ELEMENTS(genTri);
tri.vertices = new Vertex[tri.numVertices];
memcpy(tri.vertices,genTri,sizeof(genTri));
GLushort genIndices[] = {0,1,2};
tri.numIndices = NUM_ARRAY_ELEMENTS(genIndices);
tri.indices = new GLushort[tri.numIndices];
memcpy(tri.indices,genIndices,sizeof(genIndices));
return tri;
}
//Create the spring mass vertex and color data
ShapeData ObjectGenerator::makeSpringMass(glm::vec3 anchorPosition, GLfloat springWidth, GLfloat stretch, GLfloat width, GLfloat height) {
ShapeData ret;
glm::vec3 springColor{ 1.0f, 0.0f, 0.0f }, massColor{ 0.0f, 1.0f, 0.0f }, connectionPoint{ anchorPosition.x, anchorPosition.y - (17 * stretch), 0.0f };
Vertex vertices[] = {
glm::vec3(anchorPosition.x, anchorPosition.y, 0.0f), // 0
springColor,
glm::vec3(anchorPosition.x, anchorPosition.y - (0.1 *stretch),0.0f), // 1
springColor,
glm::vec3(anchorPosition.x + springWidth, anchorPosition.y - (1 * stretch), 0.0f), // 2
springColor,
glm::vec3(anchorPosition.x - springWidth, anchorPosition.y - (3 * stretch), 0.0f), // 3
springColor,
glm::vec3(anchorPosition.x + springWidth, anchorPosition.y - (5 * stretch), 0.0f), // 4
springColor,
glm::vec3(anchorPosition.x - springWidth, anchorPosition.y - (7 * stretch), 0.0f), // 5
springColor,
glm::vec3(anchorPosition.x + springWidth, anchorPosition.y - (9 * stretch), 0.0f), // 6
springColor,
glm::vec3(anchorPosition.x - springWidth, anchorPosition.y - (11 * stretch), 0.0f), // 7
springColor,
glm::vec3(anchorPosition.x + springWidth, anchorPosition.y - (13 * stretch), 0.0f), // 8
springColor,
glm::vec3(anchorPosition.x - springWidth, anchorPosition.y - (15 * stretch), 0.0f), // 9
springColor,
glm::vec3(anchorPosition.x, anchorPosition.y - (16 * stretch), 0.0f), // 10
springColor,
connectionPoint, // 11 ===> The joint between the spring and the mass
springColor,
//=================Mass==============//
glm::vec3(connectionPoint.x - width, connectionPoint.y, 0.0f), //top Left 12
massColor,
glm::vec3(connectionPoint.x + width, connectionPoint.y, 0.0f), //top Right 13
massColor,
glm::vec3(connectionPoint.x + width, connectionPoint.y - height, 0.0f), // bottom right 14
massColor,
glm::vec3(connectionPoint.x - width, connectionPoint.y - height, 0.0f), // bottom left 15
massColor,
};
ret.numVertices = NUM_ARRAY_ELEMENTS(vertices);
ret.vertices = new Vertex[ret.numVertices];
//Used to ensure the data we have just created on the stack is moved into location that won't be overwritten
//As opposed to a reference to a stack array which can be damaged
memcpy(ret.vertices, vertices, sizeof(vertices)); //memcpy(dest, source, size);
GLushort indices[] = { 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, 13,14, 14,15, 15,12 };
ret.numIndices = NUM_ARRAY_ELEMENTS(indices);
ret.indices = new GLushort[ret.numIndices];
//Used to ensure the data we have just created on the stack is moved into location that won't be overwritten
//As opposed to a reference to a stack array which can be damaged
memcpy(ret.indices, indices, sizeof(indices));
return ret;
}
int register_convert_pipeline(JNIEnv *env) {
LOGV("register_convert_pipeline:");
if (registerNativeMethods(env,
"com/serenegiant/usb/ConvertPipeline",
methods, NUM_ARRAY_ELEMENTS(methods)) < 0) {
return -1;
}
return 0;
}
int register_uvccamera(JNIEnv *env) {
LOGV("register_uvccamera:");
if (registerNativeMethods(env,
"com/serenegiant/usb/UVCCamera",
methods, NUM_ARRAY_ELEMENTS(methods)) < 0) {
return -1;
}
return 0;
}
ShapeData ShapeGenerator::makeQuadTex()
{
ShapeData quad;
Vertex genQuad[] =
{
Vertex(QVector3D(-1.0f, +1.0f, -0.0f),//idx 0
QVector3D(+0.0f, +1.0f, +0.0f)),
Vertex(QVector3D(+1.0f, +1.0f, -0.0f),//idx 1
QVector3D(+1.0f, +1.0f, +0.0f)),
Vertex(QVector3D(+1.0f, -1.0f, -0.0f),//idx 2
QVector3D(+1.0f, +0.0f, +0.0f)),
Vertex(QVector3D(+1.0f, -1.0f, -0.0f),//idx 3
QVector3D(+1.0f, +0.0f, +0.0f)),
Vertex(QVector3D(-1.0f, -1.0f, -0.0f),//idx 4
QVector3D(+0.0f, +0.0f, +0.0f)),
Vertex(QVector3D(-1.0f, +1.0f, -0.0f),//idx 5
QVector3D(+0.0f, +1.0f, +0.0f)),
};
quad.numVertices = NUM_ARRAY_ELEMENTS(genQuad);
quad.vertices = new Vertex[quad.numVertices];
memcpy(quad.vertices,genQuad,sizeof(genQuad));
GLushort genIndices[] = {0,1,2, 3,4,5};
quad.numIndices = NUM_ARRAY_ELEMENTS(genIndices);
quad.indices = new GLushort[quad.numIndices];
memcpy(quad.indices,genIndices,sizeof(genIndices));
return quad;
}
ShapeData ObjectGenerator::makeAxis() {
ShapeData ret;
GLuint axisLength(1.0f);
glm::vec3 xAxisColor{ 1.0f, 0.0f, 0.0f }, yAxisColor{ 0.0f, 1.0f, 0.0f }, zAxisColor{ 0.0f, 0.0f, 1.0f };
Vertex vertices[] = {
glm::vec3{ 0.0f,+0.01f, 0.0f },
glm::vec3{0.0f, 0.0f, 0.0f},
//X axis
glm::vec3{ axisLength, +0.01f, 0.0f },
xAxisColor,
//Y Axis
glm::vec3{ 0.0f, axisLength, 0.0f },
yAxisColor,
//Z Axis
glm::vec3{ 0.0f, +0.01f, axisLength },
zAxisColor,
};
ret.numVertices = NUM_ARRAY_ELEMENTS(vertices);
ret.vertices = new Vertex[ret.numVertices];
//Used to ensure the data we have just created on the stack is moved into location that won't be overwritten
//As opposed to a reference to a stack array which can be damaged
memcpy(ret.vertices, vertices, sizeof(vertices)); //memcpy(dest, source, size);
GLushort indices[] = { 0,1, 0,2, 0,3};
ret.numIndices = NUM_ARRAY_ELEMENTS(indices);
ret.indices = new GLushort[ret.numIndices];
//Used to ensure the data we have just created on the stack is moved into location that won't be overwritten
//As opposed to a reference to a stack array which can be damaged
memcpy(ret.indices, indices, sizeof(indices));
return ret;
}
ShapeData ShapeGenerator::makeCube() {
ShapeData ret;
Vertex stackVerts[] =
{
Vertex(QVector3D(-1.0f, +1.0f, +1.0f), // 0
QVector3D(+1.0f, +0.0f, +0.0f)), // Color
Vertex(QVector3D(+1.0f, +1.0f, +1.0f), // 1
QVector3D(+0.0f, +1.0f, +0.0f)), // Color
Vertex(QVector3D(+1.0f, +1.0f, -1.0f), // 2
QVector3D(+0.0f, +0.0f, +1.0f)), // Color
Vertex(QVector3D(-1.0f, +1.0f, -1.0f), // 3
QVector3D(+1.0f, +1.0f, +1.0f)), // Color
Vertex(QVector3D(-1.0f, +1.0f, -1.0f), // 4
QVector3D(+1.0f, +0.0f, +1.0f)), // Color
Vertex(QVector3D(+1.0f, +1.0f, -1.0f), // 5
QVector3D(+0.0f, +0.5f, +0.2f)), // Color
Vertex(QVector3D(+1.0f, -1.0f, -1.0f), // 6
QVector3D(+0.8f, +0.6f, +0.4f)), // Color
Vertex(QVector3D(-1.0f, -1.0f, -1.0f), // 7
QVector3D(+0.3f, +1.0f, +0.5f)), // Color
Vertex(QVector3D(+1.0f, +1.0f, -1.0f), // 8
QVector3D(+0.2f, +0.5f, +0.2f)), // Color
Vertex(QVector3D(+1.0f, +1.0f, +1.0f), // 9
QVector3D(+0.9f, +0.3f, +0.7f)), // Color
Vertex(QVector3D(+1.0f, -1.0f, +1.0f), // 10
QVector3D(+0.3f, +0.7f, +0.5f)), // Color
Vertex(QVector3D(+1.0f, -1.0f, -1.0f), // 11
QVector3D(+0.5f, +0.7f, +0.5f)), // Color
Vertex(QVector3D(-1.0f, +1.0f, +1.0f), // 12
QVector3D(+0.7f, +0.8f, +0.2f)), // Color
Vertex(QVector3D(-1.0f, +1.0f, -1.0f), // 13
QVector3D(+0.5f, +0.7f, +0.3f)), // Color
Vertex(QVector3D(-1.0f, -1.0f, -1.0f), // 14
QVector3D(+0.4f, +0.7f, +0.7f)), // Color
Vertex(QVector3D(-1.0f, -1.0f, +1.0f), // 15
QVector3D(+0.2f, +0.5f, +1.0f)), // Color
Vertex(QVector3D(+1.0f, +1.0f, +1.0f), // 16
QVector3D(+0.6f, +1.0f, +0.7f)), // Color
Vertex(QVector3D(-1.0f, +1.0f, +1.0f), // 17
QVector3D(+0.6f, +0.4f, +0.8f)), // Color
Vertex(QVector3D(-1.0f, -1.0f, +1.0f), // 18
QVector3D(+0.2f, +0.8f, +0.7f)), // Color
Vertex(QVector3D(+1.0f, -1.0f, +1.0f), // 19
QVector3D(+0.2f, +0.7f, +1.0f)), // Color
Vertex(QVector3D(+1.0f, -1.0f, -1.0f), // 20
QVector3D(+0.8f, +0.3f, +0.7f)), // Color
Vertex(QVector3D(-1.0f, -1.0f, -1.0f), // 21
QVector3D(+0.8f, +0.9f, +0.5f)), // Color
Vertex(QVector3D(-1.0f, -1.0f, +1.0f), // 22
QVector3D(+0.5f, +0.8f, +0.5f)), // Color
Vertex(QVector3D(+1.0f, -1.0f, +1.0f), // 23
QVector3D(+0.9f, +1.0f, +0.2f)), // Color
};
ret.numVertices = NUM_ARRAY_ELEMENTS(stackVerts);
ret.vertices = new Vertex[ret.numVertices];
memcpy(ret.vertices, stackVerts, sizeof(stackVerts));
unsigned short stackIndices[] =
{
0, 1, 2, 0, 2, 3, // Top
4, 5, 6, 4, 6, 7, // Front
8, 9, 10, 8, 10, 11, // Right
12, 13, 14, 12, 14, 15, // Left
16, 17, 18, 16, 18, 19, // Back
20, 22, 21, 20, 23, 22, // Bottom
};
ret.numIndices = NUM_ARRAY_ELEMENTS(stackIndices);
ret.indices = new GLushort[ret.numIndices];
memcpy(ret.indices, stackIndices, sizeof(stackIndices));
return ret;
}
int register_Quaternion(JNIEnv *env) {
return registerNativeMethods(env,
"com/serenegiant/androbulletglue/math/Quaternion",
methods, NUM_ARRAY_ELEMENTS(methods));
}
void loop()
{
// quickly scan through baudrates until we receive a valid packet within timeout period
#if 0 // the baud rate change still isn't working for some reason.
if (autodetect_baudrates_index != 0xFF)
{
if (millis() - first_rcvd_time > MAX_FRAME_COMPLETION_DELAY_MS * 1.5) // make sure its not a multiple of 100ms
{
PSERIAL.end();
PSERIAL.flush();
autodetect_baudrates_index += 1;
if (autodetect_baudrates_index >= NUM_ARRAY_ELEMENTS(autodetect_baudrates))
autodetect_baudrates_index = 0;
PSERIAL.begin(pgm_read_dword(&autodetect_baudrates[autodetect_baudrates_index]));
recv_buf_len = 0;
first_rcvd_time = millis();
}
}
#endif
if (get_command())
{
autodetect_baudrates_index = 0xFF;
last_order_time = millis();
is_host_active = true;
order_code = recv_buf[PM_ORDER_BYTE_OFFSET];
control_byte = recv_buf[PM_CONTROL_BYTE_OFFSET];
parameter_length = recv_buf[PM_LENGTH_BYTE_OFFSET]-2;
#if TRACE_ORDER
DEBUGPGM("\nOrder(");
DEBUG_F(order_code, HEX);
DEBUGPGM(", plen=");
DEBUG_F(parameter_length, DEC);
DEBUGPGM(", cb=");
DEBUG_F(control_byte, HEX);
DEBUGPGM("):");
for (uint8_t i = 0; i < parameter_length; i++)
{
DEBUG_CH(' ');
DEBUG_F(recv_buf[i], HEX);
}
DEBUG_EOL();
#endif
// does this match the sequence number of the last reply
if ((control_byte & CONTROL_BYTE_SEQUENCE_NUMBER_MASK) ==
(reply_control_byte & CONTROL_BYTE_SEQUENCE_NUMBER_MASK)
&& (control_byte & CONTROL_BYTE_ORDER_HOST_RESET_BIT) == 0
&& reply_control_byte != 0xFF)
{
if (!reply_started)
{
// resend last response
reply_started = true;
generate_response_send();
}
else
{
// this is an unexpected error case (matching sequence number but nothing to send)
generate_response_transport_error_start(PARAM_FRAME_RECEIPT_ERROR_TYPE_UNABLE_TO_ACCEPT,
control_byte);
generate_response_msg_addPGM(PMSG(MSG_ERR_NO_RESPONSE_TO_SEND));
generate_response_send();
}
}
else
{
reply_sent = false;
process_command();
if (!reply_sent)
{
send_app_error_response(PARAM_APP_ERROR_TYPE_FIRMWARE_ERROR,
PMSG(MSG_ERR_NO_RESPONSE_GENERATED));
}
}
recv_buf_len = 0;
}
// Idle loop activities
// Check if heaters need to be updated?
if (temp_meas_ready)
{
Device_TemperatureSensor::UpdateTemperatureSensors();
Device_Heater::UpdateHeaters();
}
// Now check low-priority stuff
uint32_t now = millis();
if (now - last_idle_check > 1000) // checked every second
{
#if !DEBUG_DISABLE_HOST_TIMEOUT
// have we heard from the host within the timeout?
if (now - last_order_time > (HOST_TIMEOUT_SECS * 1000) && is_host_active)
{
is_host_active = false;
if (!is_stopped)
{
emergency_stop(PARAM_STOPPED_CAUSE_HOST_TIMEOUT);
}
}
#endif
#if TRACE_MOVEMENT
print_movement_ISR_state();
#endif
last_idle_check = now;
}
}
